+ python -m lidar_slam --result /working/result.json --no-model /working/e36e6bab-e09d-499a-ac98-32247f293872 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/e36e6bab-e09d-499a-ac98-32247f293872 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 end_distance from 9.223372036854776e+18 to 371.350302058 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.0 meters Centerline goodness : 0.281730 with order 1 Centerline is valid? [0, False] SLAMing on 0.06 meters Centerline goodness : 0.233439 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:0.14, Z:0.04 [[ 0.99965324 0.02271154 0.01332629 0.20449556] [-0.01971224 0.98097133 -0.19314936 0.1425558 ] [-0.01745943 0.1928197 0.98107886 0.04121942] [ 0. 0. 0. 1. ]] SLAMing on 0.12 meters Centerline goodness : 0.226162 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:0.07 [[ 0.99885826 -0.01178172 0.04629648 0.25175587] [ 0.0194438 0.98547259 -0.16871782 0.15552274] [-0.04363612 0.16942537 0.98457652 0.06789631] [ 0. 0. 0. 1. ]] SLAMing on 0.18 meters Centerline goodness : 0.226935 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.14, Z:0.08 [[ 0.99779974 -0.02065364 0.06300087 0.24371284] [ 0.03051046 0.9866851 -0.15975492 0.14284942] [-0.0588625 0.1613256 0.98514428 0.07752186] [ 0. 0. 0. 1. ]] SLAMing on 0.24 meters Centerline goodness : 0.221070 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.13, Z:0.08 [[ 0.99654856 -0.03973778 0.07288259 0.22148136] [ 0.05008643 0.98799127 -0.14616635 0.12921009] [-0.06619903 0.14931229 0.9865716 0.08032285] [ 0. 0. 0. 1. ]] SLAMing on 0.3 meters Centerline goodness : 0.215132 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.12, Z:0.08 [[ 0.99557507 -0.05499182 0.07619832 0.18863006] [ 0.06451241 0.9895806 -0.12871824 0.1156467 ] [-0.06832593 0.13306441 0.98874943 0.07925969] [ 0. 0. 0. 1. ]] SLAMing on 0.36 meters Centerline goodness : 0.210884 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.10, Z:0.07 [[ 0.99649115 -0.06561013 0.05196833 0.15861826] [ 0.07127 0.9907091 -0.11582773 0.10093546] [-0.04388603 0.11912509 0.99190888 0.0650206 ] [ 0. 0. 0. 1. ]] SLAMing on 0.42 meters Centerline goodness : 0.213370 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.09, Z:0.06 [[ 0.99733441 -0.05753748 0.04487209 0.14936576] [ 0.06205949 0.99232831 -0.10692589 0.08774402] [-0.0383756 0.10942561 0.99325392 0.05593855] [ 0. 0. 0. 1. ]] SLAMing on 0.48 meters Centerline goodness : 0.222961 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.05 [[ 0.99846305 -0.04247398 0.03560202 0.14122369] [ 0.04567232 0.99448159 -0.09444788 0.07331709] [-0.03139398 0.09592875 0.99489301 0.0491905 ] [ 0. 0. 0. 1. ]] SLAMing on 0.54 meters Centerline goodness : 0.841229 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.06, Z:0.03 [[ 0.99963303 -0.02656191 -0.00531664 0.13935016] [ 0.02592751 0.9950207 -0.0962371 0.06417199] [ 0.0078464 0.09606394 0.99534424 0.03111857] [ 0. 0. 0. 1. ]] SLAMing on 0.6 meters Centerline goodness : 0.818280 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:0.02 [[ 0.99965349 -0.0152755 -0.02143716 0.16416507] [ 0.01345606 0.99649265 -0.08259136 0.05412392] [ 0.0226236 0.08227428 0.99635291 0.02128149] [ 0. 0. 0. 1. ]] SLAMing on 0.6599999999999999 meters Centerline goodness : 0.213820 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:0.03 [[ 0.99974229 -0.00997511 -0.0203926 0.1857238 ] [ 0.00845328 0.99726701 -0.07339661 0.04645847] [ 0.02106901 0.07320531 0.99709432 0.02745751] [ 0. 0. 0. 1. ]] SLAMing on 0.72 meters Centerline goodness : 0.651907 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.04 [[ 0.99964086 0.01413128 -0.02276974 0.24147929] [-0.01569065 0.99743562 -0.06982823 0.0499083 ] [ 0.02172459 0.07016042 0.99729913 0.03537343] [ 0. 0. 0. 1. ]] SLAMing on 0.78 meters Centerline goodness : 0.225380 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.07, Z:0.05 [[ 0.99833305 0.0512829 -0.02647984 0.33220314] [-0.0545646 0.98815374 -0.14343951 0.06583363] [ 0.01881016 0.14464526 0.98930477 0.04664727] [ 0. 0. 0. 1. ]] SLAMing on 0.84 meters Centerline goodness : 0.858694 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:0.08, Z:0.05 [[ 0.99571633 0.08953281 -0.02308377 0.38158678] [-0.09172273 0.98797014 -0.12450677 0.08320851] [ 0.01165864 0.12609074 0.9919502 0.05052334] [ 0. 0. 0. 1. ]] SLAMing on 0.8999999999999999 meters Centerline goodness : 0.477171 with order 2 Centerline is valid? [False, False] Translation: X:0.41, Y:0.09, Z:0.05 [[ 0.9944276 0.1037197 -0.018867 0.40843791] [-0.10505885 0.98984133 -0.09579546 0.09392948] [ 0.00873946 0.0972438 0.99522222 0.05125565] [ 0. 0. 0. 1. ]] SLAMing on 0.96 meters Centerline goodness : 0.159450 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.05 [[ 0.99421975 0.10544488 -0.02021034 0.43375378] [-0.10672436 0.99114753 -0.07897143 0.10396348] [ 0.01170429 0.08067189 0.99667199 0.05143517] [ 0. 0. 0. 1. ]] SLAMing on 1.02 meters Centerline goodness : 0.173483 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.10, Z:0.05 [[ 0.99501896 0.09804983 -0.01798607 0.45703562] [-0.09905374 0.99276959 -0.06780045 0.10443709] [ 0.0112082 0.06924432 0.99753677 0.05078052] [ 0. 0. 0. 1. ]] SLAMing on 1.08 meters Centerline goodness : 0.842019 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 0.99603775 0.08782954 -0.01395615 0.49923037] [-0.08835002 0.99518069 -0.04254026 0.10071556] [ 0.0101526 0.04360473 0.99899727 0.05004113] [ 0. 0. 0. 1. ]] SLAMing on 1.14 meters Centerline goodness : 0.161006 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.10, Z:0.05 [[ 0.99646925 0.08210381 -0.01754998 0.53893726] [-0.08242772 0.99642334 -0.0186065 0.09958967] [ 0.01595954 0.0199874 0.99967284 0.0478184 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2 meters Centerline goodness : 0.871061 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.05 [[ 0.99663307 0.07718037 -0.02767173 0.59291681] [-0.07791325 0.99660887 -0.02646307 0.09996514] [ 0.02553546 0.02852997 0.99926672 0.04749897] [ 0. 0. 0. 1. ]] SLAMing on 1.26 meters Centerline goodness : 0.883815 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:0.08, Z:0.05 [[ 0.99795481 0.05724279 -0.02845105 0.6214584 ] [-0.0577477 0.99818212 -0.01725303 0.08381901] [ 0.02741172 0.01886073 0.99944628 0.04647634] [ 0. 0. 0. 1. ]] SLAMing on 1.3199999999999998 meters Centerline goodness : 0.162089 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:0.05 [[ 0.99891493 0.02966039 -0.03590575 0.67437828] [-0.0303759 0.99934737 -0.01954861 0.07699737] [ 0.0353025 0.02061806 0.99916397 0.04505703] [ 0. 0. 0. 1. ]] SLAMing on 1.38 meters Centerline goodness : 0.156617 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:0.04 [[ 9.98662116e-01 2.61091134e-02 -4.46351118e-02 7.02895983e-01] [-2.61097476e-02 9.99658921e-01 5.68886487e-04 7.82471743e-02] [ 4.46347409e-02 5.97286123e-04 9.99003195e-01 4.42142988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.44 meters Centerline goodness : 0.146214 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:0.08, Z:0.04 [[ 0.99832098 0.0357449 -0.0455798 0.70950922] [-0.03537544 0.99933458 0.00888717 0.08259969] [ 0.04586714 -0.00725985 0.99892117 0.04126002] [ 0. 0. 0. 1. ]] SLAMing on 1.5 meters Centerline goodness : 0.150132 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:0.04 [[ 0.99800111 0.04743968 -0.04175227 0.74270547] [-0.04620613 0.99848044 0.0300302 0.08150935] [ 0.04311345 -0.02804096 0.99867659 0.03803705] [ 0. 0. 0. 1. ]] SLAMing on 1.56 meters Centerline goodness : 0.140314 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:0.04 [[ 0.99695023 0.06185255 -0.04758672 0.78211937] [-0.06041439 0.99768909 0.03108992 0.08683511] [ 0.04939975 -0.02812018 0.99838315 0.03814513] [ 0. 0. 0. 1. ]] SLAMing on 1.6199999999999999 meters Centerline goodness : 0.138457 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:0.04 [[ 0.99660262 0.06833967 -0.04596639 0.80109886] [-0.06718729 0.99739721 0.02616608 0.09257526] [ 0.04763493 -0.02298883 0.99860023 0.03516344] [ 0. 0. 0. 1. ]] SLAMing on 1.68 meters Centerline goodness : 0.956255 with order 1 Centerline is valid? [False, True] Translation: X:0.82, Y:0.10, Z:0.04 [[ 0.99648233 0.07225669 -0.04244922 0.81826411] [-0.07108498 0.99706319 0.02849424 0.09560768] [ 0.04438345 -0.02537651 0.99869222 0.03964059] [ 0. 0. 0. 1. ]] SLAMing on 1.74 meters Centerline goodness : 0.151218 with order 1 Centerline is valid? [True, False] Translation: X:0.85, Y:0.10, Z:0.05 [[ 0.99669404 0.0721998 -0.03725817 0.85143292] [-0.07126911 0.99712515 0.02573243 0.09805453] [ 0.03900894 -0.02299201 0.99897431 0.05037648] [ 0. 0. 0. 1. ]] SLAMing on 1.7999999999999998 meters Centerline goodness : 0.143482 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:0.05 [[ 0.99721372 0.06454549 -0.0373989 0.9004539 ] [-0.06350067 0.99757524 0.02848327 0.08785857] [ 0.03914668 -0.02602905 0.9988944 0.05404648] [ 0. 0. 0. 1. ]] SLAMing on 1.8599999999999999 meters Centerline goodness : 0.973851 with order 1 Centerline is valid? [False, True] Translation: X:0.94, Y:0.08, Z:0.06 [[ 0.99751167 0.05977229 -0.03738625 0.93881383] [-0.05870184 0.99785122 0.02910383 0.07802647] [ 0.03904552 -0.02683677 0.99887699 0.05576886] [ 0. 0. 0. 1. ]] SLAMing on 1.92 meters Centerline goodness : 0.138358 with order 1 Centerline is valid? [True, False] Translation: X:1.03, Y:0.06, Z:0.07 [[ 0.99737403 0.04809944 -0.05414322 1.02601118] [-0.04617019 0.99827248 0.0363369 0.064351 ] [ 0.05579748 -0.03374168 0.99787181 0.06593052] [ 0. 0. 0. 1. ]] SLAMing on 1.98 meters Centerline goodness : 0.142460 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.06, Z:0.07 [[ 0.99728158 0.02624111 -0.06885392 1.07142254] [-0.02412069 0.99921427 0.03144887 0.05696729] [ 0.06962507 -0.02970257 0.99713094 0.06887528] [ 0. 0. 0. 1. ]] SLAMing on 2.04 meters Centerline goodness : 0.151940 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.07 [[ 0.99739586 0.01619045 -0.0702806 1.09276582] [-0.01594539 0.99986468 0.00404652 0.05544983] [ 0.0703366 -0.00291533 0.99751905 0.07422575] [ 0. 0. 0. 1. ]] SLAMing on 2.1 meters Centerline goodness : 0.528283 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:0.08 [[ 0.99798613 0.00866843 -0.06283743 1.09873857] [-0.00885428 0.99995721 -0.00267965 0.04547795] [ 0.06281151 0.00323063 0.99802018 0.08233101] [ 0. 0. 0. 1. ]] SLAMing on 2.16 meters Centerline goodness : 0.952268 with order 2 Centerline is valid? [False, True] Translation: X:1.16, Y:0.04, Z:0.09 [[ 0.99763945 0.00348774 -0.06858103 1.16164008] [-0.00524872 0.99966068 -0.02551406 0.04473125] [ 0.06846877 0.02581379 0.99731924 0.08920788] [ 0. 0. 0. 1. ]] SLAMing on 2.2199999999999998 meters Centerline goodness : 0.942488 with order 3 Centerline is valid? [True, False] Translation: X:1.13, Y:0.04, Z:0.09 [[ 0.99727896 0.00262371 -0.07367351 1.12638093] [-0.00174349 0.99992637 0.01200932 0.0392486 ] [ 0.07369959 -0.01184819 0.9972101 0.08908666] [ 0. 0. 0. 1. ]] SLAMing on 2.28 meters Centerline goodness : 0.139696 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:0.09 [[ 9.97022877e-01 1.05313026e-03 -7.70991112e-02 1.10119339e+00] [ 1.95244376e-03 9.99241299e-01 3.88974957e-02 3.56259897e-02] [ 7.70815801e-02 -3.89322247e-02 9.96264379e-01 8.73400027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34 meters Centerline goodness : 0.138348 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.09 [[ 9.96893210e-01 4.80065455e-03 -7.86185821e-02 1.05897846e+00] [ 4.97461577e-04 9.97737225e-01 6.72322965e-02 3.07440352e-02] [ 7.87634450e-02 -6.70625296e-02 9.94635077e-01 9.26758987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [False, True] Translation: X:0.99, Y:-0.41, Z:0.14 [[ 0.99773213 0.00792394 -0.06684173 0.99281307] [-0.00261791 0.99686332 0.07909904 -0.41182865] [ 0.06725885 -0.07874467 0.99462331 0.14004623] [ 0. 0. 0. 1. ]] SLAMing on 2.46 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.39, Z:0.11 [[ 9.97399060e-01 -2.65033070e-02 -6.70275268e-02 1.05327033e+00] [ 2.65616600e-02 9.99647177e-01 -2.06080119e-05 -3.92800246e-01] [ 6.70044241e-02 -1.75980796e-03 9.97751126e-01 1.08203316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.38, Z:0.11 [[ 9.97705916e-01 -9.49830366e-03 -6.70275161e-02 1.11257707e+00] [ 9.51709272e-03 9.99954711e-01 -3.89957166e-05 -3.82860812e-01] [ 6.70248508e-02 -5.99000828e-04 9.97751127e-01 1.06830040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.38, Z:0.11 [[ 9.97704235e-01 -9.67332972e-03 -6.70275030e-02 1.17026198e+00] [ 9.69144191e-03 9.99953035e-01 -5.49443121e-05 -3.83290252e-01] [ 6.70248866e-02 -5.94774979e-04 9.97751127e-01 1.10425303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6399999999999997 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.38, Z:0.12 [[ 9.97748265e-01 2.39091822e-03 -6.70274831e-02 1.22797750e+00] [-2.40122362e-03 9.99997114e-01 -7.31846004e-05 -3.81676156e-01] [ 6.70271147e-02 2.33967784e-04 9.97751127e-01 1.16904812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6999999999999997 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.38, Z:0.12 [[ 9.97680891e-01 1.18389237e-02 -6.70274584e-02 1.28580750e+00] [-1.18717406e-02 9.99929524e-01 -9.12969011e-05 -3.84113497e-01] [ 6.70216538e-02 8.86817773e-04 9.97751127e-01 1.21787639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.39, Z:0.12 [[ 9.97709463e-01 9.11871306e-03 -6.70274292e-02 1.34387148e+00] [-9.14660448e-03 9.99958163e-01 -1.09243230e-04 -3.86171055e-01] [ 6.70236288e-02 7.22066389e-04 9.97751127e-01 1.21854990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.39, Z:0.12 [[ 9.97723394e-01 -7.44029104e-03 -6.70273928e-02 1.40055686e+00] [ 7.44844395e-03 9.99972252e-01 -1.28272998e-04 -3.93579061e-01] [ 6.70264873e-02 -3.71268807e-04 9.97751127e-01 1.22969774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.39, Z:0.13 [[ 9.97597189e-01 -1.75265125e-02 -6.70273761e-02 1.45848899e+00] [ 1.75568508e-02 9.99845857e-01 -1.36450793e-04 -3.93597946e-01] [ 6.70194359e-02 -1.04066672e-03 9.97751127e-01 1.32476402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.39, Z:0.14 [[ 9.97408955e-01 -2.61287594e-02 -6.70273336e-02 1.51619141e+00] [ 2.61772506e-02 9.99657305e-01 -1.54877786e-04 -3.92191989e-01] [ 6.70084104e-02 -1.60011482e-03 9.97751128e-01 1.36325099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.37, Z:0.11 [[ 9.96998361e-01 -3.87506136e-02 -6.70272866e-02 1.57832243e+00] [ 3.88263369e-02 9.99245959e-01 -1.73060264e-04 -3.69874825e-01] [ 6.69834515e-02 -2.42988322e-03 9.97751128e-01 1.12843084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.38, Z:0.14 [[ 9.97575098e-01 -1.87421378e-02 -6.70272851e-02 1.63608631e+00] [ 1.87727161e-02 9.99823762e-01 -1.73669998e-04 -3.77810504e-01] [ 6.70187273e-02 -1.08503533e-03 9.97751128e-01 1.40839470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.37, Z:0.14 [[ 9.97701982e-01 -9.90453161e-03 -6.70272794e-02 1.69384954e+00] [ 9.91504307e-03 9.99950829e-01 -1.75845906e-04 -3.68218711e-01] [ 6.70257252e-02 -4.89136553e-04 9.97751128e-01 1.44262927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1799999999999997 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.36, Z:0.15 [[ 9.97748104e-01 2.46404820e-03 -6.70272235e-02 1.75036974e+00] [-2.48270552e-03 9.99996899e-01 -1.95057527e-04 -3.58116979e-01] [ 6.70265350e-02 3.61027135e-04 9.97751128e-01 1.47578712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2399999999999998 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.35, Z:0.15 [[ 9.97736879e-01 5.33630138e-03 -6.70271832e-02 1.80846408e+00] [-5.36230375e-03 9.99985601e-01 -2.08030019e-04 -3.53455522e-01] [ 6.70251080e-02 5.66979338e-04 9.97751128e-01 1.50017281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.35, Z:0.15 [[ 9.97730425e-01 6.43145847e-03 -6.70271197e-02 1.86625651e+00] [-6.46119003e-03 9.99979101e-01 -2.26801155e-04 -3.51745101e-01] [ 6.70242602e-02 6.59361371e-04 9.97751128e-01 1.53947981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.36, Z:0.16 [[ 9.97745148e-01 -3.46328294e-03 -6.70270494e-02 1.92412963e+00] [ 3.45456602e-03 9.99994003e-01 -2.45955620e-04 -3.56587948e-01] [ 6.70274993e-02 1.38516591e-05 9.97751128e-01 1.56832380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.37, Z:0.16 [[ 9.97528120e-01 -2.10958491e-02 -6.70269738e-02 1.98145325e+00] [ 2.11255933e-02 9.99776795e-01 -2.65072320e-04 -3.65318797e-01] [ 6.70176050e-02 -1.15156750e-03 9.97751129e-01 1.64085723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.38, Z:0.17 [[ 9.97146916e-01 -3.47192114e-02 -6.70268931e-02 2.03904423e+00] [ 3.47783884e-02 9.99395008e-01 -2.84122991e-04 -3.76156153e-01] [ 6.69962069e-02 -2.04777495e-03 9.97751129e-01 1.69152248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.38, Z:0.17 [[ 9.97324540e-01 -2.91747909e-02 -6.70268058e-02 2.09740593e+00] [ 2.92201733e-02 9.99572954e-01 -3.03401619e-04 -3.77628209e-01] [ 6.70070340e-02 -1.65594500e-03 9.97751129e-01 1.73067290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5999999999999996 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.38, Z:0.18 [[ 9.97609430e-01 -1.68180024e-02 -6.70267146e-02 2.15536153e+00] [ 1.68342537e-02 9.99858242e-01 -3.22379854e-04 -3.75686314e-01] [ 6.70226348e-02 -8.06735537e-04 9.97751129e-01 1.80295600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6599999999999997 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.37, Z:0.18 [[ 9.97749636e-01 -1.75771948e-03 -6.70266717e-02 2.21413314e+00] [ 1.73944145e-03 9.99998432e-01 -3.31057016e-04 -3.69484433e-01] [ 6.70271485e-02 2.13723046e-04 9.97751129e-01 1.81569200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7199999999999998 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.37, Z:0.18 [[ 9.97748163e-01 2.45773570e-03 -6.70265868e-02 2.27346144e+00] [-2.48661515e-03 9.99996848e-01 -3.47440455e-04 -3.67069969e-01] [ 6.70255216e-02 5.13327402e-04 9.97751129e-01 1.78466703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.37, Z:0.17 [[ 9.97703460e-01 -9.75980769e-03 -6.70264957e-02 2.33288752e+00] [ 9.75733877e-03 9.99952330e-01 -3.64210834e-04 -3.68483745e-01] [ 6.70268551e-02 -2.90625815e-04 9.97751129e-01 1.73582656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.38, Z:0.19 [[ 9.97700082e-01 -1.00999093e-02 -6.70263945e-02 2.38987567e+00] [ 1.00970146e-02 9.99948951e-01 -3.81960435e-04 -3.81740228e-01] [ 6.70268307e-02 -2.95684526e-04 9.97751130e-01 1.86606927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.38, Z:0.19 [[ 9.97679495e-01 -1.19621003e-02 -6.70263585e-02 2.44904561e+00] [ 1.19629855e-02 9.99928366e-01 -3.88175530e-04 -3.80342687e-01] [ 6.70262005e-02 -4.14560591e-04 9.97751130e-01 1.85134750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.37, Z:0.18 [[ 9.97683979e-01 -1.15827443e-02 -6.70262503e-02 2.50779501e+00] [ 1.15815736e-02 9.99932849e-01 -4.06049686e-04 -3.70389938e-01] [ 6.70264526e-02 -3.71160187e-04 9.97751130e-01 1.84100845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.37, Z:0.19 [[ 9.97662662e-01 -1.32932823e-02 -6.70261211e-02 2.56543141e+00] [ 1.32946026e-02 9.99911532e-01 -4.26365595e-04 -3.69072438e-01] [ 6.70258592e-02 -4.65716610e-04 9.97751130e-01 1.90349110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.37, Z:0.19 [[ 9.97639502e-01 -1.49307767e-02 -6.70260809e-02 2.62347772e+00] [ 1.49353706e-02 9.99888368e-01 -4.32580664e-04 -3.67175909e-01] [ 6.70250574e-02 -5.69499802e-04 9.97751130e-01 1.92106279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.37, Z:0.20 [[ 9.97688782e-01 -1.11632244e-02 -6.70259422e-02 2.68089940e+00] [ 1.11579467e-02 9.99937646e-01 -4.53109464e-04 -3.72237421e-01] [ 6.70268210e-02 -2.95809661e-04 9.97751130e-01 2.01266829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.37, Z:0.20 [[ 9.97406839e-01 -2.62131134e-02 -6.70258992e-02 2.74046196e+00] [ 2.62413411e-02 9.99655531e-01 -4.59386633e-04 -3.70085071e-01] [ 6.70148528e-02 -1.30065411e-03 9.97751130e-01 1.99723583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.38, Z:0.21 [[ 9.97322519e-01 -2.92461877e-02 -6.70257713e-02 2.79791948e+00] [ 2.92800478e-02 9.99571134e-01 -4.77338860e-04 -3.77590901e-01] [ 6.70109866e-02 -1.48645699e-03 9.97751130e-01 2.14971472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.37, Z:0.21 [[ 9.96944943e-01 -4.01040690e-02 -6.70257032e-02 2.85812480e+00] [ 4.01617814e-02 9.99193072e-01 -4.86724394e-04 -3.68755887e-01] [ 6.69911379e-02 -2.20663422e-03 9.97751130e-01 2.12253603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.37, Z:0.23 [[ 9.97448740e-01 -2.45676567e-02 -6.70256806e-02 2.91618006e+00] [ 2.45901311e-02 9.99697497e-01 -4.89806659e-04 -3.72470031e-01] [ 6.70174386e-02 -1.15961324e-03 9.97751130e-01 2.26913530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4399999999999995 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.37, Z:0.23 [[ 9.97670778e-01 -1.26720030e-02 -6.70256626e-02 2.97387532e+00] [ 1.26674956e-02 9.99919643e-01 -4.92267159e-04 -3.65336107e-01] [ 6.70265146e-02 -3.57926727e-04 9.97751130e-01 2.30445595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.35, Z:0.23 [[ 9.97741781e-01 -4.34952035e-03 -6.70255165e-02 3.03326540e+00] [ 4.32496835e-03 9.99990517e-01 -5.11409454e-04 -3.51349572e-01] [ 6.70271053e-02 2.20371342e-04 9.97751131e-01 2.25992723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.35, Z:0.23 [[ 9.97701883e-01 9.92724301e-03 -6.70253851e-02 3.09214627e+00] [-9.98508948e-03 9.99950008e-01 -5.28096156e-04 -3.51152174e-01] [ 6.70167918e-02 1.19613700e-03 9.97751131e-01 2.34630655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.35, Z:0.24 [[ 9.97724230e-01 7.34689901e-03 -6.70252482e-02 3.15084941e+00] [-7.40006200e-03 9.99972471e-01 -5.44935043e-04 -3.51099335e-01] [ 6.70193994e-02 1.03968589e-03 9.97751131e-01 2.36369436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.35, Z:0.24 [[ 9.97749929e-01 -1.64725031e-03 -6.70251076e-02 3.20900951e+00] [ 1.61322893e-03 9.99998541e-01 -5.61712648e-04 -3.53814355e-01] [ 6.70259351e-02 4.52321912e-04 9.97751131e-01 2.37818115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.36, Z:0.25 [[ 9.97711587e-01 -8.90197317e-03 -6.70249437e-02 3.26674137e+00] [ 8.88303148e-03 9.99960377e-01 -5.80634653e-04 -3.59787816e-01] [ 6.70274567e-02 -1.60787633e-05 9.97751131e-01 2.46232021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.36, Z:0.24 [[ 9.97556378e-01 -1.97218995e-02 -6.70247700e-02 3.32493992e+00] [ 1.97260446e-02 9.99805243e-01 -6.00030976e-04 -3.56561396e-01] [ 6.70235502e-02 -7.23568875e-04 9.97751131e-01 2.40594214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.37, Z:0.25 [[ 9.97674206e-01 -1.24050107e-02 -6.70245836e-02 3.38247247e+00] [ 1.23913084e-02 9.99923032e-01 -6.20177196e-04 -3.66922594e-01] [ 6.70271182e-02 -2.11787497e-04 9.97751132e-01 2.54615489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.37, Z:0.26 [[ 9.97656440e-01 -1.37602431e-02 -6.70244965e-02 3.44034477e+00] [ 1.37489722e-02 9.99905280e-01 -6.29456612e-04 -3.67968723e-01] [ 6.70268094e-02 -2.93536497e-04 9.97751132e-01 2.59363581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9799999999999995 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.37, Z:0.26 [[ 9.97574344e-01 -1.87928457e-02 -6.70243089e-02 3.49890069e+00] [ 1.87916176e-02 9.99823211e-01 -6.48835877e-04 -3.67495242e-01] [ 6.70246532e-02 -6.12233159e-04 9.97751132e-01 2.64948611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.35, Z:0.26 [[ 9.96982465e-01 -3.91628397e-02 -6.70241423e-02 3.55974293e+00] [ 3.92064143e-02 9.99230911e-01 -6.65617028e-04 -3.54459278e-01] [ 6.69986622e-02 -1.96416778e-03 9.97751132e-01 2.55539972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.35, Z:0.26 [[ 9.96673037e-01 -4.63748152e-02 -6.70241343e-02 3.61734672e+00] [ 4.64346021e-02 9.98921110e-01 -6.66417467e-04 -3.50231926e-01] [ 6.69827276e-02 -2.44803868e-03 9.97751132e-01 2.55881484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.34, Z:0.26 [[ 9.96812472e-01 -4.32744713e-02 -6.70239991e-02 3.67612433e+00] [ 4.33263700e-02 9.99060741e-01 -6.79746894e-04 -3.42875946e-01] [ 6.69904619e-02 -2.22632640e-03 9.97751132e-01 2.58003711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.34, Z:0.26 [[ 9.97280739e-01 -3.06420712e-02 -6.70238166e-02 3.73509388e+00] [ 3.06643030e-02 9.99529496e-01 -6.97293413e-04 -3.35975734e-01] [ 6.70136481e-02 -1.35984133e-03 9.97751132e-01 2.61471065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.279999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.34, Z:0.28 [[ 9.97731020e-01 -6.37345804e-03 -6.70238127e-02 3.79329316e+00] [ 6.34095574e-03 9.99979653e-01 -6.97664283e-04 -3.38802137e-01] [ 6.70268955e-02 2.71086266e-04 9.97751132e-01 2.81832198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.33, Z:0.28 [[ 9.97750586e-01 1.25848103e-03 -6.70237599e-02 3.85016322e+00] [-1.30852064e-03 9.99998897e-01 -7.02699966e-04 -3.33744469e-01] [ 6.70228017e-02 7.88821276e-04 9.97751132e-01 2.84022880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3999999999999995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.33, Z:0.29 [[ 9.97749334e-01 2.02471866e-03 -6.70236238e-02 3.90801120e+00] [-2.07734150e-03 9.99997586e-01 -7.15454070e-04 -3.31089936e-01] [ 6.70220134e-02 8.53074777e-04 9.97751132e-01 2.87475839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.33, Z:0.29 [[ 9.97751226e-01 -5.93269967e-04 -6.70234162e-02 3.96626731e+00] [ 5.45273843e-04 9.99999582e-01 -7.34401128e-04 -3.31234187e-01] [ 6.70238238e-02 6.96203510e-04 9.97751132e-01 2.89040461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.32, Z:0.28 [[ 9.97685460e-01 -1.14723125e-02 -6.70232035e-02 4.02576819e+00] [ 1.14475630e-02 9.99934191e-01 -7.53327307e-04 -3.24774721e-01] [ 6.70274351e-02 -1.56686401e-05 9.97751133e-01 2.81710400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58 meters Centerline goodness : 0.997259 with order 1 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.34, Z:0.29 [[ 9.97733855e-01 -5.92225550e-03 -6.70229969e-02 4.08324055e+00] [ 5.88379134e-03 9.99982393e-01 -7.71278792e-04 -3.35083152e-01] [ 6.70263845e-02 3.75181633e-04 9.97751133e-01 2.91759932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.33, Z:0.29 [[ 9.97700285e-01 -1.01030435e-02 -6.70229090e-02 4.14175181e+00] [ 1.00734935e-02 9.99948958e-01 -7.78845451e-04 -3.28855256e-01] [ 6.70273567e-02 1.01899489e-04 9.97751133e-01 2.92599002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.34, Z:0.31 [[ 9.97745872e-01 -3.33746000e-03 -6.70226491e-02 4.19946700e+00] [ 3.29120099e-03 9.99994263e-01 -8.00604757e-04 -3.36836116e-01] [ 6.70249366e-02 5.78215083e-04 9.97751133e-01 3.05692451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.34, Z:0.31 [[ 9.97734986e-01 -5.73382046e-03 -6.70225374e-02 4.25687875e+00] [ 5.69234075e-03 9.99983471e-01 -8.09849470e-04 -3.36793842e-01] [ 6.70260731e-02 4.26500029e-04 9.97751133e-01 3.12266856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.819999999999999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.34, Z:0.32 [[ 9.97700227e-01 -1.01116745e-02 -6.70224656e-02 4.31359219e+00] [ 1.00796650e-02 9.99948866e-01 -8.15747372e-04 -3.37113913e-01] [ 6.70272870e-02 1.38307339e-04 9.97751133e-01 3.16058109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.34, Z:0.32 [[ 9.97554957e-01 -1.98017769e-02 -6.70223679e-02 4.37147209e+00] [ 1.97910760e-02 9.99803798e-01 -8.23692327e-04 -3.36868996e-01] [ 6.70255286e-02 -5.04766412e-04 9.97751133e-01 3.17038824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9399999999999995 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.33, Z:0.31 [[ 9.97171056e-01 -3.40282003e-02 -6.70221354e-02 4.43130898e+00] [ 3.40483334e-02 9.99419833e-01 -8.42195036e-04 -3.30006597e-01] [ 6.70119098e-02 -1.44217950e-03 9.97751133e-01 3.12043203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.34, Z:0.32 [[ 9.97276652e-01 -3.07789122e-02 -6.70219268e-02 4.48810832e+00] [ 3.07906237e-02 9.99525488e-01 -8.58481816e-04 -3.36085879e-01] [ 6.70165472e-02 -1.20750306e-03 9.97751133e-01 3.23373346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.33, Z:0.32 [[ 9.97007885e-01 -3.85142993e-02 -6.70218319e-02 4.54790153e+00] [ 3.85429621e-02 9.99256569e-01 -8.65828760e-04 -3.26913704e-01] [ 6.70053526e-02 -1.71998183e-03 9.97751133e-01 3.18266523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.33, Z:0.33 [[ 9.97267712e-01 -3.10678518e-02 -6.70216282e-02 4.60614920e+00] [ 3.10786805e-02 9.99516553e-01 -8.81320776e-04 -3.33472255e-01] [ 6.70166075e-02 -1.20403102e-03 9.97751134e-01 3.32624606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.33, Z:0.34 [[ 9.97355740e-01 -2.81008680e-02 -6.70214067e-02 4.66387402e+00] [ 2.81038954e-02 9.99604604e-01 -8.97857004e-04 -3.29320442e-01] [ 6.70201373e-02 -9.88079765e-04 9.97751134e-01 3.37052579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.33, Z:0.34 [[ 9.97477693e-01 -2.33755789e-02 -6.70211490e-02 4.72128508e+00] [ 2.33666862e-02 9.99726541e-01 -9.16701898e-04 -3.25204830e-01] [ 6.70242499e-02 -6.51672464e-04 9.97751134e-01 3.41437681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.32, Z:0.34 [[ 9.97576791e-01 -1.86747936e-02 -6.70208851e-02 4.77916935e+00] [ 1.86540337e-02 9.99825561e-01 -9.35601996e-04 -3.22099688e-01] [ 6.70266662e-02 -3.16875014e-04 9.97751134e-01 3.42922020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359999999999999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.32, Z:0.34 [[ 9.97626980e-01 -1.57685350e-02 -6.70206146e-02 4.83597249e+00] [ 1.57399478e-02 9.99875664e-01 -9.54599434e-04 -3.19793422e-01] [ 6.70273341e-02 -1.02566824e-04 9.97751134e-01 3.44438515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.31, Z:0.34 [[ 9.97478564e-01 -2.33402444e-02 -6.70204970e-02 4.89598079e+00] [ 2.33281761e-02 9.99727397e-01 -9.62783101e-04 -3.10822327e-01] [ 6.70246986e-02 -6.03110448e-04 9.97751134e-01 3.36163415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4799999999999995 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.32, Z:0.35 [[ 9.97603339e-01 -1.72006498e-02 -6.70202621e-02 4.95334202e+00] [ 1.71736606e-02 9.99852043e-01 -9.78863261e-04 -3.22092442e-01] [ 6.70271831e-02 -1.74465978e-04 9.97751134e-01 3.52987477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.32, Z:0.36 [[ 9.97619204e-01 -1.62550176e-02 -6.70201286e-02 5.01013912e+00] [ 1.62252883e-02 9.99867873e-01 -9.87921392e-04 -3.22237116e-01] [ 6.70273322e-02 -1.01851556e-04 9.97751134e-01 3.57911075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.32, Z:0.36 [[ 9.97634304e-01 -1.53007568e-02 -6.70200103e-02 5.06850762e+00] [ 1.52683419e-02 9.99882936e-01 -9.95882689e-04 -3.23627883e-01] [ 6.70274025e-02 -2.97576952e-05 9.97751135e-01 3.62823648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.33, Z:0.36 [[ 9.97609453e-01 -1.68444844e-02 -6.70197236e-02 5.12629170e+00] [ 1.68142770e-02 9.99858115e-01 -1.01481722e-03 -3.25162684e-01] [ 6.70273086e-02 -1.14496943e-04 9.97751135e-01 3.64507286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.33, Z:0.37 [[ 9.97615766e-01 -1.64674880e-02 -6.70194362e-02 5.18454719e+00] [ 1.64351787e-02 9.99864399e-01 -1.03345524e-03 -3.26016698e-01] [ 6.70273668e-02 -7.04851767e-05 9.97751135e-01 3.68536439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.779999999999999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.33, Z:0.37 [[ 9.97630243e-01 -1.55670507e-02 -6.70191469e-02 5.24247076e+00] [ 1.55314735e-02 9.99878826e-01 -1.05188883e-03 -3.29094398e-01] [ 6.70274008e-02 8.49000353e-06 9.97751135e-01 3.73898577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.32, Z:0.36 [[ 9.97506384e-01 -2.21243815e-02 -6.70188504e-02 5.30257906e+00] [ 2.21023383e-02 9.99755140e-01 -1.07045289e-03 -3.21124769e-01] [ 6.70261233e-02 -4.13489714e-04 9.97751135e-01 3.64403620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8999999999999995 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.32, Z:0.37 [[ 9.97573546e-01 -1.88554383e-02 -6.70185981e-02 5.36178187e+00] [ 1.88249799e-02 9.99822205e-01 -1.08602537e-03 -3.21891115e-01] [ 6.70271600e-02 -1.78233585e-04 9.97751135e-01 3.66174208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.33, Z:0.39 [[ 9.97739176e-01 -5.00813805e-03 -6.70183233e-02 5.41888689e+00] [ 4.94535153e-03 9.99987164e-01 -1.10272545e-03 -3.33784648e-01] [ 6.70229856e-02 7.68803214e-04 9.97751135e-01 3.85199532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02 meters Centerline goodness : 0.997998 with order 1 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.34, Z:0.39 [[ 9.97744027e-01 -3.92689154e-03 -6.70181768e-02 5.47748464e+00] [ 3.86107583e-03 9.99991928e-01 -1.11155664e-03 -3.37070740e-01] [ 6.70220008e-02 8.50286733e-04 9.97751136e-01 3.87063981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.32, Z:0.37 [[ 9.97656951e-01 -1.37557460e-02 -6.70178136e-02 5.53760762e+00] [ 1.37106350e-02 9.99905363e-01 -1.13304066e-03 -3.24558617e-01] [ 6.70270571e-02 2.11529104e-04 9.97751136e-01 3.74248158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.33, Z:0.39 [[ 9.97746273e-01 -3.32199245e-03 -6.70174534e-02 5.59387729e+00] [ 3.25196625e-03 9.99994047e-01 -1.15396000e-03 -3.33540279e-01] [ 6.70208879e-02 9.33420795e-04 9.97751136e-01 3.94246774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.32, Z:0.39 [[ 9.97686710e-01 -1.13976487e-02 -6.70173277e-02 5.65322976e+00] [ 1.13453310e-02 9.99934965e-01 -1.16121551e-03 -3.19497260e-01] [ 6.70262044e-02 3.98195520e-04 9.97751136e-01 3.85223892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.33, Z:0.40 [[ 9.97744801e-01 -3.74590803e-03 -6.70170118e-02 5.71057827e+00] [ 3.67514359e-03 9.99992551e-01 -1.17917407e-03 -3.29278275e-01] [ 6.70209296e-02 9.30217655e-04 9.97751136e-01 4.00826664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319999999999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.32, Z:0.39 [[ 9.97613102e-01 -1.66385632e-02 -6.70168442e-02 5.77069211e+00] [ 1.65962157e-02 9.99861567e-01 -1.18862085e-03 -3.19134962e-01] [ 6.70273438e-02 7.35577263e-05 9.97751136e-01 3.88616177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.32, Z:0.39 [[ 9.97514261e-01 -2.17734748e-02 -6.70165235e-02 5.82858730e+00] [ 2.17415048e-02 9.99762898e-01 -1.20643639e-03 -3.19421261e-01] [ 6.70269020e-02 -2.53602568e-04 9.97751136e-01 3.91347687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4399999999999995 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.32, Z:0.40 [[ 9.97305083e-01 -2.98558666e-02 -6.70164110e-02 5.88725984e+00] [ 2.98417012e-02 9.99553902e-01 -1.21265392e-03 -3.20210807e-01] [ 6.70227199e-02 -7.90497789e-04 9.97751136e-01 3.96743523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.32, Z:0.40 [[ 9.97000253e-01 -3.87212871e-02 -6.70161008e-02 5.94493570e+00] [ 3.87259793e-02 9.99249111e-01 -1.22956374e-03 -3.19149458e-01] [ 6.70133894e-02 -1.36938877e-03 9.97751137e-01 4.00381845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.32, Z:0.41 [[ 9.96513309e-01 -4.96999188e-02 -6.70159914e-02 6.00331423e+00] [ 4.97289811e-02 9.98761985e-01 -1.23549595e-03 -3.19996948e-01] [ 6.69944286e-02 -2.10144881e-03 9.97751137e-01 4.07562320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.33, Z:0.43 [[ 9.96540799e-01 -4.91460885e-02 -6.70156607e-02 6.06019673e+00] [ 4.91727127e-02 9.98789504e-01 -1.25318325e-03 -3.30602361e-01] [ 6.69961275e-02 -2.04649359e-03 9.97751137e-01 4.29669797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.33, Z:0.44 [[ 9.95684659e-01 -6.41948022e-02 -6.70155678e-02 6.11861114e+00] [ 6.42550616e-02 9.97932715e-01 -1.25812876e-03 -3.27463115e-01] [ 6.69577929e-02 -3.05338993e-03 9.97751137e-01 4.35524053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739999999999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.31, Z:0.42 [[ 9.94106071e-01 -8.52178033e-02 -6.70152595e-02 6.17968066e+00] [ 8.53244590e-02 9.96352404e-01 -1.27434406e-03 -3.10141191e-01] [ 6.68794117e-02 -4.45120759e-03 9.97751137e-01 4.22695269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.32, Z:0.44 [[ 9.94530245e-01 -8.01158492e-02 -6.70152358e-02 6.23788378e+00] [ 8.02108939e-02 9.96777099e-01 -1.27558651e-03 -3.15028934e-01] [ 6.69014471e-02 -4.10674261e-03 9.97751137e-01 4.42149909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859999999999999 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.30, Z:0.44 [[ 9.94560404e-01 -7.97406282e-02 -6.70151895e-02 6.29603943e+00] [ 7.98346622e-02 9.96807300e-01 -1.27801474e-03 -3.04071448e-01] [ 6.69031398e-02 -4.07907216e-03 9.97751137e-01 4.43691124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.29, Z:0.45 [[ 9.95567877e-01 -6.59819414e-02 -6.70148212e-02 6.35330839e+00] [ 6.60436220e-02 9.97815894e-01 -1.29704566e-03 -2.87419049e-01] [ 6.69540353e-02 -3.13460453e-03 9.97751137e-01 4.49521917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9799999999999995 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.28, Z:0.45 [[ 9.96042109e-01 -5.83881932e-02 -6.70144522e-02 6.41076768e+00] [ 5.84314670e-02 9.98290555e-01 -1.31583832e-03 -2.76912696e-01] [ 6.69767241e-02 -2.60512238e-03 9.97751137e-01 4.54686830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.26, Z:0.46 [[ 9.96727679e-01 -4.52000857e-02 -6.70140742e-02 6.46859946e+00] [ 4.52123214e-02 9.98976508e-01 -1.33481767e-03 -2.57447606e-01] [ 6.70058197e-02 -1.69941214e-03 9.97751137e-01 4.58560135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.24, Z:0.46 [[ 9.97032710e-01 -3.78806218e-02 -6.70136869e-02 6.52607105e+00] [ 3.78750577e-02 9.99281565e-01 -1.35398745e-03 -2.41258176e-01] [ 6.70168318e-02 -1.18817748e-03 9.97751138e-01 4.64224053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.23, Z:0.47 [[ 9.97230975e-01 -3.22428366e-02 -6.70132980e-02 6.58333135e+00] [ 3.22232824e-02 9.99479752e-01 -1.37296658e-03 -2.25292685e-01] [ 6.70227029e-02 -7.90223627e-04 9.97751138e-01 4.66986443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219999999999999 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.21, Z:0.47 [[ 9.97427612e-01 -2.54446389e-02 -6.70129039e-02 6.64119349e+00] [ 2.54084820e-02 9.99676183e-01 -1.39194090e-03 -2.11055075e-01] [ 6.70266215e-02 -3.14335869e-04 9.97751138e-01 4.67248382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.20, Z:0.47 [[ 9.97550056e-01 -2.00800983e-02 -6.70125058e-02 6.69929790e+00] [ 2.00305787e-02 9.99798372e-01 -1.41085261e-03 -2.03894142e-01] [ 6.70273243e-02 6.50968310e-05 9.97751138e-01 4.69697171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.20, Z:0.47 [[ 9.97637278e-01 -1.51406579e-02 -6.70121058e-02 6.75711465e+00] [ 1.50787472e-02 9.99885287e-01 -1.42960369e-03 -1.99810420e-01] [ 6.70260638e-02 4.15767338e-04 9.97751138e-01 4.74614971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.4 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.20, Z:0.48 [[ 9.97627290e-01 -1.57868358e-02 -6.70116881e-02 6.81461072e+00] [ 1.57250837e-02 9.99875303e-01 -1.44892121e-03 -2.00998931e-01] [ 6.70262059e-02 3.91718939e-04 9.97751138e-01 4.81612164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459999999999999 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.20, Z:0.49 [[ 9.97563311e-01 -1.94146962e-02 -6.70112638e-02 6.87240046e+00] [ 1.93598187e-02 9.99811503e-01 -1.46828693e-03 -2.02653665e-01] [ 6.70271387e-02 1.67383253e-04 9.97751139e-01 4.85027430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.21, Z:0.49 [[ 9.97457706e-01 -2.42419659e-02 -6.70108385e-02 6.93056531e+00] [ 2.41966815e-02 9.99706111e-01 -1.48744632e-03 -2.06276216e-01] [ 6.70272034e-02 -1.37775120e-04 9.97751139e-01 4.87988229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.21, Z:0.49 [[ 9.97392881e-01 -2.67776924e-02 -6.70104149e-02 6.98881605e+00] [ 2.67368580e-02 9.99641371e-01 -1.50629282e-03 -2.11074139e-01] [ 6.70267181e-02 -2.89282205e-04 9.97751139e-01 4.94230375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.22, Z:0.50 [[ 9.97279299e-01 -3.07190696e-02 -6.70099820e-02 7.04696667e+00] [ 3.06858434e-02 9.99527915e-01 -1.52531293e-03 -2.17141156e-01] [ 6.70252037e-02 -5.35094800e-04 9.97751139e-01 4.97698381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.7 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.22, Z:0.50 [[ 9.97105842e-01 -3.59118639e-02 -6.70095420e-02 7.10521360e+00] [ 3.58890648e-02 9.99354587e-01 -1.54440348e-03 -2.23724326e-01] [ 6.70217555e-02 -8.64976066e-04 9.97751139e-01 5.01927639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.22, Z:0.50 [[ 9.96558478e-01 -4.87952938e-02 -6.70090992e-02 7.16369600e+00] [ 4.88002837e-02 9.98807333e-01 -1.56338142e-03 -2.24662180e-01] [ 6.70054653e-02 -1.71206205e-03 9.97751140e-01 5.00042818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.23, Z:0.51 [[ 9.95774438e-01 -6.27942129e-02 -6.70086287e-02 7.22217804e+00] [ 6.28294656e-02 9.98023021e-01 -1.58329471e-03 -2.33426168e-01] [ 6.69755758e-02 -2.63351193e-03 9.97751140e-01 5.06096314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879999999999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.23, Z:0.51 [[ 9.95587696e-01 -6.56890123e-02 -6.70081565e-02 7.28011737e+00] [ 6.57294759e-02 9.97836192e-01 -1.60303505e-03 -2.34102539e-01] [ 6.69684655e-02 -2.80844904e-03 9.97751140e-01 5.07588387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.24, Z:0.52 [[ 9.96266951e-01 -5.44250674e-02 -6.70080113e-02 7.33727641e+00] [ 5.44396925e-02 9.98515764e-01 -1.60908017e-03 -2.37623518e-01] [ 6.69961299e-02 -2.04482214e-03 9.97751140e-01 5.16698092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.0 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.23, Z:0.52 [[ 9.96954241e-01 -3.99022261e-02 -6.70078688e-02 7.39488422e+00] [ 3.98836837e-02 9.99203024e-01 -1.61499510e-03 -2.34734697e-01] [ 6.70189070e-02 -1.06244443e-03 9.97751140e-01 5.20071241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.23, Z:0.52 [[ 9.97411871e-01 -2.60685033e-02 -6.70074070e-02 7.45395445e+00] [ 2.60174952e-02 9.99660152e-01 -1.63393083e-03 -2.32641666e-01] [ 6.70272289e-02 -1.13662882e-04 9.97751140e-01 5.20958718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.23, Z:0.53 [[ 9.97570359e-01 -1.90641084e-02 -6.70070042e-02 7.51243969e+00] [ 1.89962155e-02 9.99818194e-01 -1.65028771e-03 -2.34311463e-01] [ 6.70262832e-02 3.73398610e-04 9.97751140e-01 5.26327447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.24, Z:0.53 [[ 9.97587060e-01 -1.81706881e-02 -6.70065921e-02 7.57148704e+00] [ 1.80996695e-02 9.99834798e-01 -1.66685373e-03 -2.36853789e-01] [ 6.70258104e-02 4.50034548e-04 9.97751140e-01 5.32581182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.24, Z:0.54 [[ 9.97575429e-01 -1.87998946e-02 -6.70061810e-02 7.62909044e+00] [ 1.87291943e-02 9.99823176e-01 -1.68322136e-03 -2.42718175e-01] [ 6.70259771e-02 4.24168484e-04 9.97751141e-01 5.37727517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299999999999999 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.25, Z:0.54 [[ 9.97570080e-01 -1.90832993e-02 -6.70056948e-02 7.68784891e+00] [ 1.90119523e-02 9.99817807e-01 -1.70235799e-03 -2.49048613e-01] [ 6.70259734e-02 4.24312325e-04 9.97751141e-01 5.39370235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.25, Z:0.54 [[ 9.97603445e-01 -1.72531174e-02 -6.70052019e-02 7.74603958e+00] [ 1.71763584e-02 9.99850993e-01 -1.72154191e-03 -2.54173885e-01] [ 6.70249197e-02 5.66510775e-04 9.97751141e-01 5.44073775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.26, Z:0.54 [[ 9.97487713e-01 -2.29909747e-02 -6.70050500e-02 7.80574104e+00] [ 2.29267490e-02 9.99735655e-01 -1.72743281e-03 -2.61742066e-01] [ 6.70270530e-02 1.86885041e-04 9.97751141e-01 5.41464028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.27, Z:0.55 [[ 9.97020792e-01 -3.82089069e-02 -6.70046233e-02 7.86418269e+00] [ 3.81778881e-02 9.99269437e-01 -1.74382909e-03 -2.74055271e-01] [ 6.70223020e-02 -8.19461156e-04 9.97751141e-01 5.54019763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.28, Z:0.56 [[ 9.96222331e-01 -5.52404264e-02 -6.70041940e-02 7.92348788e+00] [ 5.52467386e-02 9.98471181e-01 -1.76017449e-03 -2.81569416e-01] [ 6.69989895e-02 -1.94823805e-03 9.97751141e-01 5.60461877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.6 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.29, Z:0.57 [[ 9.95542947e-01 -6.63681992e-02 -6.70037556e-02 7.98176048e+00] [ 6.63985275e-02 9.97791601e-01 -1.77670636e-03 -2.86107343e-01] [ 6.69737014e-02 -2.68016323e-03 9.97751141e-01 5.67881555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.28, Z:0.57 [[ 9.96206615e-01 -5.55242593e-02 -6.70032546e-02 8.03849434e+00] [ 5.55288446e-02 9.98455469e-01 -1.79540511e-03 -2.81213393e-01] [ 6.69994545e-02 -1.93201886e-03 9.97751142e-01 5.68675983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719999999999999 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.27, Z:0.56 [[ 9.96669811e-01 -4.64745160e-02 -6.70030385e-02 8.09833538e+00] [ 4.64581380e-02 9.98918610e-01 -1.80343066e-03 -2.65036605e-01] [ 6.70143957e-02 -1.31541152e-03 9.97751142e-01 5.55108421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.26, Z:0.56 [[ 9.97171163e-01 -3.40635482e-02 -6.70025777e-02 8.15567429e+00] [ 3.40180369e-02 9.99419561e-01 -1.82039324e-03 -2.56708460e-01] [ 6.70256959e-02 -4.64052514e-04 9.97751142e-01 5.57951861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.26, Z:0.58 [[ 9.97556536e-01 -1.97897990e-02 -6.70023999e-02 8.21390005e+00] [ 1.97116781e-02 9.99804037e-01 -1.82691311e-03 -2.62352947e-01] [ 6.70254242e-02 5.01719378e-04 9.97751142e-01 5.76513894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.9 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.26, Z:0.58 [[ 9.97712336e-01 -8.99080627e-03 -6.70019416e-02 8.27129609e+00] [ 8.88724406e-03 9.99958808e-01 -1.84357189e-03 -2.58778650e-01] [ 6.70157568e-02 1.24389181e-03 9.97751142e-01 5.83662442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959999999999999 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.26, Z:0.59 [[ 9.97735886e-01 -5.82328763e-03 -6.70014270e-02 8.32937758e+00] [ 5.71135110e-03 9.99981956e-01 -1.86208878e-03 -2.58039403e-01] [ 6.70110615e-02 1.47520412e-03 9.97751142e-01 5.85440757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.26, Z:0.59 [[ 9.97735403e-01 -5.91131759e-03 -6.70009111e-02 8.38739528e+00] [ 5.79834553e-03 9.99981421e-01 -1.88046918e-03 -2.58148018e-01] [ 6.70107824e-02 1.48771624e-03 9.97751142e-01 5.86463984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.26, Z:0.59 [[ 9.97720730e-01 -8.01839325e-03 -6.70003738e-02 8.44538473e+00] [ 7.90889240e-03 9.99966920e-01 -1.89942376e-03 -2.59660798e-01] [ 6.70133877e-02 1.36519572e-03 9.97751142e-01 5.88165031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.26, Z:0.60 [[ 9.97663783e-01 -1.33416744e-02 -6.69998171e-02 8.50223295e+00] [ 1.32428547e-02 9.99910468e-01 -1.91886155e-03 -2.63242164e-01] [ 6.70194193e-02 1.02710983e-03 9.97751143e-01 5.95935356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.2 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.26, Z:0.60 [[ 9.97556150e-01 -1.98192301e-02 -6.69994400e-02 8.56003910e+00] [ 1.97341219e-02 9.99803397e-01 -1.93194032e-03 -2.64684703e-01] [ 6.70245572e-02 6.05043831e-04 9.97751143e-01 5.97330878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.27, Z:0.60 [[ 9.97330148e-01 -2.90469706e-02 -6.69988812e-02 8.61676355e+00] [ 2.89813668e-02 9.99578048e-01 -1.95112722e-03 -2.65162414e-01] [ 6.70272852e-02 4.19884374e-06 9.97751143e-01 6.01525767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.26, Z:0.61 [[ 9.97045956e-01 -3.75574454e-02 -6.69985039e-02 8.67505090e+00] [ 3.75101633e-02 9.99294316e-01 -1.96399996e-03 -2.63995982e-01] [ 6.70249869e-02 -5.54926606e-04 9.97751143e-01 6.08224526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.26, Z:0.61 [[ 9.96511975e-01 -4.97509750e-02 -6.69979421e-02 8.73416054e+00] [ 4.97299240e-02 9.98760733e-01 -1.98297943e-03 -2.61004451e-01] [ 6.70135690e-02 -1.35573982e-03 9.97751143e-01 6.13769755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.25, Z:0.60 [[ 9.95762576e-01 -6.29939221e-02 -6.69974437e-02 8.79412975e+00] [ 6.30016450e-02 9.98011420e-01 -1.99967806e-03 -2.47378309e-01] [ 6.69901815e-02 -2.22974459e-03 9.97751143e-01 6.03227494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.5 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.24, Z:0.61 [[ 9.96080603e-01 -5.77480603e-02 -6.69969634e-02 8.85171163e+00] [ 5.77428647e-02 9.98329454e-01 -2.01564380e-03 -2.40546119e-01] [ 6.70014414e-02 -1.86085290e-03 9.97751143e-01 6.09593950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.23, Z:0.62 [[ 9.96543855e-01 -4.91099589e-02 -6.69966893e-02 8.91037725e+00] [ 4.90846565e-02 9.98792570e-01 -2.02471480e-03 -2.32757460e-01] [ 6.70152291e-02 -1.27079239e-03 9.97751143e-01 6.16754612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.23, Z:0.63 [[ 9.97269626e-01 -3.10613756e-02 -6.69961531e-02 8.96780951e+00] [ 3.09941870e-02 9.99517478e-01 -2.04230422e-03 -2.30814399e-01] [ 6.70272628e-02 -3.97633331e-05 9.97751144e-01 6.29387405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.22, Z:0.63 [[ 9.97527380e-01 -2.12288220e-02 -6.69960018e-02 9.02542592e+00] [ 2.11391449e-02 9.99774447e-01 -2.04725524e-03 -2.21517614e-01] [ 6.70243515e-02 6.25954967e-04 9.97751144e-01 6.25630425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.22, Z:0.63 [[ 9.97610685e-01 -1.68665424e-02 -6.69958210e-02 9.08363004e+00] [ 1.67666439e-02 9.99857322e-01 -2.05315383e-03 -2.16032763e-01] [ 6.70208918e-02 9.24953122e-04 9.97751144e-01 6.29201611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799999999999999 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.21, Z:0.63 [[ 9.97602407e-01 -1.73515255e-02 -6.69952414e-02 9.14276007e+00] [ 1.72514609e-02 9.99849036e-01 -2.07189561e-03 -2.11184106e-01] [ 6.70210781e-02 9.11162263e-04 9.97751144e-01 6.32082130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.21, Z:0.64 [[ 9.97544474e-01 -2.04139715e-02 -6.69947243e-02 9.20026368e+00] [ 2.03196902e-02 9.99791352e-01 -2.08848473e-03 -2.09826640e-01] [ 6.70233803e-02 7.22044359e-04 9.97751144e-01 6.37332093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.21, Z:0.64 [[ 9.97541103e-01 -2.05799483e-02 -6.69941292e-02 9.25909726e+00] [ 2.04847705e-02 9.99787944e-01 -2.10740270e-03 -2.10153419e-01] [ 6.70232929e-02 7.29861452e-04 9.97751144e-01 6.40086343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.21, Z:0.64 [[ 9.97600420e-01 -1.74716467e-02 -6.69936133e-02 9.31767050e+00] [ 1.73683758e-02 9.99846903e-01 -2.12367709e-03 -2.08754434e-01] [ 6.70204609e-02 9.55010904e-04 9.97751144e-01 6.42397787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.21, Z:0.65 [[ 9.97634850e-01 -1.53829072e-02 -6.69930773e-02 9.37482498e+00] [ 1.52738068e-02 9.99881058e-01 -2.14045425e-03 -2.08495940e-01] [ 6.70180354e-02 1.11215244e-03 9.97751144e-01 6.47804365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.1 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.21, Z:0.65 [[ 9.97627014e-01 -1.58839292e-02 -6.69928501e-02 9.43363490e+00] [ 1.57754810e-02 9.99873253e-01 -2.14754140e-03 -2.10520944e-01] [ 6.70184704e-02 1.08560088e-03 9.97751144e-01 6.54800422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.21, Z:0.66 [[ 9.97637423e-01 -1.52174833e-02 -6.69925467e-02 9.49109613e+00] [ 1.51069020e-02 9.99883558e-01 -2.15696380e-03 -2.09137237e-01] [ 6.70175695e-02 1.13981796e-03 9.97751144e-01 6.60134941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219999999999999 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.21, Z:0.66 [[ 9.97623147e-01 -1.61274047e-02 -6.69922585e-02 9.54886730e+00] [ 1.60182736e-02 9.99869353e-01 -2.16587939e-03 -2.09669543e-01] [ 6.70184362e-02 1.08763109e-03 9.97751144e-01 6.63999203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.21, Z:0.67 [[ 9.97593785e-01 -1.78538988e-02 -6.69916332e-02 9.60715456e+00] [ 1.77473682e-02 9.99840115e-01 -2.18504983e-03 -2.09477717e-01] [ 6.70199340e-02 9.90866951e-04 9.97751145e-01 6.66227149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.21, Z:0.67 [[ 9.97501338e-01 -2.24340544e-02 -6.69910034e-02 9.66525317e+00] [ 2.23365531e-02 9.99748078e-01 -2.20419400e-03 -2.09641405e-01] [ 6.70235759e-02 7.02338356e-04 9.97751145e-01 6.69390827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.4 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.20, Z:0.66 [[ 9.96785332e-01 -4.39464839e-02 -6.69903680e-02 9.72448099e+00] [ 4.38961845e-02 9.99033624e-01 -2.22333798e-03 -2.04328039e-01] [ 6.70233380e-02 -7.24430869e-04 9.97751145e-01 6.61860493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.22, Z:0.68 [[ 9.96642893e-01 -4.70671462e-02 -6.69897598e-02 9.78127508e+00] [ 4.70226648e-02 9.98891308e-01 -2.24151474e-03 -2.17573096e-01] [ 6.70209905e-02 -9.16047283e-04 9.97751145e-01 6.79198627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.22, Z:0.68 [[ 9.96117926e-01 -5.71093974e-02 -6.69895061e-02 9.83966059e+00] [ 5.70870709e-02 9.98366670e-01 -2.24907269e-03 -2.19510137e-01] [ 6.70085333e-02 -1.58389306e-03 9.97751145e-01 6.84937758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.21, Z:0.68 [[ 9.95424015e-01 -6.81434078e-02 -6.69888536e-02 9.89922736e+00] [ 6.81447048e-02 9.97672869e-01 -2.26834040e-03 -2.09835540e-01] [ 6.69875343e-02 -2.30697514e-03 9.97751145e-01 6.79973133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639999999999999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.21, Z:0.68 [[ 9.95647779e-01 -6.47924789e-02 -6.69883192e-02 9.95757997e+00] [ 6.47851527e-02 9.97896622e-01 -2.28401594e-03 -2.06597329e-01] [ 6.69954044e-02 -2.06577309e-03 9.97751146e-01 6.83263641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.7 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.20, Z:0.68 [[ 9.96069243e-01 -5.79543596e-02 -6.69877225e-02 1.00161596e+01] [ 5.79304246e-02 9.98317970e-01 -2.30138381e-03 -2.00422674e-01] [ 6.70084224e-02 -1.58828958e-03 9.97751146e-01 6.80947374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.19, Z:0.68 [[ 9.96366831e-01 -5.25916132e-02 -6.69870136e-02 1.00743644e+01] [ 5.25541989e-02 9.98615374e-01 -2.32183553e-03 -1.93314781e-01] [ 6.70163708e-02 -1.20704893e-03 9.97751146e-01 6.78017983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.19, Z:0.68 [[ 9.96677035e-01 -4.63428202e-02 -6.69867948e-02 1.01330036e+01] [ 4.62908839e-02 9.98925289e-01 -2.32813324e-03 -1.89142060e-01] [ 6.70226956e-02 -7.80481004e-04 9.97751146e-01 6.82844772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.20, Z:0.70 [[ 9.97231259e-01 -3.22903527e-02 -6.69861841e-02 1.01907137e+01] [ 3.22055615e-02 9.99478514e-01 -2.34557458e-03 -1.99456994e-01] [ 6.70269911e-02 1.81752623e-04 9.97751146e-01 7.03254305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.20, Z:0.71 [[ 9.97303237e-01 -2.99853669e-02 -6.69860551e-02 1.02483511e+01] [ 2.98951349e-02 9.99550280e-01 -2.34925090e-03 -1.97293583e-01] [ 6.70263733e-02 3.40358372e-04 9.97751146e-01 7.07963966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.0 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.20, Z:0.71 [[ 9.97360555e-01 -2.80146419e-02 -6.69858483e-02 1.03067231e+01] [ 2.79195749e-02 9.99607398e-01 -2.35513282e-03 -1.95675664e-01] [ 6.70255278e-02 4.78700160e-04 9.97751146e-01 7.08967842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.20, Z:0.71 [[ 9.97390920e-01 -2.69135589e-02 -6.69851723e-02 1.03644882e+01] [ 2.68147305e-02 9.99637601e-01 -2.37420692e-03 -1.95542192e-01] [ 6.70247953e-02 5.71823084e-04 9.97751146e-01 7.14715546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.19, Z:0.71 [[ 9.97473422e-01 -2.36611466e-02 -6.69844971e-02 1.04240210e+01] [ 2.35537239e-02 9.99719708e-01 -2.39310607e-03 -1.93325992e-01] [ 6.70223455e-02 8.09325347e-04 9.97751146e-01 7.13261545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.19, Z:0.72 [[ 9.97501244e-01 -2.24593594e-02 -6.69839226e-02 1.04824129e+01] [ 2.23481579e-02 9.99747346e-01 -2.40908066e-03 -1.91240649e-01] [ 6.70211052e-02 9.06093676e-04 9.97751147e-01 7.17267952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.19, Z:0.72 [[ 9.97438122e-01 -2.51084528e-02 -6.69832766e-02 1.05396713e+01] [ 2.50020198e-02 9.99684455e-01 -2.42690890e-03 -1.90336780e-01] [ 6.70230763e-02 7.45974245e-04 9.97751147e-01 7.22749000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.19, Z:0.73 [[ 9.97327077e-01 -2.91885428e-02 -6.69830613e-02 1.05984945e+01] [ 2.90909017e-02 9.99573810e-01 -2.43283819e-03 -1.89988929e-01] [ 6.70255248e-02 4.77737749e-04 9.97751147e-01 7.31356620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.19, Z:0.74 [[ 9.97246112e-01 -3.18362099e-02 -6.69824454e-02 1.06557474e+01] [ 3.17434029e-02 9.99493049e-01 -2.44967777e-03 -1.88391900e-01] [ 6.70264771e-02 3.16680883e-04 9.97751147e-01 7.36485877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.17, Z:0.72 [[ 9.96840741e-01 -4.26839426e-02 -6.69822287e-02 1.07153725e+01] [ 4.26151896e-02 9.99088542e-01 -2.45559045e-03 -1.74308375e-01] [ 6.70259915e-02 -4.06627771e-04 9.97751147e-01 7.23119285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.17, Z:0.73 [[ 9.96818847e-01 -4.31932264e-02 -6.69815802e-02 1.07737830e+01] [ 4.31244415e-02 9.99066647e-01 -2.47315509e-03 -1.70932979e-01] [ 6.70258863e-02 -4.23255629e-04 9.97751147e-01 7.29534830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.18, Z:0.75 [[ 9.97038574e-01 -3.77841174e-02 -6.69809074e-02 1.08304990e+01] [ 3.77019223e-02 9.99285924e-01 -2.49124486e-03 -1.78224919e-01] [ 6.70272074e-02 -4.14417468e-05 9.97751147e-01 7.48550997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.6 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.18, Z:0.75 [[ 9.96930149e-01 -4.05446382e-02 -6.69806711e-02 1.08893250e+01] [ 4.04682403e-02 9.99177704e-01 -2.49758112e-03 -1.75921596e-01] [ 6.70268567e-02 -2.20675976e-04 9.97751147e-01 7.54474931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.16, Z:0.74 [[ 9.96273805e-01 -5.43339550e-02 -6.69800450e-02 1.09494588e+01] [ 5.42875398e-02 9.98522179e-01 -2.51426028e-03 -1.63615211e-01] [ 6.70176702e-02 -1.13129021e-03 9.97751147e-01 7.40369343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719999999999999 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.17, Z:0.76 [[ 9.96652299e-01 -4.68815618e-02 -6.69799481e-02 1.10071142e+01] [ 4.68181595e-02 9.98900258e-01 -2.51684051e-03 -1.74311421e-01] [ 6.70242808e-02 -6.27463013e-04 9.97751147e-01 7.61072858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.16, Z:0.75 [[ 9.96153281e-01 -5.65008516e-02 -6.69798051e-02 1.10674167e+01] [ 5.64588983e-02 9.98401742e-01 -2.52063829e-03 -1.59733065e-01] [ 6.70151724e-02 -1.27066390e-03 9.97751147e-01 7.46675318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.17, Z:0.77 [[ 9.96857557e-01 -4.22933725e-02 -6.69797094e-02 1.11253471e+01] [ 4.22191975e-02 9.99105186e-01 -2.52317864e-03 -1.66905766e-01] [ 6.70264888e-02 -3.12579887e-04 9.97751147e-01 7.67674433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.9 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.15, Z:0.75 [[ 9.96800830e-01 -4.36101339e-02 -6.69795680e-02 1.11844728e+01] [ 4.35386760e-02 9.99048547e-01 -2.52692780e-03 -1.51298352e-01] [ 6.70260397e-02 -3.97357984e-04 9.97751147e-01 7.53045650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959999999999999 meters Centerline goodness : 0.997277 with order 1 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.16, Z:0.77 [[ 9.97349356e-01 -2.84268581e-02 -6.69789194e-02 1.12410551e+01] [ 2.83200360e-02 9.99595670e-01 -2.54400360e-03 -1.56475908e-01] [ 6.70241559e-02 6.40414946e-04 9.97751148e-01 7.69403950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.14, Z:0.76 [[ 9.97263846e-01 -3.12840176e-02 -6.69785901e-02 1.13005108e+01] [ 3.11830509e-02 9.99510431e-01 -2.55264566e-03 -1.42346456e-01] [ 6.70256564e-02 4.57064444e-04 9.97751148e-01 7.62637077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.14, Z:0.77 [[ 9.97337888e-01 -2.88291512e-02 -6.69777378e-02 1.13593069e+01] [ 2.87211662e-02 9.99584146e-01 -2.57481497e-03 -1.40975889e-01] [ 6.70241146e-02 6.44281788e-04 9.97751148e-01 7.66388668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139999999999999 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.15, Z:0.78 [[ 9.97527982e-01 -2.12603258e-02 -6.69770360e-02 1.14168888e+01] [ 2.11340820e-02 9.99773288e-01 -2.59294359e-03 -1.46747348e-01] [ 6.70169783e-02 1.17103562e-03 9.97751148e-01 7.81957578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.2 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.15, Z:0.78 [[ 9.97447304e-01 -2.47585249e-02 -6.69767891e-02 1.14753040e+01] [ 2.46397290e-02 9.99693017e-01 -2.59930702e-03 -1.45228221e-01] [ 6.70205833e-02 9.42381849e-04 9.97751148e-01 7.84664460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.14, Z:0.78 [[ 9.96916531e-01 -4.08857002e-02 -6.69760346e-02 1.15349253e+01] [ 4.08019403e-02 9.99163823e-01 -2.61860454e-03 -1.39049895e-01] [ 6.70270942e-02 -1.22222003e-04 9.97751148e-01 7.80757303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.15, Z:0.80 [[ 9.96825028e-01 -4.30595680e-02 -6.69756470e-02 1.15924357e+01] [ 4.29800453e-02 9.99072473e-01 -2.62848159e-03 -1.48516603e-01] [ 6.70267065e-02 -2.58480102e-04 9.97751148e-01 7.99944448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379999999999999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.14, Z:0.79 [[ 9.96209572e-01 -5.55048132e-02 -6.69753976e-02 1.16526116e+01] [ 5.54529373e-02 9.98457826e-01 -2.63482086e-03 -1.38549175e-01] [ 6.70183551e-02 -1.08914876e-03 9.97751148e-01 7.91545439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.14, Z:0.80 [[ 9.96053114e-01 -5.82451948e-02 -6.69753027e-02 1.17111658e+01] [ 5.81993421e-02 9.98301498e-01 -2.63723003e-03 -1.39677944e-01] [ 6.70151510e-02 -1.27109737e-03 9.97751148e-01 7.95002371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.5 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.14, Z:0.80 [[ 9.96113213e-01 -5.72089987e-02 -6.69746069e-02 1.17691607e+01] [ 5.71596272e-02 9.98361522e-01 -2.65478454e-03 -1.36684516e-01] [ 6.70167480e-02 -1.18377760e-03 9.97751148e-01 7.95092713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.14, Z:0.80 [[ 9.96481128e-01 -5.03963836e-02 -6.69743616e-02 1.18277118e+01] [ 5.03312248e-02 9.98729036e-01 -2.66095722e-03 -1.36298698e-01] [ 6.70233422e-02 -7.19308002e-04 9.97751148e-01 8.01003563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.13, Z:0.80 [[ 9.96951952e-01 -4.00166492e-02 -6.69736752e-02 1.18853652e+01] [ 3.99269318e-02 9.99199013e-01 -2.67812357e-03 -1.33347304e-01] [ 6.70271997e-02 -4.09284234e-06 9.97751149e-01 8.04983684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.13, Z:0.81 [[ 9.97029197e-01 -3.80449534e-02 -6.69728419e-02 1.19427178e+01] [ 3.79494032e-02 9.99276018e-01 -2.69880357e-03 -1.30604610e-01] [ 6.70270306e-02 1.49206580e-04 9.97751149e-01 8.07565006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.13, Z:0.82 [[ 9.97281704e-01 -3.07228321e-02 -6.69724549e-02 1.19995710e+01] [ 3.06101438e-02 9.99527730e-01 -2.70837181e-03 -1.34669006e-01] [ 6.70240347e-02 6.50973180e-04 9.97751149e-01 8.24051594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799999999999999 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.12, Z:0.81 [[ 9.96940972e-01 -4.02917191e-02 -6.69722056e-02 1.20593108e+01] [ 4.02001764e-02 9.99187959e-01 -2.71452433e-03 -1.15478190e-01] [ 6.70271942e-02 1.39260452e-05 9.97751149e-01 8.10843801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.12, Z:0.83 [[ 9.97266673e-01 -3.12089007e-02 -6.69715370e-02 1.21166557e+01] [ 3.10957930e-02 9.99512678e-01 -2.73091928e-03 -1.15471897e-01] [ 6.70241293e-02 6.40921731e-04 9.97751149e-01 8.26153150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.10, Z:0.82 [[ 9.97021565e-01 -3.82470546e-02 -6.69713458e-02 1.21759293e+01] [ 3.81494882e-02 9.99268299e-01 -2.73559963e-03 -1.02896296e-01] [ 6.70269715e-02 1.72529254e-04 9.97751149e-01 8.22069404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979999999999999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.09, Z:0.82 [[ 9.96917209e-01 -4.08779258e-02 -6.69706857e-02 1.22344611e+01] [ 4.07852090e-02 9.99164148e-01 -2.75166789e-03 -9.25197239e-02] [ 6.70271906e-02 1.17716614e-05 9.97751149e-01 8.20955992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.10, Z:0.84 [[ 9.97270433e-01 -3.10919678e-02 -6.69699352e-02 1.22913996e+01] [ 3.09759851e-02 9.99516291e-01 -2.76981247e-03 -1.00189751e-01] [ 6.70236602e-02 6.87792364e-04 9.97751149e-01 8.35879260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.1 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.10, Z:0.84 [[ 9.97304929e-01 -2.99661237e-02 -6.69694737e-02 1.23502861e+01] [ 2.98468596e-02 9.99550615e-01 -2.78092667e-03 -9.66638834e-02] [ 6.70227122e-02 7.74603395e-04 9.97751149e-01 8.41221296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.09, Z:0.85 [[ 9.97368532e-01 -2.77703852e-02 -6.69687713e-02 1.24077749e+01] [ 2.76450485e-02 9.99613887e-01 -2.79773980e-03 -9.20290549e-02] [ 6.70206081e-02 9.39022701e-04 9.97751149e-01 8.46511834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219999999999999 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.09, Z:0.85 [[ 9.97474869e-01 -2.36457051e-02 -6.69683972e-02 1.24654568e+01] [ 2.35104851e-02 9.99719651e-01 -2.80666737e-03 -9.23548777e-02] [ 6.70159882e-02 1.22512067e-03 9.97751150e-01 8.52300690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.09, Z:0.86 [[ 9.97531306e-01 -2.11337559e-02 -6.69675905e-02 1.25231990e+01] [ 2.09916006e-02 9.99775659e-01 -2.82578359e-03 -8.89997175e-02] [ 6.70122864e-02 1.41305068e-03 9.97751150e-01 8.56941412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.09, Z:0.86 [[ 9.97574131e-01 -1.90079833e-02 -6.69667773e-02 1.25814151e+01] [ 1.88597614e-02 9.99818091e-01 -2.84492560e-03 -8.51317844e-02] [ 6.70086718e-02 1.57504675e-03 9.97751150e-01 8.60010192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399999999999999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.09, Z:0.87 [[ 9.97494206e-01 -2.28225351e-02 -6.69659611e-02 1.26389186e+01] [ 2.26816144e-02 9.99738637e-01 -2.86401064e-03 -8.72641582e-02] [ 6.70138227e-02 1.33793792e-03 9.97751150e-01 8.66764500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459999999999999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.09, Z:0.87 [[ 9.97398195e-01 -2.66929353e-02 -6.69651263e-02 1.26965655e+01] [ 2.65594232e-02 9.99643078e-01 -2.88339950e-03 -8.70268251e-02] [ 6.70181913e-02 1.09734233e-03 9.97751150e-01 8.70587217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.09, Z:0.88 [[ 9.97170524e-01 -3.41562789e-02 -6.69648702e-02 1.27555015e+01] [ 3.40391718e-02 9.99416323e-01 -2.88933520e-03 -8.86638993e-02] [ 6.70244733e-02 6.01731180e-04 9.97751150e-01 8.76842402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.09, Z:0.88 [[ 9.97046819e-01 -3.75957817e-02 -6.69641485e-02 1.28133555e+01] [ 3.74853052e-02 9.99292954e-01 -2.90596531e-03 -8.93094547e-02] [ 6.70260538e-02 3.87211923e-04 9.97751150e-01 8.80859920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.08, Z:0.87 [[ 9.96711223e-01 -4.56360680e-02 -6.69633253e-02 1.28729507e+01] [ 4.55424446e-02 9.98958123e-01 -2.92481245e-03 -8.10335442e-02] [ 6.70270347e-02 -1.34480135e-04 9.97751151e-01 8.72475689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.7 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.09, Z:0.88 [[ 9.97056379e-01 -3.73441742e-02 -6.69625934e-02 1.29318708e+01] [ 3.72307460e-02 9.99302366e-01 -2.94147604e-03 -8.76207539e-02] [ 6.70257250e-02 4.39750143e-04 9.97751151e-01 8.84599504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.08, Z:0.88 [[ 9.96914763e-01 -4.09519658e-02 -6.69618670e-02 1.29913309e+01] [ 4.08455613e-02 9.99161094e-01 -2.95792032e-03 -7.77923685e-02] [ 6.70268249e-02 2.13699396e-04 9.97751151e-01 8.80369945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.07, Z:0.88 [[ 9.96970006e-01 -3.95855255e-02 -6.69611369e-02 1.30498322e+01] [ 3.94749383e-02 9.99216134e-01 -2.97435627e-03 -7.37019555e-02] [ 6.70263898e-02 3.22057239e-04 9.97751151e-01 8.83645863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879999999999999 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.08, Z:0.89 [[ 9.97158434e-01 -3.45162164e-02 -6.69603449e-02 1.31080974e+01] [ 3.43930208e-02 9.99403906e-01 -2.99207991e-03 -7.75610333e-02] [ 6.70237056e-02 6.80609187e-04 9.97751151e-01 8.91857400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.08, Z:0.90 [[ 9.97098951e-01 -3.61941611e-02 -6.69601783e-02 1.31647321e+01] [ 3.60744943e-02 9.99344613e-01 -2.99580353e-03 -7.70357031e-02] [ 6.70247241e-02 5.71557990e-04 9.97751151e-01 8.98468209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.0 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.07, Z:0.89 [[ 9.96710569e-01 -4.56555228e-02 -6.69598076e-02 1.32240685e+01] [ 4.55566186e-02 9.98957241e-01 -3.00406770e-03 -6.78872007e-02] [ 6.70271370e-02 -5.62763913e-05 9.97751151e-01 8.93765414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.07, Z:0.91 [[ 9.96877522e-01 -4.18532326e-02 -6.69590400e-02 1.32813977e+01] [ 4.17446166e-02 9.99123746e-01 -3.02107998e-03 -7.36511930e-02] [ 6.70268089e-02 2.16467272e-04 9.97751151e-01 9.06347080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.06, Z:0.90 [[ 9.96508439e-01 -4.98743765e-02 -6.69587717e-02 1.33402060e+01] [ 4.97834421e-02 9.98755449e-01 -3.02701455e-03 -5.99257757e-02] [ 6.70264086e-02 -3.16992593e-04 9.97751151e-01 8.98162033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.07, Z:0.91 [[ 9.96872151e-01 -4.19827099e-02 -6.69579451e-02 1.33978612e+01] [ 4.18727661e-02 9.99118310e-01 -3.04519157e-03 -6.76608583e-02] [ 6.70267544e-02 2.31952303e-04 9.97751152e-01 9.12188461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.07, Z:0.91 [[ 9.96828640e-01 -4.30038904e-02 -6.69576575e-02 1.34564125e+01] [ 4.28958238e-02 9.99074890e-01 -3.05150184e-03 -6.50149561e-02] [ 6.70269408e-02 1.69620548e-04 9.97751152e-01 9.13117479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299999999999999 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.06, Z:0.91 [[ 9.96934517e-01 -4.04766553e-02 -6.69567698e-02 1.35148062e+01] [ 4.03615946e-02 9.99180420e-01 -3.07085669e-03 -5.97443923e-02] [ 6.70261914e-02 3.58961029e-04 9.97751152e-01 9.14919659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.06, Z:0.92 [[ 9.97012218e-01 -3.85168309e-02 -6.69558883e-02 1.35724327e+01] [ 3.83960728e-02 9.99257821e-01 -3.08995787e-03 -5.55378721e-02] [ 6.70252105e-02 5.09882590e-04 9.97751152e-01 9.19009398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.05, Z:0.92 [[ 9.97144875e-01 -3.49159934e-02 -6.69550021e-02 1.36300634e+01] [ 3.47858449e-02 9.99389953e-01 -3.10904454e-03 -5.05583580e-02] [ 6.70227118e-02 7.71081508e-04 9.97751152e-01 9.24692487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479999999999999 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.05, Z:0.93 [[ 9.97227218e-01 -3.24811280e-02 -6.69541077e-02 1.36882977e+01] [ 3.23442130e-02 9.99471894e-01 -3.12818771e-03 -4.53586399e-02] [ 6.70203559e-02 9.53936008e-04 9.97751152e-01 9.27639650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.03, Z:0.92 [[ 9.96950874e-01 -4.00777278e-02 -6.69532012e-02 1.37459674e+01] [ 3.99566232e-02 9.99196458e-01 -3.14747159e-03 -3.25938521e-02] [ 6.70255450e-02 4.62650724e-04 9.97751152e-01 9.22559944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.6 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.03, Z:0.93 [[ 9.96966787e-01 -3.96814944e-02 -6.69522499e-02 1.38035894e+01] [ 3.95581471e-02 9.99212249e-01 -3.16757783e-03 -3.07943791e-02] [ 6.70252025e-02 5.09462942e-04 9.97751153e-01 9.29782156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.04, Z:0.94 [[ 9.97149013e-01 -3.48047513e-02 -6.69512929e-02 1.38610796e+01] [ 3.46690732e-02 9.99393763e-01 -3.18767851e-03 -3.73369686e-02] [ 6.70216509e-02 8.57451205e-04 9.97751153e-01 9.43122549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719999999999999 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.04, Z:0.95 [[ 9.97101316e-01 -3.61459502e-02 -6.69509987e-02 1.39180721e+01] [ 3.60128776e-02 9.99346222e-01 -3.19384572e-03 -3.51194060e-02] [ 6.70226722e-02 7.73489646e-04 9.97751153e-01 9.47999509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.03, Z:0.95 [[ 9.97047702e-01 -3.75968923e-02 -6.69503803e-02 1.39764170e+01] [ 3.74662198e-02 9.99292749e-01 -3.20675613e-03 -3.22838512e-02] [ 6.70235937e-02 6.88911167e-04 9.97751153e-01 9.49295519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.03, Z:0.95 [[ 9.97004395e-01 -3.87298749e-02 -6.69494838e-02 1.40335986e+01] [ 3.86005041e-02 9.99249517e-01 -3.22536565e-03 -3.08287065e-02] [ 6.70241574e-02 6.31419908e-04 9.97751153e-01 9.53770533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899999999999999 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.03, Z:0.96 [[ 9.96964551e-01 -3.97429428e-02 -6.69490974e-02 1.40913718e+01] [ 3.96153161e-02 9.99209774e-01 -3.23336708e-03 -2.91418840e-02] [ 6.70246960e-02 5.71342706e-04 9.97751153e-01 9.56435817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.03, Z:0.96 [[ 9.96972924e-01 -3.95338616e-02 -6.69482119e-02 1.41491035e+01] [ 3.94045399e-02 9.99218049e-01 -3.25159880e-03 -2.84492770e-02] [ 6.70244099e-02 6.03692476e-04 9.97751153e-01 9.63192712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.03, Z:0.97 [[ 9.97008904e-01 -3.86174389e-02 -6.69472763e-02 1.42068396e+01] [ 3.84847677e-02 9.99253834e-01 -3.27074958e-03 -2.71524554e-02] [ 6.70236305e-02 6.84516079e-04 9.97751154e-01 9.67443284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.02, Z:0.97 [[ 9.97087664e-01 -3.65291376e-02 -6.69463471e-02 1.42649917e+01] [ 3.63904953e-02 9.99332232e-01 -3.28965872e-03 -2.35399775e-02] [ 6.70218109e-02 8.43867395e-04 9.97751154e-01 9.67432644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.01, Z:0.96 [[ 9.97024085e-01 -3.82267448e-02 -6.69454261e-02 1.43241518e+01] [ 3.80906731e-02 9.99268811e-01 -3.30829632e-03 -1.44110515e-02] [ 6.70229417e-02 7.48454767e-04 9.97751154e-01 9.62913110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.2 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.02, Z:0.97 [[ 9.97225333e-01 -3.25585172e-02 -6.69445960e-02 1.43814399e+01] [ 3.24085658e-02 9.99469174e-01 -3.32500942e-03 -1.77022555e-02] [ 6.70173174e-02 1.14620528e-03 9.97751154e-01 9.73764695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259999999999998 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.01, Z:0.97 [[ 9.96886832e-01 -4.16546347e-02 -6.69442766e-02 1.44402510e+01] [ 4.15247286e-02 9.99131922e-01 -3.33142911e-03 -7.42721668e-03] [ 6.70249332e-02 5.41214894e-04 9.97751154e-01 9.65859736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.01, Z:0.97 [[ 9.96902357e-01 -4.12830113e-02 -6.69432844e-02 1.44976851e+01] [ 4.11509375e-02 9.99147321e-01 -3.35124908e-03 -1.18851577e-02] [ 6.70245529e-02 5.86089202e-04 9.97751154e-01 9.74186294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.02, Z:0.99 [[ 9.96905624e-01 -4.12054953e-02 -6.69423916e-02 1.45552730e+01] [ 4.10720557e-02 9.99150507e-01 -3.36898931e-03 -1.51122736e-02] [ 6.70243454e-02 6.09102758e-04 9.97751154e-01 9.85314662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439999999999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.01, Z:0.99 [[ 9.96752995e-01 -4.47462267e-02 -6.69420733e-02 1.46140215e+01] [ 4.46203379e-02 9.98998315e-01 -3.37530091e-03 -1.36684832e-02] [ 6.70260504e-02 3.77363358e-04 9.97751154e-01 9.93967092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.5 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.01, Z:1.00 [[ 9.96536365e-01 -4.93370308e-02 -6.69412482e-02 1.46712219e+01] [ 4.92203917e-02 9.98782184e-01 -3.39158768e-03 -1.10302076e-02] [ 6.70270569e-02 8.49660061e-05 9.97751155e-01 9.98894214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.01, Z:1.00 [[ 9.96360001e-01 -5.27795008e-02 -6.69408095e-02 1.47287971e+01] [ 5.26700409e-02 9.98606181e-01 -3.40022333e-03 -8.79884590e-03] [ 6.70269683e-02 -1.37928652e-04 9.97751155e-01 1.00385144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:0.00, Z:1.00 [[ 9.95945073e-01 -6.01037742e-02 -6.69398901e-02 1.47872005e+01] [ 6.00096221e-02 9.98191946e-01 -3.41822968e-03 1.81067617e-03] [ 6.70243076e-02 -6.12668504e-04 9.97751155e-01 9.95882796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:0.00, Z:1.00 [[ 9.95924739e-01 -6.04408770e-02 -6.69388829e-02 1.48458358e+01] [ 6.03461674e-02 9.98171589e-01 -3.43783952e-03 4.32894638e-03] [ 6.70242772e-02 -6.15675613e-04 9.97751155e-01 9.99278295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:14.90, Y:0.01, Z:1.00 [[ 9.96022989e-01 -5.88006457e-02 -6.69379533e-02 1.49026676e+01] [ 5.87010259e-02 9.98269626e-01 -3.45584701e-03 7.62221429e-03] [ 6.70253316e-02 -4.87223465e-04 9.97751155e-01 1.00393962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.8 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:14.96, Y:0.01, Z:1.01 [[ 9.96122501e-01 -5.70908874e-02 -6.69372391e-02 1.49598740e+01] [ 5.69864856e-02 9.98368921e-01 -3.46962529e-03 1.05590573e-02] [ 6.70261431e-02 -3.58346187e-04 9.97751155e-01 1.01228133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:15.02, Y:0.01, Z:1.02 [[ 9.96307474e-01 -5.37676732e-02 -6.69361979e-02 1.50170558e+01] [ 5.36544365e-02 9.98553466e-01 -3.48959671e-03 8.70745382e-03] [ 6.70269999e-02 -1.14712704e-04 9.97751155e-01 1.02195478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919999999999998 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:15.08, Y:0.01, Z:1.02 [[ 9.96311850e-01 -5.36869310e-02 -6.69358777e-02 1.50752098e+01] [ 5.35731004e-02 9.98557811e-01 -3.49572871e-03 1.22006958e-02] [ 6.70270185e-02 -1.03126555e-04 9.97751155e-01 1.02491054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:15.13, Y:0.02, Z:1.02 [[ 9.95770456e-01 -6.29358620e-02 -6.69348672e-02 1.51331110e+01] [ 6.28415977e-02 9.98017324e-01 -3.51497123e-03 2.33700093e-02] [ 6.70233748e-02 -7.06189496e-04 9.97751156e-01 1.01675709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:15.19, Y:0.03, Z:1.02 [[ 9.95626312e-01 -6.51775732e-02 -6.69337728e-02 1.51905348e+01] [ 6.50869752e-02 9.97873331e-01 -3.53568896e-03 2.87163394e-02] [ 6.70218745e-02 -8.36291856e-04 9.97751156e-01 1.02000936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099999999999998 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:0.03, Z:1.02 [[ 9.95603875e-01 -6.55197591e-02 -6.69334389e-02 1.52482209e+01] [ 6.54295091e-02 9.97850907e-01 -3.54199974e-03 3.28053757e-02] [ 6.70216637e-02 -8.52993388e-04 9.97751156e-01 1.02420636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:15.31, Y:0.04, Z:1.03 [[ 9.95444548e-01 -6.78977811e-02 -6.69331205e-02 1.53064022e+01] [ 6.78124951e-02 9.97691775e-01 -3.54800567e-03 3.66931033e-02] [ 6.70195255e-02 -1.00705901e-03 9.97751156e-01 1.02691952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:0.03, Z:1.04 [[ 9.95841463e-01 -6.18052132e-02 -6.69320267e-02 1.53635580e+01] [ 6.17047988e-02 9.98088064e-01 -3.56852216e-03 3.01565584e-02] [ 6.70246102e-02 -5.76344914e-04 9.97751156e-01 1.04203210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:0.04, Z:1.03 [[ 9.94978232e-01 -7.44208740e-02 -6.69316900e-02 1.54223172e+01] [ 7.43485157e-02 9.97225912e-01 -3.57482651e-03 4.39988071e-02] [ 6.70120573e-02 -1.41939724e-03 9.97751156e-01 1.03475659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:0.04, Z:1.05 [[ 9.95402942e-01 -6.85067023e-02 -6.69314237e-02 1.54804358e+01] [ 6.84206533e-02 9.97650139e-01 -3.57980522e-03 3.72736095e-02] [ 6.70193848e-02 -1.01614308e-03 9.97751156e-01 1.05494402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.4 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:0.05, Z:1.05 [[ 9.94727618e-01 -7.76992754e-02 -6.69312268e-02 1.55398079e+01] [ 7.76337424e-02 9.96975507e-01 -3.58348208e-03 5.05639770e-02] [ 6.70072277e-02 -1.63153303e-03 9.97751156e-01 1.04647682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:15.60, Y:0.04, Z:1.06 [[ 9.95221466e-01 -7.10954447e-02 -6.69303449e-02 1.55969329e+01] [ 7.10138912e-02 9.97468831e-01 -3.59987957e-03 4.43432771e-02] [ 6.70168679e-02 -1.17030681e-03 9.97751156e-01 1.06046980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:0.06, Z:1.05 [[ 9.94541468e-01 -8.00479634e-02 -6.69297576e-02 1.56564605e+01] [ 7.99859038e-02 9.96789455e-01 -3.61076609e-03 5.76270048e-02] [ 6.70039111e-02 -1.76238054e-03 9.97751156e-01 1.05092008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:0.06, Z:1.06 [[ 9.94719681e-01 -7.78028533e-02 -6.69288567e-02 1.57143873e+01] [ 7.77346017e-02 9.96967489e-01 -3.62738922e-03 6.03730263e-02] [ 6.70081154e-02 -1.59445257e-03 9.97751156e-01 1.05564605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:15.77, Y:0.06, Z:1.07 [[ 9.95482417e-01 -6.73450361e-02 -6.69283474e-02 1.57725600e+01] [ 6.72525361e-02 9.97729357e-01 -3.63676112e-03 5.58231750e-02] [ 6.70212949e-02 -8.80769351e-04 9.97751156e-01 1.07069907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.7 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:15.83, Y:0.06, Z:1.07 [[ 9.95755653e-01 -6.31775043e-02 -6.69274350e-02 1.58303892e+01] [ 6.30744764e-02 9.98002136e-01 -3.65347626e-03 5.93140925e-02] [ 6.70245405e-02 -5.83443277e-04 9.97751157e-01 1.07455430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.759999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.89, Y:0.06, Z:1.08 [[ 9.95953532e-01 -5.99785112e-02 -6.69263736e-02 1.58889426e+01] [ 5.98669677e-02 9.98199608e-01 -3.67281744e-03 6.32178897e-02] [ 6.70261700e-02 -3.48723544e-04 9.97751157e-01 1.07990921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:15.95, Y:0.07, Z:1.08 [[ 9.96273521e-01 -5.44063897e-02 -6.69254525e-02 1.59473211e+01] [ 5.42811615e-02 9.98518875e-01 -3.68952456e-03 6.74662225e-02] [ 6.70270613e-02 4.29843201e-05 9.97751157e-01 1.08272850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:16.01, Y:0.08, Z:1.08 [[ 9.96047837e-01 -5.83937450e-02 -6.69244062e-02 1.60062923e+01] [ 5.82762367e-02 9.98293608e-01 -3.70840675e-03 7.78960666e-02] [ 6.70267547e-02 -2.06352018e-04 9.97751157e-01 1.07588622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.939999999999998 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:16.06, Y:0.07, Z:1.09 [[ 9.96418698e-01 -5.16820507e-02 -6.69234157e-02 1.60636548e+01] [ 5.15482203e-02 9.98663555e-01 -3.72619754e-03 7.39963337e-02] [ 6.70265538e-02 2.63069920e-04 9.97751157e-01 1.08993633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.0 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:16.12, Y:0.08, Z:1.09 [[ 9.96160110e-01 -5.64476520e-02 -6.69230688e-02 1.61222442e+01] [ 5.63241432e-02 9.98405559e-01 -3.73241793e-03 7.85449356e-02] [ 6.70270501e-02 -5.12986535e-05 9.97751157e-01 1.08870721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:16.18, Y:0.08, Z:1.09 [[ 9.96028402e-01 -5.87270105e-02 -6.69220541e-02 1.61800154e+01] [ 5.86074238e-02 9.98274062e-01 -3.75052282e-03 7.95696652e-02] [ 6.70268078e-02 -1.86501932e-04 9.97751157e-01 1.09280715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:16.24, Y:0.08, Z:1.10 [[ 9.95876668e-01 -6.12466223e-02 -6.69216989e-02 1.62385825e+01] [ 6.11322920e-02 9.98122602e-01 -3.75685069e-03 8.09287355e-02] [ 6.70261547e-02 -3.49716888e-04 9.97751157e-01 1.09526254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:16.30, Y:0.08, Z:1.10 [[ 9.95985527e-01 -5.94514296e-02 -6.69205372e-02 1.62964078e+01] [ 5.93316682e-02 9.98231178e-01 -3.77743180e-03 7.97519888e-02] [ 6.70267404e-02 -2.08239706e-04 9.97751158e-01 1.10390486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:16.35, Y:0.09, Z:1.10 [[ 9.95505948e-01 -6.70044491e-02 -6.69201806e-02 1.63547856e+01] [ 6.69013009e-02 9.97752424e-01 -3.78373853e-03 8.79526508e-02] [ 6.70232997e-02 -7.10312923e-04 9.97751158e-01 1.10217569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.3 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:16.41, Y:0.09, Z:1.11 [[ 9.95278643e-01 -7.03011205e-02 -6.69191766e-02 1.64124251e+01] [ 7.02042249e-02 9.97525396e-01 -3.80141299e-03 9.15181885e-02] [ 6.70208217e-02 -9.14543761e-04 9.97751158e-01 1.10755758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:16.47, Y:0.09, Z:1.12 [[ 9.95452380e-01 -6.77977775e-02 -6.69180119e-02 1.64695287e+01] [ 6.76938609e-02 9.97698820e-01 -3.82180606e-03 9.18555169e-02] [ 6.70231315e-02 -7.25512644e-04 9.97751158e-01 1.11853359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.419999999999998 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:16.53, Y:0.10, Z:1.12 [[ 9.94968522e-01 -7.45631730e-02 -6.69176563e-02 1.65284689e+01] [ 7.44741118e-02 9.97215600e-01 -3.82802258e-03 1.02672115e-01] [ 6.70167603e-02 -1.17487105e-03 9.97751158e-01 1.11511600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:0.10, Z:1.13 [[ 9.95013792e-01 -7.39575472e-02 -6.69166217e-02 1.65861272e+01] [ 7.38659080e-02 9.97260766e-01 -3.84602433e-03 1.04824152e-01] [ 6.70177639e-02 -1.11600976e-03 9.97751158e-01 1.12555795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:16.65, Y:0.12, Z:1.12 [[ 9.94377131e-01 -8.20751783e-02 -6.69162590e-02 1.66453744e+01] [ 8.20014555e-02 9.96624764e-01 -3.85232444e-03 1.15672238e-01] [ 6.70065810e-02 -1.65656731e-03 9.97751158e-01 1.11868006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.599999999999998 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:16.70, Y:0.12, Z:1.12 [[ 9.94337908e-01 -8.25498314e-02 -6.69152507e-02 1.67026488e+01] [ 8.24760089e-02 9.96585537e-01 -3.86975974e-03 1.20035823e-01] [ 6.70062191e-02 -1.67105400e-03 9.97751158e-01 1.12426152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:16.76, Y:0.12, Z:1.13 [[ 9.94859888e-01 -7.60020422e-02 -6.69140707e-02 1.67598398e+01] [ 7.59120597e-02 9.97106928e-01 -3.89005780e-03 1.20009930e-01] [ 6.70161358e-02 -1.20952246e-03 9.97751159e-01 1.13481714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:16.82, Y:0.13, Z:1.13 [[ 9.94954044e-01 -7.47596596e-02 -6.69137087e-02 1.68185092e+01] [ 7.46664533e-02 9.97200953e-01 -3.89627460e-03 1.29474527e-01] [ 6.70176982e-02 -1.11959513e-03 9.97751159e-01 1.13410796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.779999999999998 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:16.87, Y:0.13, Z:1.15 [[ 9.95363329e-01 -6.90980101e-02 -6.69126926e-02 1.68747620e+01] [ 6.89908545e-02 9.97609616e-01 -3.91364755e-03 1.31566735e-01] [ 6.70231708e-02 -7.20862586e-04 9.97751159e-01 1.14661086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:16.93, Y:0.14, Z:1.15 [[ 9.95338694e-01 -6.94524451e-02 -6.69121930e-02 1.69319238e+01] [ 6.93455165e-02 9.97584992e-01 -3.92217014e-03 1.35559382e-01] [ 6.70230038e-02 -7.36172877e-04 9.97751159e-01 1.15329988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.9 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:16.99, Y:0.14, Z:1.16 [[ 9.95359243e-01 -6.91583583e-02 -6.69111207e-02 1.69887287e+01] [ 6.90495422e-02 9.97605450e-01 -3.94037876e-03 1.41786319e-01] [ 6.70234088e-02 -6.98089826e-04 9.97751159e-01 1.15564770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:17.05, Y:0.15, Z:1.16 [[ 9.95448889e-01 -6.78562632e-02 -6.69106588e-02 1.70463753e+01] [ 6.77439828e-02 9.97694926e-01 -3.94820631e-03 1.47278288e-01] [ 6.70243353e-02 -6.02556932e-04 9.97751159e-01 1.15728419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:0.15, Z:1.16 [[ 9.95677847e-01 -6.44106293e-02 -6.69096071e-02 1.71043477e+01] [ 6.42893837e-02 9.97923417e-01 -3.96595021e-03 1.51968417e-01] [ 6.70261131e-02 -3.52768641e-04 9.97751159e-01 1.15891271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:17.16, Y:0.16, Z:1.16 [[ 9.95882915e-01 -6.11593660e-02 -6.69085368e-02 1.71619122e+01] [ 6.10295815e-02 9.98128007e-01 -3.98392508e-03 1.56288459e-01] [ 6.70269389e-02 -1.15877081e-04 9.97751159e-01 1.16083952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:17.22, Y:0.16, Z:1.16 [[ 9.96065321e-01 -5.81143156e-02 -6.69074183e-02 1.72191245e+01] [ 5.79764117e-02 9.98309929e-01 -4.00262195e-03 1.57952372e-01] [ 6.70269497e-02 1.07820881e-04 9.97751160e-01 1.16370171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.2 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:17.28, Y:0.16, Z:1.17 [[ 9.96172915e-01 -5.62404236e-02 -6.69069363e-02 1.72774080e+01] [ 5.60977574e-02 9.98417226e-01 -4.01066343e-03 1.59646485e-01] [ 6.70265991e-02 2.41985206e-04 9.97751160e-01 1.16856987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.259999999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:17.33, Y:0.16, Z:1.17 [[ 9.96265800e-01 -5.45716404e-02 -6.69058373e-02 1.73342255e+01] [ 5.44239893e-02 9.98509788e-01 -4.02891360e-03 1.60645744e-01] [ 6.70259979e-02 3.72586261e-04 9.97751160e-01 1.17251296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:17.39, Y:0.16, Z:1.18 [[ 9.96307723e-01 -5.38014240e-02 -6.69053639e-02 1.73922950e+01] [ 5.36515112e-02 9.98551561e-01 -4.03675979e-03 1.63013608e-01] [ 6.70256390e-02 4.32281065e-04 9.97751160e-01 1.17595061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:17.45, Y:0.17, Z:1.18 [[ 9.96307787e-01 -5.38015831e-02 -6.69042816e-02 1.74501053e+01] [ 5.36504715e-02 9.98551544e-01 -4.05461923e-03 1.65732273e-01] [ 6.70255187e-02 4.50202458e-04 9.97751160e-01 1.17998688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.439999999999998 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:17.51, Y:0.17, Z:1.18 [[ 9.96380405e-01 -5.24409191e-02 -6.69031961e-02 1.75073926e+01] [ 5.22855461e-02 9.98623872e-01 -4.07245154e-03 1.66743788e-01] [ 6.70246919e-02 5.59640773e-04 9.97751160e-01 1.18449864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.5 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:17.57, Y:0.17, Z:1.19 [[ 9.96430882e-01 -5.14735048e-02 -6.69027292e-02 1.75655903e+01] [ 5.13154396e-02 9.98674160e-01 -4.08010860e-03 1.69955844e-01] [ 6.70240444e-02 6.32403257e-04 9.97751160e-01 1.18652473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:17.62, Y:0.17, Z:1.18 [[ 9.96486994e-01 -5.03771030e-02 -6.69015572e-02 1.76234250e+01] [ 5.02152856e-02 9.98730004e-01 -4.09923675e-03 1.72676573e-01] [ 6.70231001e-02 7.25355310e-04 9.97751160e-01 1.18417671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:17.68, Y:0.17, Z:1.19 [[ 9.96497366e-01 -5.01719976e-02 -6.69011996e-02 1.76809305e+01] [ 5.00093273e-02 9.98740314e-01 -4.10506385e-03 1.74715310e-01] [ 6.70228844e-02 7.45001327e-04 9.97751160e-01 1.19018129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:17.74, Y:0.18, Z:1.20 [[ 9.96429722e-01 -5.14994267e-02 -6.69000564e-02 1.77395544e+01] [ 5.13384994e-02 9.98672796e-01 -4.12361051e-03 1.75496926e-01] [ 6.70236300e-02 6.74339572e-04 9.97751161e-01 1.19590719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.80, Y:0.18, Z:1.20 [[ 9.96347821e-01 -5.30616077e-02 -6.68990659e-02 1.77982739e+01] [ 5.29031226e-02 9.98591069e-01 -4.13961837e-03 1.77724604e-01] [ 6.70244645e-02 5.85330261e-04 9.97751161e-01 1.20387368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.86, Y:0.18, Z:1.21 [[ 9.96205056e-01 -5.56788410e-02 -6.68980773e-02 1.78562811e+01] [ 5.55251809e-02 9.98448640e-01 -4.15553276e-03 1.81596697e-01] [ 6.70256696e-02 4.25234899e-04 9.97751161e-01 1.20712629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.92, Y:0.19, Z:1.20 [[ 9.95928634e-01 -6.04231262e-02 -6.68969533e-02 1.79152077e+01] [ 6.02789437e-02 9.98172846e-01 -4.17355064e-03 1.94418696e-01] [ 6.70269012e-02 1.24080914e-04 9.97751161e-01 1.20322590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.97, Y:0.19, Z:1.21 [[ 9.96159475e-01 -5.64909686e-02 -6.68959742e-02 1.79726276e+01] [ 5.63368778e-02 9.98403028e-01 -4.18918438e-03 1.94228248e-01] [ 6.70257944e-02 4.04385390e-04 9.97751161e-01 1.21175889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.03, Y:0.20, Z:1.22 [[ 9.96174167e-01 -5.62316901e-02 -6.68956312e-02 1.80307976e+01] [ 5.60766480e-02 9.98417655e-01 -4.19465555e-03 1.98330051e-01] [ 6.70256518e-02 4.27324735e-04 9.97751161e-01 1.21683816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.09, Y:0.20, Z:1.22 [[ 9.96120137e-01 -5.71822140e-02 -6.68944437e-02 1.80882280e+01] [ 5.70280465e-02 9.98363685e-01 -4.21350859e-03 2.02412011e-01] [ 6.70259211e-02 3.82301302e-04 9.97751161e-01 1.22073639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099999999999998 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:18.15, Y:0.21, Z:1.22 [[ 9.96036038e-01 -5.86302281e-02 -6.68932485e-02 1.81457963e+01] [ 5.84780537e-02 9.98279722e-01 -4.23239807e-03 2.06495917e-01] [ 6.70263200e-02 3.03834022e-04 9.97751161e-01 1.22286894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:18.20, Y:0.22, Z:1.22 [[ 9.95472850e-01 -6.75223050e-02 -6.68920336e-02 1.82049303e+01] [ 6.73888879e-02 9.97717727e-01 -4.25151395e-03 2.19861850e-01] [ 6.70264397e-02 -2.75513046e-04 9.97751162e-01 1.21681542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:0.21, Z:1.23 [[ 9.95899387e-01 -6.09099235e-02 -6.68908989e-02 1.82629195e+01] [ 6.07604071e-02 9.98143249e-01 -4.26929183e-03 2.13767846e-01] [ 6.70267414e-02 1.87466871e-04 9.97751162e-01 1.22925978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.32, Y:0.23, Z:1.22 [[ 9.95409087e-01 -6.84573619e-02 -6.68905015e-02 1.83211908e+01] [ 6.83244411e-02 9.97653994e-01 -4.27550920e-03 2.27518200e-01] [ 6.70262661e-02 -3.14375429e-04 9.97751162e-01 1.22259896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.38, Y:0.22, Z:1.24 [[ 9.95992111e-01 -5.93762979e-02 -6.68892376e-02 1.83790770e+01] [ 5.92215871e-02 9.98235621e-01 -4.29519194e-03 2.20589022e-01] [ 6.70262523e-02 3.16690477e-04 9.97751162e-01 1.23932245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:0.23, Z:1.23 [[ 9.95584019e-01 -6.58660933e-02 -6.68888498e-02 1.84381786e+01] [ 6.57256019e-02 9.97828465e-01 -4.30122375e-03 2.33557841e-01] [ 6.70269031e-02 -1.14080284e-04 9.97751162e-01 1.23013327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:0.23, Z:1.24 [[ 9.95904865e-01 -6.08237219e-02 -6.68877753e-02 1.84972654e+01] [ 6.06707487e-02 9.98148494e-01 -4.31786871e-03 2.28232070e-01] [ 6.70265610e-02 2.42055053e-04 9.97751162e-01 1.24451916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:18.55, Y:0.23, Z:1.25 [[ 9.95694379e-01 -6.41783548e-02 -6.68867924e-02 1.85545538e+01] [ 6.40319215e-02 9.97938444e-01 -4.33304165e-03 2.31083573e-01] [ 6.70269890e-02 3.14953733e-05 9.97751162e-01 1.24866716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:18.61, Y:0.24, Z:1.25 [[ 9.95030910e-01 -7.37542825e-02 -6.68864189e-02 1.86135267e+01] [ 7.36290576e-02 9.97276259e-01 -4.33879922e-03 2.40124360e-01] [ 6.70242426e-02 -6.07544649e-04 9.97751162e-01 1.24536056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:18.67, Y:0.24, Z:1.26 [[ 9.94920614e-01 -7.52284239e-02 -6.68853930e-02 1.86723430e+01] [ 7.51054665e-02 9.97166088e-01 -4.35455744e-03 2.36909247e-01] [ 6.70234321e-02 -6.91019677e-04 9.97751162e-01 1.25891144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.7 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:18.73, Y:0.24, Z:1.26 [[ 9.94611624e-01 -7.92098335e-02 -6.68843820e-02 1.87303135e+01] [ 7.90948239e-02 9.96857518e-01 -4.37003095e-03 2.40830878e-01] [ 6.70203485e-02 -9.43724830e-04 9.97751163e-01 1.26206531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.79, Y:0.25, Z:1.27 [[ 9.94564440e-01 -7.98003826e-02 -6.68840253e-02 1.87882376e+01] [ 7.96863400e-02 9.96810384e-01 -4.37548287e-03 2.45420261e-01] [ 6.70198562e-02 -9.78043509e-04 9.97751163e-01 1.26961480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:18.84, Y:0.25, Z:1.27 [[ 9.94408216e-01 -8.17250942e-02 -6.68827947e-02 1.88449182e+01] [ 8.16141391e-02 9.96654315e-01 -4.39421359e-03 2.51447202e-01] [ 6.70181435e-02 -1.08893961e-03 9.97751163e-01 1.27097988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:0.26, Z:1.28 [[ 9.94334253e-01 -8.26205494e-02 -6.68822642e-02 1.89019669e+01] [ 8.25110750e-02 9.96580424e-01 -4.40227321e-03 2.56296460e-01] [ 6.70172735e-02 -1.14119648e-03 9.97751163e-01 1.27505287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:0.26, Z:1.28 [[ 9.94186876e-01 -8.43758427e-02 -6.68817793e-02 1.89593636e+01] [ 8.42698393e-02 9.96433214e-01 -4.40962885e-03 2.61378704e-01] [ 6.70152924e-02 -1.25212166e-03 9.97751163e-01 1.28052512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:0.27, Z:1.29 [[ 9.94018903e-01 -8.63331228e-02 -6.68805769e-02 1.90171914e+01] [ 8.62303209e-02 9.96265390e-01 -4.42779070e-03 2.66370486e-01] [ 6.70130690e-02 -1.36582595e-03 9.97751163e-01 1.28612688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:19.07, Y:0.28, Z:1.28 [[ 9.93466582e-01 -9.24732830e-02 -6.68793058e-02 1.90746769e+01] [ 9.23830775e-02 9.95713609e-01 -4.44690771e-03 2.79577209e-01] [ 6.70038551e-02 -1.76066188e-03 9.97751163e-01 1.27941783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.13, Y:0.28, Z:1.29 [[ 9.94169524e-01 -8.45824743e-02 -6.68787192e-02 1.91326152e+01] [ 8.44738387e-02 9.96415735e-01 -4.45571262e-03 2.77112609e-01] [ 6.70158833e-02 -1.21976844e-03 9.97751163e-01 1.29476681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.19, Y:0.28, Z:1.30 [[ 9.94390376e-01 -8.19462294e-02 -6.68774607e-02 1.91898190e+01] [ 8.18303738e-02 9.96636227e-01 -4.47452173e-03 2.82423692e-01] [ 6.70191703e-02 -1.02318626e-03 9.97751163e-01 1.29747412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:19.25, Y:0.29, Z:1.30 [[ 9.94751599e-01 -7.74392267e-02 -6.68761660e-02 1.92478668e+01] [ 7.73118998e-02 9.96996828e-01 -4.49379048e-03 2.89534385e-01] [ 6.70233210e-02 -7.00118171e-04 9.97751164e-01 1.29946109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.31, Y:0.29, Z:1.31 [[ 9.94939884e-01 -7.49824916e-02 -6.68749044e-02 1.93057955e+01] [ 7.48483639e-02 9.97184717e-01 -4.51248739e-03 2.94216187e-01] [ 6.70249901e-02 -5.15823500e-04 9.97751164e-01 1.30527043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:0.30, Z:1.30 [[ 9.95218501e-01 -7.11902274e-02 -6.68736647e-02 1.93635218e+01] [ 7.10463161e-02 9.97462728e-01 -4.53078505e-03 3.00179940e-01] [ 6.70265356e-02 -2.42006408e-04 9.97751164e-01 1.30398688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419999999999998 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:0.31, Z:1.30 [[ 9.94868931e-01 -7.59195227e-02 -6.68732832e-02 1.94223935e+01] [ 7.57859014e-02 9.97113794e-01 -4.53640812e-03 3.12905291e-01] [ 6.70246751e-02 -5.54920555e-04 9.97751164e-01 1.29990327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:0.32, Z:1.30 [[ 9.94934307e-01 -7.50589594e-02 -6.68721004e-02 1.94804242e+01] [ 7.49222290e-02 9.97178982e-01 -4.55377881e-03 3.15155283e-01] [ 6.70252549e-02 -4.79496050e-04 9.97751164e-01 1.30379263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:0.32, Z:1.31 [[ 9.94873670e-01 -7.58596621e-02 -6.68707068e-02 1.95384689e+01] [ 7.57233690e-02 9.97118372e-01 -4.57415205e-03 3.19243862e-01] [ 6.70250039e-02 -5.12971763e-04 9.97751164e-01 1.30786288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599999999999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.60, Y:0.32, Z:1.31 [[ 9.94912252e-01 -7.53532134e-02 -6.68693107e-02 1.95963752e+01] [ 7.52144120e-02 9.97156800e-01 -4.59447128e-03 3.19771652e-01] [ 6.70253960e-02 -4.58440119e-04 9.97751164e-01 1.31278010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:19.65, Y:0.31, Z:1.33 [[ 9.95759331e-01 -6.31825732e-02 -6.68679034e-02 1.96539632e+01] [ 6.30149683e-02 9.98001912e-01 -4.61486241e-03 3.13374589e-01] [ 6.70258744e-02 3.81613492e-04 9.97751165e-01 1.32750355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:19.71, Y:0.32, Z:1.33 [[ 9.96063283e-01 -5.81951683e-02 -6.68674713e-02 1.97129158e+01] [ 5.80159152e-02 9.98304963e-01 -4.62111581e-03 3.16929573e-01] [ 6.70230550e-02 7.23546244e-04 9.97751165e-01 1.33371232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779999999999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:19.77, Y:0.32, Z:1.34 [[ 9.96367345e-01 -5.27352694e-02 -6.68663213e-02 1.97719733e+01] [ 5.25426209e-02 9.98607913e-01 -4.63769549e-03 3.21099182e-01] [ 6.70178078e-02 1.10751657e-03 9.97751165e-01 1.33821907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:0.32, Z:1.34 [[ 9.96680409e-01 -4.64458152e-02 -6.68651584e-02 1.98302764e+01] [ 4.62379093e-02 9.98919613e-01 -4.65440274e-03 3.24495516e-01] [ 6.70090956e-02 1.54724690e-03 9.97751165e-01 1.34132542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.9 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:0.33, Z:1.34 [[ 9.96662794e-01 -4.68241945e-02 -6.68638108e-02 1.98889964e+01] [ 4.66158460e-02 9.98901957e-01 -4.67368248e-03 3.28670917e-01] [ 6.70092328e-02 1.54117234e-03 9.97751165e-01 1.34224433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:0.33, Z:1.35 [[ 9.96516816e-01 -4.98359618e-02 -6.68626321e-02 1.99476837e+01] [ 4.96332542e-02 9.98756497e-01 -4.69048432e-03 3.31153741e-01] [ 6.70132430e-02 1.35553649e-03 9.97751165e-01 1.34540355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:20.01, Y:0.33, Z:1.35 [[ 9.96199909e-01 -5.58148168e-02 -6.68614127e-02 2.00056767e+01] [ 5.56243902e-02 9.98440666e-01 -4.70780325e-03 3.31534580e-01] [ 6.70199186e-02 9.70787859e-04 9.97751165e-01 1.34960188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.06, Y:0.34, Z:1.35 [[ 9.95579902e-01 -6.59565626e-02 -6.68609839e-02 2.00643744e+01] [ 6.57885559e-02 9.97822452e-01 -4.71388529e-03 3.40375994e-01] [ 6.70263025e-02 2.94361881e-04 9.97751165e-01 1.34953956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:20.12, Y:0.33, Z:1.36 [[ 9.95461098e-01 -6.77272182e-02 -6.68597479e-02 2.01217882e+01] [ 6.75620273e-02 9.97703857e-01 -4.73135159e-03 3.34869811e-01] [ 6.70266696e-02 1.92696341e-04 9.97751166e-01 1.36264243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.18, Y:0.34, Z:1.37 [[ 9.95212192e-01 -7.12918247e-02 -6.68593149e-02 2.01793046e+01] [ 7.11342563e-02 9.97455500e-01 -4.73746215e-03 3.38040387e-01] [ 6.70269337e-02 -4.12075496e-05 9.97751166e-01 1.36811809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.24, Y:0.35, Z:1.36 [[ 9.94316034e-01 -8.28591334e-02 -6.68579739e-02 2.02379140e+01] [ 8.27263931e-02 9.96560947e-01 -4.75631166e-03 3.52793858e-01] [ 6.70221497e-02 -8.01642089e-04 9.97751166e-01 1.35654883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:20.30, Y:0.35, Z:1.37 [[ 9.94826848e-01 -7.64834984e-02 -6.68566971e-02 2.02957084e+01] [ 7.63351685e-02 9.97070784e-01 -4.77419253e-03 3.50569963e-01] [ 6.70260064e-02 -3.54022335e-04 9.97751166e-01 1.36992775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:20.35, Y:0.36, Z:1.37 [[ 9.94744346e-01 -7.75497144e-02 -6.68560254e-02 2.03548202e+01] [ 7.74031587e-02 9.96988399e-01 -4.78358101e-03 3.56161238e-01] [ 6.70256470e-02 -4.16427379e-04 9.97751166e-01 1.37234300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.41, Y:0.37, Z:1.36 [[ 9.94073199e-01 -8.57257758e-02 -6.68548171e-02 2.04137882e+01] [ 8.55965439e-02 9.96318316e-01 -4.80040772e-03 3.71504246e-01] [ 6.70201975e-02 -9.50584636e-04 9.97751166e-01 1.36361657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:0.38, Z:1.37 [[ 9.94237801e-01 -8.37961902e-02 -6.68535263e-02 2.04721305e+01] [ 8.36613968e-02 9.96482591e-01 -4.81831814e-03 3.77150139e-01] [ 6.70221318e-02 -8.02505363e-04 9.97751166e-01 1.36937409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:20.53, Y:0.37, Z:1.39 [[ 9.95017730e-01 -7.39627871e-02 -6.68522478e-02 2.05295908e+01] [ 7.38046203e-02 9.97260995e-01 -4.83599192e-03 3.74599914e-01] [ 6.70268226e-02 -1.22107063e-04 9.97751166e-01 1.38679010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.59, Y:0.39, Z:1.38 [[ 9.94559620e-01 -7.98874202e-02 -6.68517988e-02 2.05884272e+01] [ 7.97421996e-02 9.96803759e-01 -4.84219083e-03 3.86098460e-01] [ 6.70249545e-02 -5.15062015e-04 9.97751166e-01 1.38117622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:0.39, Z:1.39 [[ 9.94633473e-01 -7.89636975e-02 -6.68504926e-02 2.06461339e+01] [ 7.88151852e-02 9.96877397e-01 -4.86015719e-03 3.90308851e-01] [ 6.70255211e-02 -4.34758932e-04 9.97751167e-01 1.38630333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.70, Y:0.39, Z:1.40 [[ 9.95297943e-01 -7.00943222e-02 -6.68490155e-02 2.07034542e+01] [ 6.99244543e-02 9.97540351e-01 -4.88039020e-03 3.88291535e-01] [ 6.70266781e-02 1.83061397e-04 9.97751167e-01 1.40384105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.76, Y:0.40, Z:1.40 [[ 9.95048002e-01 -7.35577501e-02 -6.68485628e-02 2.07623998e+01] [ 7.33952712e-02 9.97290958e-01 -4.88658340e-03 3.98867798e-01] [ 6.70269133e-02 -4.39833409e-05 9.97751167e-01 1.39744085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.82, Y:0.40, Z:1.40 [[ 9.95377507e-01 -6.89569795e-02 -6.68472372e-02 2.08197234e+01] [ 6.87829202e-02 9.97619594e-01 -4.90465026e-03 4.03147326e-01] [ 6.70263235e-02 2.84030371e-04 9.97751167e-01 1.40067437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919999999999998 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:0.40, Z:1.41 [[ 9.95737974e-01 -6.35405135e-02 -6.68467733e-02 2.08768667e+01] [ 6.33538345e-02 9.97979045e-01 -4.91096475e-03 4.02320538e-01] [ 6.70237242e-02 6.55034673e-04 9.97751167e-01 1.41076180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:0.40, Z:1.41 [[ 9.95750167e-01 -6.33498345e-02 -6.68461102e-02 2.09352842e+01] [ 6.31621216e-02 9.97991152e-01 -4.91997464e-03 4.04941905e-01] [ 6.70235061e-02 6.76923427e-04 9.97751167e-01 1.41358607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:20.99, Y:0.41, Z:1.42 [[ 9.95759290e-01 -6.32080144e-02 -6.68444765e-02 2.09931055e+01] [ 6.30184991e-02 9.98000123e-01 -4.94207187e-03 4.08044017e-01] [ 6.70231743e-02 7.08675394e-04 9.97751167e-01 1.41841938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099999999999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:21.05, Y:0.41, Z:1.42 [[ 9.95745716e-01 -6.34220212e-02 -6.68439664e-02 2.10510775e+01] [ 6.32325250e-02 9.97986551e-01 -4.94896158e-03 4.11063522e-01] [ 6.70232526e-02 7.01194513e-04 9.97751167e-01 1.42307573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.11, Y:0.42, Z:1.43 [[ 9.95846506e-01 -6.18207930e-02 -6.68425475e-02 2.11089922e+01] [ 6.16264127e-02 9.98086922e-01 -4.96805162e-03 4.15958757e-01] [ 6.70218014e-02 8.28150428e-04 9.97751168e-01 1.42630488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:0.42, Z:1.43 [[ 9.95825889e-01 -6.21535369e-02 -6.68411271e-02 2.11668231e+01] [ 6.19586276e-02 9.98066259e-01 -4.98708944e-03 4.21248081e-01] [ 6.70218389e-02 8.24888278e-04 9.97751168e-01 1.42603970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.22, Y:0.43, Z:1.43 [[ 9.95857526e-01 -6.16460976e-02 -6.68397051e-02 2.12243469e+01] [ 6.14487726e-02 9.98097684e-01 -5.00607534e-03 4.26533890e-01] [ 6.70211599e-02 8.78119964e-04 9.97751168e-01 1.43052082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:0.43, Z:1.43 [[ 9.95717232e-01 -6.38736132e-02 -6.68382855e-02 2.12825818e+01] [ 6.36800324e-02 9.97957716e-01 -5.02495861e-03 4.28546312e-01] [ 6.70227450e-02 7.47173696e-04 9.97751168e-01 1.43141729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.34, Y:0.43, Z:1.44 [[ 9.95570761e-01 -6.61177837e-02 -6.68378502e-02 2.13409356e+01] [ 6.59288651e-02 9.97811644e-01 -5.03074237e-03 4.29961999e-01] [ 6.70242067e-02 6.01916397e-04 9.97751168e-01 1.43804079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:0.43, Z:1.45 [[ 9.95361520e-01 -6.91977103e-02 -6.68365242e-02 2.13993371e+01] [ 6.90145470e-02 9.97602880e-01 -5.04829772e-03 4.32222819e-01] [ 6.70256397e-02 4.12188851e-04 9.97751168e-01 1.44583310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:0.44, Z:1.45 [[ 9.95265201e-01 -7.05707053e-02 -6.68352890e-02 2.14580079e+01] [ 7.03895394e-02 9.97506723e-01 -5.06459833e-03 4.37788436e-01] [ 6.70260624e-02 3.36113264e-04 9.97751168e-01 1.45298741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:21.52, Y:0.45, Z:1.45 [[ 9.94443594e-01 -8.13335804e-02 -6.68340217e-02 2.15168342e+01] [ 8.11755542e-02 9.96686867e-01 -5.08126747e-03 4.53804019e-01] [ 6.70258693e-02 -3.72254863e-04 9.97751169e-01 1.44558603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.57, Y:0.45, Z:1.46 [[ 9.94698994e-01 -7.81492189e-02 -6.68327035e-02 2.15744837e+01] [ 7.79828502e-02 9.96941663e-01 -5.09854637e-03 4.49914042e-01] [ 6.70267540e-02 -1.40285762e-04 9.97751169e-01 1.46253530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:0.45, Z:1.46 [[ 9.93847465e-01 -8.83213908e-02 -6.68322421e-02 2.16329002e+01] [ 8.81775683e-02 9.96091692e-01 -5.10458711e-03 4.53413720e-01] [ 6.70218854e-02 -8.19923629e-04 9.97751169e-01 1.46464870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.759999999999998 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:0.46, Z:1.46 [[ 9.93070797e-01 -9.66645694e-02 -6.68307755e-02 2.16908147e+01] [ 9.65383121e-02 9.95316081e-01 -5.12371631e-03 4.58703837e-01] [ 6.70130275e-02 -1.36351723e-03 9.97751169e-01 1.46392399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:0.46, Z:1.47 [[ 9.92191950e-01 -1.05303572e-01 -6.68303257e-02 2.17487054e+01] [ 1.05196465e-01 9.94438229e-01 -5.12957672e-03 4.64334571e-01] [ 6.69987935e-02 -1.94078931e-03 9.97751169e-01 1.46896172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:0.47, Z:1.47 [[ 9.91793619e-01 -1.08992305e-01 -6.68288489e-02 2.18068277e+01] [ 1.08892261e-01 9.94040223e-01 -5.14874588e-03 4.70013912e-01] [ 6.69917375e-02 -2.17065118e-03 9.97751169e-01 1.47262364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.939999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:0.48, Z:1.48 [[ 9.91992036e-01 -1.07172310e-01 -6.68273599e-02 2.18635885e+01] [ 1.07066849e-01 9.94238393e-01 -5.16800056e-03 4.76053757e-01] [ 6.69961934e-02 -2.02837941e-03 9.97751169e-01 1.47971869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:0.48, Z:1.48 [[ 9.92607029e-01 -1.01318683e-01 -6.68267198e-02 2.19206854e+01] [ 1.01199417e-01 9.94852695e-01 -5.17626366e-03 4.83452061e-01] [ 6.70071945e-02 -1.62482936e-03 9.97751169e-01 1.48471443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:0.49, Z:1.49 [[ 9.93215432e-01 -9.51708487e-02 -6.68252537e-02 2.19778673e+01] [ 9.50364115e-02 9.95460241e-01 -5.19512252e-03 4.90964565e-01] [ 6.70163074e-02 -1.19095645e-03 9.97751169e-01 1.48975633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.119999999999997 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:22.04, Y:0.50, Z:1.49 [[ 9.94203218e-01 -8.42291288e-02 -6.68237642e-02 2.20356976e+01] [ 8.40686999e-02 9.96446319e-01 -5.21421196e-03 5.00007243e-01] [ 6.70254823e-02 -4.33800670e-04 9.97751170e-01 1.49273484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:0.51, Z:1.49 [[ 9.94767637e-01 -7.72795904e-02 -6.68222576e-02 2.20928189e+01] [ 7.71021985e-02 9.97009459e-01 -5.23344845e-03 5.07950433e-01] [ 6.70268617e-02 5.39221773e-05 9.97751170e-01 1.49345131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:22.15, Y:0.52, Z:1.49 [[ 9.94709930e-01 -7.80197221e-02 -6.68212372e-02 2.21507123e+01] [ 7.78431253e-02 9.96951816e-01 -5.24644445e-03 5.24649739e-01] [ 6.70268799e-02 1.71164492e-05 9.97751170e-01 1.48804172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.3 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:22.21, Y:0.52, Z:1.50 [[ 9.95414475e-01 -6.84480538e-02 -6.68198162e-02 2.22087234e+01] [ 6.82486898e-02 9.97654450e-01 -5.26448175e-03 5.20920661e-01] [ 6.70234305e-02 6.79976427e-04 9.97751170e-01 1.49995035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:0.53, Z:1.51 [[ 9.95440569e-01 -6.80680004e-02 -6.68193185e-02 2.22667976e+01] [ 6.78673579e-02 9.97680430e-01 -5.27079084e-03 5.25250509e-01] [ 6.70230986e-02 7.11908432e-04 9.97751170e-01 1.50691591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.419999999999998 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:22.32, Y:0.53, Z:1.51 [[ 9.95223442e-01 -7.11736019e-02 -6.68178064e-02 2.23248445e+01] [ 7.09786667e-02 9.97463807e-01 -5.28989027e-03 5.28306005e-01] [ 6.70248441e-02 5.21983991e-04 9.97751170e-01 1.50905301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.38, Y:0.54, Z:1.51 [[ 9.94619446e-01 -7.91690491e-02 -6.68163029e-02 2.23823968e+01] [ 7.89908529e-02 9.96861205e-01 -5.30881361e-03 5.38745101e-01] [ 6.70268739e-02 2.37250291e-06 9.97751170e-01 1.50789516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.44, Y:0.54, Z:1.51 [[ 9.94395617e-01 -8.19338655e-02 -6.68146573e-02 2.24389778e+01] [ 8.17605160e-02 9.96637755e-01 -5.32944477e-03 5.42826684e-01] [ 6.70266721e-02 -1.63224335e-04 9.97751171e-01 1.51022261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.599999999999998 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:22.50, Y:0.54, Z:1.52 [[ 9.94784246e-01 -7.70730446e-02 -6.68135517e-02 2.24972790e+01] [ 7.68878109e-02 9.97025433e-01 -5.34326929e-03 5.36868511e-01] [ 6.70266323e-02 1.78252384e-04 9.97751171e-01 1.51816328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:22.56, Y:0.54, Z:1.52 [[ 9.94598873e-01 -7.94298249e-02 -6.68130644e-02 2.25550526e+01] [ 7.92494930e-02 9.96840460e-01 -5.34935541e-03 5.39528823e-01] [ 6.70268642e-02 2.55613851e-05 9.97751171e-01 1.52220372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:0.55, Z:1.52 [[ 9.93493268e-01 -9.22352748e-02 -6.68115236e-02 2.26139787e+01] [ 9.20825437e-02 9.95736905e-01 -5.36853140e-03 5.48918765e-01] [ 6.70218677e-02 -8.18575237e-04 9.97751171e-01 1.52201181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.779999999999998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:0.55, Z:1.53 [[ 9.92997235e-01 -9.74315320e-02 -6.68100816e-02 2.26724911e+01] [ 9.72893376e-02 9.95241564e-01 -5.38641721e-03 5.48929084e-01] [ 6.70169770e-02 -1.15121118e-03 9.97751171e-01 1.52710458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:0.54, Z:1.54 [[ 9.92885226e-01 -9.85675396e-02 -6.68084424e-02 2.27303773e+01] [ 9.84265505e-02 9.95129631e-01 -5.40667250e-03 5.41423048e-01] [ 6.70159830e-02 -1.20751928e-03 9.97751171e-01 1.54147208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.9 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:0.54, Z:1.54 [[ 9.92366093e-01 -1.03664061e-01 -6.68079390e-02 2.27873922e+01] [ 1.03534179e-01 9.94611167e-01 -5.41288491e-03 5.44377846e-01] [ 6.70090439e-02 -1.54534168e-03 9.97751171e-01 1.54385019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.85, Y:0.56, Z:1.54 [[ 9.91225999e-01 -1.14051994e-01 -6.68068991e-02 2.28450063e+01] [ 1.13944772e-01 9.93472270e-01 -5.42568985e-03 5.56084911e-01] [ 6.69896124e-02 -2.23421202e-03 9.97751171e-01 1.54192886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:0.56, Z:1.55 [[ 9.91273041e-01 -1.13643385e-01 -6.68052291e-02 2.29012689e+01] [ 1.13533857e-01 9.93519201e-01 -5.44617547e-03 5.60876192e-01] [ 6.69911996e-02 -2.18600842e-03 9.97751172e-01 1.54526175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.96, Y:0.57, Z:1.55 [[ 9.91301655e-01 -1.13394000e-01 -6.68044122e-02 2.29596864e+01] [ 1.13283234e-01 9.93547754e-01 -5.45617684e-03 5.66702496e-01] [ 6.69920714e-02 -2.15910271e-03 9.97751172e-01 1.54937379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:23.02, Y:0.56, Z:1.56 [[ 9.92222811e-01 -1.05029797e-01 -6.68029563e-02 2.30170938e+01] [ 1.04898897e-01 9.94467826e-01 -5.47394413e-03 5.64416926e-01] [ 6.70083180e-02 -1.57618422e-03 9.97751172e-01 1.55861891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.2 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:23.07, Y:0.57, Z:1.56 [[ 9.92700543e-01 -1.00414638e-01 -6.68021893e-02 2.30731385e+01] [ 1.00272671e-01 9.94944885e-01 -5.48328949e-03 5.70614887e-01] [ 6.70150991e-02 -1.25516946e-03 9.97751172e-01 1.56415382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.259999999999998 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:23.13, Y:0.58, Z:1.57 [[ 9.92895104e-01 -9.84726850e-02 -6.68015186e-02 2.31313777e+01] [ 9.83257793e-02 9.95139129e-01 -5.49144722e-03 5.76848065e-01] [ 6.70175626e-02 -1.11588032e-03 9.97751172e-01 1.56535056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:23.19, Y:0.58, Z:1.57 [[ 9.93104722e-01 -9.63367814e-02 -6.67999640e-02 2.31877403e+01] [ 9.61837819e-02 9.95348339e-01 -5.51029430e-03 5.81969762e-01] [ 6.70200772e-02 -9.52773871e-04 9.97751172e-01 1.56879848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.25, Y:0.59, Z:1.58 [[ 9.93257742e-01 -9.47468353e-02 -6.67989130e-02 2.32451327e+01] [ 9.45893894e-02 9.95501052e-01 -5.52300564e-03 5.86301502e-01] [ 6.70216754e-02 -8.32700277e-04 9.97751172e-01 1.57552525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.439999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.30, Y:0.59, Z:1.58 [[ 9.93201528e-01 -9.53354098e-02 -6.67973378e-02 2.33033335e+01] [ 9.51780166e-02 9.95444841e-01 -5.54199107e-03 5.91604235e-01] [ 6.70214133e-02 -8.53324132e-04 9.97751172e-01 1.57964714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:0.60, Z:1.57 [[ 9.92507154e-01 -1.02312645e-01 -6.67957500e-02 2.33607617e+01] [ 1.02169738e-01 9.94751436e-01 -5.56106299e-03 6.03186846e-01] [ 6.70141353e-02 -1.30510945e-03 9.97751173e-01 1.57459836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:0.61, Z:1.58 [[ 9.92387975e-01 -1.03463300e-01 -6.67941120e-02 2.34189781e+01] [ 1.03321675e-01 9.94632338e-01 -5.58066781e-03 6.07377614e-01] [ 6.70129781e-02 -1.36309192e-03 9.97751173e-01 1.57877025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.619999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.48, Y:0.61, Z:1.59 [[ 9.92868907e-01 -9.87425872e-02 -6.67924779e-02 2.34760136e+01] [ 9.85889797e-02 9.95112482e-01 -5.60015814e-03 6.05470396e-01] [ 6.70190026e-02 -1.02477936e-03 9.97751173e-01 1.59057703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:0.61, Z:1.59 [[ 9.92946842e-01 -9.79562587e-02 -6.67917734e-02 2.35347065e+01] [ 9.78003103e-02 9.95190255e-01 -5.60854816e-03 6.11541371e-01] [ 6.70199144e-02 -9.63265977e-04 9.97751173e-01 1.59170904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:0.62, Z:1.59 [[ 9.93330211e-01 -9.39900582e-02 -6.67904296e-02 2.35920179e+01] [ 9.38240788e-02 9.95572904e-01 -5.62450579e-03 6.18944649e-01] [ 6.70233896e-02 -6.79559006e-04 9.97751173e-01 1.59449141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.65, Y:0.62, Z:1.60 [[ 9.93592346e-01 -9.11775843e-02 -6.67899570e-02 2.36499688e+01] [ 9.10048798e-02 9.95834531e-01 -5.63011245e-03 6.23567925e-01] [ 6.70250856e-02 -4.84175368e-04 9.97751173e-01 1.60214176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:23.71, Y:0.63, Z:1.60 [[ 9.93712503e-01 -8.98597605e-02 -6.67883649e-02 2.37078333e+01] [ 8.96828173e-02 9.95954357e-01 -5.64893559e-03 6.29150144e-01] [ 6.70257751e-02 -3.76350807e-04 9.97751173e-01 1.60064348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.919999999999998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:23.77, Y:0.64, Z:1.60 [[ 9.93063685e-01 -9.67672306e-02 -6.67878750e-02 2.37658145e+01] [ 9.66054910e-02 9.95306688e-01 -5.65472209e-03 6.41375503e-01] [ 6.70216105e-02 -8.36576305e-04 9.97751173e-01 1.59661287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:23.82, Y:0.64, Z:1.61 [[ 9.93581219e-01 -9.13006734e-02 -6.67873348e-02 2.38235376e+01] [ 9.11261640e-02 9.95823265e-01 -5.66109521e-03 6.37725881e-01] [ 6.70252436e-02 -4.61315747e-04 9.97751173e-01 1.61420789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:23.88, Y:0.64, Z:1.62 [[ 9.93464540e-01 -9.25620319e-02 -6.67868043e-02 2.38808042e+01] [ 9.23899489e-02 9.95706773e-01 -5.66734723e-03 6.41431326e-01] [ 6.70246546e-02 -5.40120923e-04 9.97751173e-01 1.61833519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.099999999999998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:23.94, Y:0.65, Z:1.62 [[ 9.93467326e-01 -9.25324880e-02 -6.67863030e-02 2.39397449e+01] [ 9.23599416e-02 9.95709524e-01 -5.67324810e-03 6.45288738e-01] [ 6.70247177e-02 -5.32192427e-04 9.97751173e-01 1.62470548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:24.00, Y:0.66, Z:1.62 [[ 9.93108358e-01 -9.63097405e-02 -6.67849073e-02 2.39984527e+01] [ 9.61446204e-02 9.95351114e-01 -5.68963065e-03 6.56031722e-01] [ 6.70223988e-02 -7.70589816e-04 9.97751174e-01 1.61839519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:24.06, Y:0.66, Z:1.63 [[ 9.93993338e-01 -8.67019450e-02 -6.67833628e-02 2.40558238e+01] [ 8.65139311e-02 9.96234291e-01 -5.70770244e-03 6.55275696e-01] [ 6.70267450e-02 -1.04273053e-04 9.97751174e-01 1.62863787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.279999999999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:0.66, Z:1.63 [[ 9.94224045e-01 -8.40154896e-02 -6.67828192e-02 2.41135426e+01] [ 8.38209937e-02 9.96464445e-01 -5.71405664e-03 6.60059328e-01] [ 6.70267741e-02 8.32502422e-05 9.97751174e-01 1.63224003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:0.67, Z:1.64 [[ 9.94473520e-01 -8.10104320e-02 -6.67811947e-02 2.41717046e+01] [ 8.08078955e-02 9.96713207e-01 -5.73297939e-03 6.65285688e-01] [ 6.70261299e-02 3.04848394e-04 9.97751174e-01 1.63712710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.4 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:0.67, Z:1.64 [[ 9.94470816e-01 -8.10449566e-02 -6.67795675e-02 2.42298867e+01] [ 8.08412292e-02 9.96710395e-01 -5.75187150e-03 6.69702515e-01] [ 6.70260493e-02 3.21526029e-04 9.97751174e-01 1.63877648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.459999999999997 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:24.29, Y:0.67, Z:1.64 [[ 9.94420289e-01 -8.16639117e-02 -6.67779415e-02 2.42868095e+01] [ 8.14603148e-02 9.96659880e-01 -5.77068708e-03 6.73829724e-01] [ 6.70261521e-02 2.98736173e-04 9.97751174e-01 1.64131754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:0.68, Z:1.65 [[ 9.94216670e-01 -8.41071581e-02 -6.67772415e-02 2.43445697e+01] [ 8.39085216e-02 9.96456705e-01 -5.77877650e-03 6.77363878e-01] [ 6.70266665e-02 1.42176317e-04 9.97751174e-01 1.64578134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:0.68, Z:1.65 [[ 9.93911811e-01 -8.76375070e-02 -6.67755906e-02 2.44023272e+01] [ 8.74455496e-02 9.96152429e-01 -5.79779093e-03 6.81492725e-01] [ 6.70267707e-02 -7.67353329e-05 9.97751174e-01 1.65073853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:0.68, Z:1.66 [[ 9.93255348e-01 -9.47895507e-02 -6.67739152e-02 2.44590365e+01] [ 9.46124336e-02 9.95497187e-01 -5.81702318e-03 6.83378410e-01] [ 6.70246377e-02 -5.39853239e-04 9.97751175e-01 1.65711548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.7 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:0.69, Z:1.66 [[ 9.92751169e-01 -9.99325338e-02 -6.67727841e-02 2.45183240e+01] [ 9.97661588e-02 9.94993832e-01 -5.82997802e-03 6.86196154e-01] [ 6.70211128e-02 -8.73946691e-04 9.97751175e-01 1.65944811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.759999999999998 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:24.58, Y:0.69, Z:1.67 [[ 9.92027994e-01 -1.06873976e-01 -6.67713380e-02 2.45758060e+01] [ 1.06722180e-01 9.94271691e-01 -5.84649324e-03 6.88478226e-01] [ 6.70136891e-02 -1.32609781e-03 9.97751175e-01 1.66525775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:0.70, Z:1.66 [[ 9.90825182e-01 -1.17504333e-01 -6.67696805e-02 2.46346833e+01] [ 1.17375332e-01 9.93070304e-01 -5.86536179e-03 7.01789107e-01] [ 6.69961924e-02 -2.02556528e-03 9.97751175e-01 1.65986463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:24.69, Y:0.71, Z:1.66 [[ 9.90194889e-01 -1.22703290e-01 -6.67681349e-02 2.46925821e+01] [ 1.22584894e-01 9.92440595e-01 -5.88290396e-03 7.07300747e-01] [ 6.69852592e-02 -2.35954332e-03 9.97751175e-01 1.66442949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.939999999999998 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:0.71, Z:1.67 [[ 9.89707233e-01 -1.26577428e-01 -6.67663682e-02 2.47507745e+01] [ 1.26466475e-01 9.91953319e-01 -5.90288672e-03 7.14705317e-01] [ 6.69762928e-02 -2.60157757e-03 9.97751175e-01 1.66737528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.0 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:0.71, Z:1.68 [[ 9.90366263e-01 -1.21314151e-01 -6.67648246e-02 2.48071355e+01] [ 1.21190087e-01 9.92611663e-01 -5.92029511e-03 7.12702306e-01] [ 6.69897591e-02 -2.22797438e-03 9.97751176e-01 1.68208958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:0.72, Z:1.69 [[ 9.90192277e-01 -1.22726582e-01 -6.67640653e-02 2.48647726e+01] [ 1.22605145e-01 9.92437820e-01 -5.92884539e-03 7.21042517e-01] [ 6.69868104e-02 -2.31492096e-03 9.97751176e-01 1.68526450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.119999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:0.74, Z:1.68 [[ 9.89374232e-01 -1.29155945e-01 -6.67635414e-02 2.49230083e+01] [ 1.29048700e-01 9.91620498e-01 -5.93473876e-03 7.36320286e-01] [ 6.69706030e-02 -2.74407061e-03 9.97751176e-01 1.67578355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:0.75, Z:1.68 [[ 9.89817099e-01 -1.25717853e-01 -6.67617583e-02 2.49812496e+01] [ 1.25601458e-01 9.92062909e-01 -5.95473059e-03 7.45372182e-01] [ 6.69804801e-02 -2.49127999e-03 9.97751176e-01 1.67728839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:0.74, Z:1.70 [[ 9.91513585e-01 -1.11552163e-01 -6.67602059e-02 2.50383887e+01] [ 1.11402500e-01 9.93757424e-01 -5.97208441e-03 7.43598362e-01] [ 6.70096491e-02 -1.51585103e-03 9.97751176e-01 1.69652368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.3 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:25.10, Y:0.75, Z:1.70 [[ 9.92079219e-01 -1.06405523e-01 -6.67584224e-02 2.50952260e+01] [ 1.06242882e-01 9.94322154e-01 -5.99195493e-03 7.52642825e-01] [ 6.70169555e-02 -1.14811322e-03 9.97751176e-01 1.69953709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:0.76, Z:1.71 [[ 9.92529815e-01 -1.02117381e-01 -6.67578266e-02 2.51529390e+01] [ 1.01944603e-01 9.94771991e-01 -5.99858568e-03 7.59944873e-01] [ 6.70213760e-02 -8.51824962e-04 9.97751176e-01 1.70754570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.419999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:0.78, Z:1.70 [[ 9.91637789e-01 -1.10444952e-01 -6.67563368e-02 2.52119380e+01] [ 1.10289888e-01 9.93881260e-01 -6.01511947e-03 7.75931794e-01] [ 6.70122117e-02 -1.39772917e-03 9.97751176e-01 1.69673221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:0.77, Z:1.71 [[ 9.92615843e-01 -1.01279713e-01 -6.67548332e-02 2.52700588e+01] [ 1.01102812e-01 9.94857698e-01 -6.03176083e-03 7.73270684e-01] [ 6.70224547e-02 -7.61879984e-04 9.97751176e-01 1.71393194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.33, Y:0.79, Z:1.70 [[ 9.91952918e-01 -1.07579102e-01 -6.67543657e-02 2.53291492e+01] [ 1.07416089e-01 9.94195825e-01 -6.03693008e-03 7.87493323e-01] [ 6.70163592e-02 -1.18214245e-03 9.97751176e-01 1.70480021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.599999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:0.78, Z:1.72 [[ 9.92895525e-01 -9.85014245e-02 -6.67528784e-02 2.53863757e+01] [ 9.83168001e-02 9.95136756e-01 -6.05333121e-03 7.84060115e-01] [ 6.70245046e-02 -5.52603931e-04 9.97751177e-01 1.72186241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:25.44, Y:0.79, Z:1.72 [[ 9.92745210e-01 -1.00005383e-01 -6.67523186e-02 2.54449886e+01] [ 9.98237388e-02 9.94986685e-01 -6.05949808e-03 7.89989933e-01] [ 6.70236506e-02 -6.47928328e-04 9.97751177e-01 1.72033135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.50, Y:0.80, Z:1.72 [[ 9.92011802e-01 -1.07036960e-01 -6.67508404e-02 2.55032851e+01] [ 1.06870111e-01 9.94254427e-01 -6.07573853e-03 8.00870519e-01] [ 6.70176471e-02 -1.10646537e-03 9.97751177e-01 1.71668498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.779999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.56, Y:0.80, Z:1.73 [[ 9.92603601e-01 -1.01403304e-01 -6.67492372e-02 2.55613081e+01] [ 1.01222544e-01 9.94845148e-01 -6.09330086e-03 7.96682588e-01] [ 6.70230356e-02 -7.08295232e-04 9.97751177e-01 1.73100069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:25.62, Y:0.80, Z:1.73 [[ 9.92367789e-01 -1.03685994e-01 -6.67486772e-02 2.56190939e+01] [ 1.03509978e-01 9.94609713e-01 -6.09942956e-03 7.99237188e-01] [ 6.70213081e-02 -8.56276693e-04 9.97751177e-01 1.73370229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.68, Y:0.80, Z:1.74 [[ 9.92467060e-01 -1.02732573e-01 -6.67469397e-02 2.56772425e+01] [ 1.02553128e-01 9.94708712e-01 -6.11838441e-03 8.02178199e-01] [ 6.70223197e-02 -7.72812484e-04 9.97751177e-01 1.73970209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.959999999999997 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:25.74, Y:0.81, Z:1.74 [[ 9.92588869e-01 -1.01550064e-01 -6.67452058e-02 2.57351934e+01] [ 1.01366681e-01 9.94830202e-01 -6.13724138e-03 8.06067309e-01] [ 6.70233838e-02 -6.73982498e-04 9.97751177e-01 1.74155232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:25.79, Y:0.81, Z:1.74 [[ 9.93110732e-01 -9.63139795e-02 -6.67434772e-02 2.57929664e+01] [ 9.61175192e-02 9.95350956e-01 -6.15598310e-03 8.09353170e-01] [ 6.70260911e-02 -3.01644573e-04 9.97751177e-01 1.74368208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:0.81, Z:1.75 [[ 9.93616796e-01 -9.09454342e-02 -6.67427161e-02 2.58511355e+01] [ 9.07363163e-02 9.95855875e-01 -6.16422391e-03 8.13003412e-01] [ 6.70267339e-02 6.88882172e-05 9.97751177e-01 1.75187565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:25.91, Y:0.82, Z:1.76 [[ 9.93974171e-01 -8.69537637e-02 -6.67412127e-02 2.59084984e+01] [ 8.67345640e-02 9.96212285e-01 -6.18045846e-03 8.16954204e-01] [ 6.70258302e-02 3.54446091e-04 9.97751178e-01 1.75606635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.2 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:0.82, Z:1.75 [[ 9.94233058e-01 -8.39432847e-02 -6.67394222e-02 2.59673072e+01] [ 8.37160145e-02 9.96470367e-01 -6.19973367e-03 8.24552115e-01] [ 6.70242825e-02 5.76821733e-04 9.97751178e-01 1.75401872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.259999999999998 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:0.83, Z:1.76 [[ 9.94840601e-01 -7.64084603e-02 -6.67377388e-02 2.60250530e+01] [ 7.61630347e-02 9.97075991e-01 -6.21780192e-03 8.25371147e-01] [ 6.70176897e-02 1.10277309e-03 9.97751178e-01 1.76182365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:26.08, Y:0.83, Z:1.77 [[ 9.94804660e-01 -7.68757449e-02 -6.67368610e-02 2.60824723e+01] [ 7.66307384e-02 9.97040095e-01 -6.22720870e-03 8.30250724e-01] [ 6.70180476e-02 1.08076129e-03 9.97751178e-01 1.76762626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:0.84, Z:1.76 [[ 9.94103489e-01 -8.54674336e-02 -6.67350873e-02 2.61415967e+01] [ 8.52404770e-02 9.96340829e-01 -6.24616018e-03 8.40885700e-01] [ 6.70247354e-02 5.20798959e-04 9.97751178e-01 1.76148834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.439999999999998 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:0.84, Z:1.77 [[ 9.94330430e-01 -8.27867459e-02 -6.67334281e-02 2.61988916e+01] [ 8.25525715e-02 9.96567026e-01 -6.26383642e-03 8.39012978e-01] [ 6.70228966e-02 7.19307072e-04 9.97751178e-01 1.77328397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.5 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:0.85, Z:1.77 [[ 9.93331502e-01 -9.40173083e-02 -6.67328464e-02 2.62576018e+01] [ 9.38080062e-02 9.95570562e-01 -6.27002765e-03 8.49802871e-01] [ 6.70267486e-02 -3.18592836e-05 9.97751178e-01 1.76958356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:26.32, Y:0.85, Z:1.78 [[ 9.93344647e-01 -9.38795333e-02 -6.67311494e-02 2.63158417e+01] [ 9.36687108e-02 9.95583564e-01 -6.28803663e-03 8.45599353e-01] [ 6.70267536e-02 -4.43321393e-06 9.97751179e-01 1.78404655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.619999999999997 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:26.37, Y:0.86, Z:1.78 [[ 9.92318568e-01 -1.04168302e-01 -6.67294904e-02 2.63734273e+01] [ 1.03979512e-01 9.94559451e-01 -6.30559377e-03 8.61453296e-01] [ 6.70232883e-02 -6.81342059e-04 9.97751179e-01 1.77620803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:0.87, Z:1.78 [[ 9.92312088e-01 -1.04231225e-01 -6.67275950e-02 2.64320019e+01] [ 1.04041232e-01 9.94552869e-01 -6.32558821e-03 8.67094786e-01] [ 6.70234448e-02 -6.65463551e-04 9.97751179e-01 1.78030348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:0.87, Z:1.79 [[ 9.93097205e-01 -9.64655127e-02 -6.67259083e-02 2.64889623e+01] [ 9.62568049e-02 9.95336320e-01 -6.34333075e-03 8.67835302e-01] [ 6.70266327e-02 -1.23278701e-04 9.97751179e-01 1.79471949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.799999999999997 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:0.88, Z:1.79 [[ 9.92664193e-01 -1.00825139e-01 -6.67239989e-02 2.65465482e+01] [ 1.00624919e-01 9.94904083e-01 -6.36335269e-03 8.81344311e-01] [ 6.70255648e-02 -3.97424600e-04 9.97751179e-01 1.79028354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:26.60, Y:0.88, Z:1.80 [[ 9.93492203e-01 -9.23115043e-02 -6.67220199e-02 2.66039097e+01] [ 9.20907006e-02 9.95730158e-01 -6.38403538e-03 8.82827645e-01] [ 6.70264473e-02 1.98011813e-04 9.97751179e-01 1.80245783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.919999999999998 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:26.66, Y:0.89, Z:1.80 [[ 9.93519957e-01 -9.20127620e-02 -6.67214160e-02 2.66614672e+01] [ 9.17908619e-02 9.95757802e-01 -6.39034083e-03 8.89633851e-01] [ 6.70263635e-02 2.24514857e-04 9.97751179e-01 1.80482141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:26.72, Y:0.91, Z:1.80 [[ 9.92952707e-01 -9.79459914e-02 -6.67195959e-02 2.67202493e+01] [ 9.77361900e-02 9.95191719e-01 -6.40928790e-03 9.05110843e-01] [ 6.70265534e-02 -1.56799330e-04 9.97751180e-01 1.79727199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:0.90, Z:1.81 [[ 9.93658172e-01 -9.05105282e-02 -6.67179194e-02 2.67774654e+01] [ 9.02828041e-02 9.95895433e-01 -6.42669240e-03 9.02591621e-01] [ 6.70257546e-02 3.62454574e-04 9.97751180e-01 1.81149940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.099999999999998 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:26.83, Y:0.91, Z:1.82 [[ 9.93589935e-01 -9.12572018e-02 -6.67170498e-02 2.68347726e+01] [ 9.10305536e-02 9.95827304e-01 -6.43570734e-03 9.08383875e-01] [ 6.70259645e-02 3.21164056e-04 9.97751180e-01 1.81792722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:26.89, Y:0.91, Z:1.82 [[ 9.93481012e-01 -9.24367854e-02 -6.67152084e-02 2.68925721e+01] [ 9.22115157e-02 9.95718521e-01 -6.45473986e-03 9.14222566e-01] [ 6.70262240e-02 2.60751008e-04 9.97751180e-01 1.82236840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:26.95, Y:0.92, Z:1.83 [[ 9.93531443e-01 -9.18945008e-02 -6.67133591e-02 2.69509553e+01] [ 9.16667301e-02 9.95768698e-01 -6.47379776e-03 9.17998611e-01] [ 6.70259811e-02 3.16526150e-04 9.97751180e-01 1.83010010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.279999999999998 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:27.01, Y:0.93, Z:1.82 [[ 9.92730302e-01 -1.00180282e-01 -6.67117559e-02 2.70092502e+01] [ 9.99700776e-02 9.94969276e-01 -6.49027606e-03 9.32150941e-01] [ 6.70263452e-02 -2.26085703e-04 9.97751180e-01 1.81927879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:0.93, Z:1.84 [[ 9.93280276e-01 -9.45732445e-02 -6.67097849e-02 2.70665670e+01] [ 9.43490443e-02 9.95517891e-01 -6.51047226e-03 9.27066593e-01] [ 6.70265009e-02 1.72719235e-04 9.97751181e-01 1.83564863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.4 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:27.12, Y:0.93, Z:1.84 [[ 9.92995534e-01 -9.75179702e-02 -6.67091795e-02 2.71230471e+01] [ 9.72999893e-02 9.95233764e-01 -6.51666941e-03 9.30497775e-01] [ 6.70267202e-02 -1.97788346e-05 9.97751181e-01 1.83814154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.459999999999997 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:0.93, Z:1.85 [[ 9.92806756e-01 -9.94220155e-02 -6.67083806e-02 2.71818857e+01] [ 9.92077784e-02 9.95045347e-01 -6.52483749e-03 9.34367920e-01] [ 6.70265762e-02 -1.40087493e-04 9.97751181e-01 1.84510018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:27.24, Y:0.94, Z:1.85 [[ 9.93038536e-01 -9.70807529e-02 -6.67067678e-02 2.72396150e+01] [ 9.68601330e-02 9.95276507e-01 -6.54128511e-03 9.42648257e-01] [ 6.70267117e-02 3.45217913e-05 9.97751181e-01 1.84856765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:27.30, Y:0.96, Z:1.84 [[ 9.92870947e-01 -9.87812414e-02 -6.67049420e-02 2.72978950e+01] [ 9.85632071e-02 9.95109171e-01 -6.55985124e-03 9.55640538e-01] [ 6.70266897e-02 -6.15672928e-05 9.97751181e-01 1.84290698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:0.95, Z:1.86 [[ 9.93573466e-01 -9.14463873e-02 -6.67032613e-02 2.73554464e+01] [ 9.12106858e-02 9.95809899e-01 -6.57689676e-03 9.54996467e-01] [ 6.70252013e-02 4.50579909e-04 9.97751181e-01 1.85652443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.41, Y:0.96, Z:1.86 [[ 9.93495083e-01 -9.22944997e-02 -6.67026707e-02 2.74135511e+01] [ 9.20603055e-02 9.95731674e-01 -6.58288141e-03 9.59481955e-01] [ 6.70255256e-02 3.99392067e-04 9.97751181e-01 1.86129021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.759999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.47, Y:0.96, Z:1.86 [[ 9.93322002e-01 -9.41403424e-02 -6.67008035e-02 2.74725949e+01] [ 9.39090377e-02 9.95558893e-01 -6.60174658e-03 9.62461523e-01] [ 6.70260688e-02 2.93851857e-04 9.97751181e-01 1.86434042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:0.97, Z:1.87 [[ 9.93302814e-01 -9.43437228e-02 -6.66991862e-02 2.75305176e+01] [ 9.41117816e-02 9.95539640e-01 -6.61804640e-03 9.67827927e-01] [ 6.70260549e-02 2.96544865e-04 9.97751181e-01 1.86870251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:0.97, Z:1.87 [[ 9.93286529e-01 -9.45154252e-02 -6.66986175e-02 2.75882424e+01] [ 9.42834862e-02 9.95523355e-01 -6.62377277e-03 9.72772231e-01] [ 6.70260802e-02 2.90726084e-04 9.97751181e-01 1.87492775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.939999999999998 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:0.98, Z:1.88 [[ 9.93137382e-01 -9.60712759e-02 -6.66967095e-02 2.76462492e+01] [ 9.58415545e-02 9.95374436e-01 -6.64293020e-03 9.79811279e-01] [ 6.70263943e-02 2.05025997e-04 9.97751182e-01 1.87711393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.70, Y:0.99, Z:1.88 [[ 9.93089167e-01 -9.65697138e-02 -6.66948078e-02 2.77044046e+01] [ 9.63398366e-02 9.95326205e-01 -6.66196855e-03 9.85255172e-01] [ 6.70264343e-02 1.90561913e-04 9.97751182e-01 1.88328958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.76, Y:0.99, Z:1.89 [[ 9.92856106e-01 -9.89382667e-02 -6.66931179e-02 2.77618548e+01] [ 9.87125927e-02 9.95093572e-01 -6.67884324e-03 9.91099519e-01] [ 6.70266861e-02 4.76797101e-05 9.97751182e-01 1.88601884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.119999999999997 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:27.82, Y:1.00, Z:1.89 [[ 9.92601492e-01 -1.01462121e-01 -6.66911940e-02 2.78199181e+01] [ 1.01240849e-01 9.94839398e-01 -6.69799909e-03 9.96851907e-01] [ 6.70266205e-02 -1.03429241e-04 9.97751182e-01 1.88854844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.88, Y:1.00, Z:1.89 [[ 9.92344363e-01 -1.03948093e-01 -6.66892788e-02 2.78775585e+01] [ 1.03731149e-01 9.94582692e-01 -6.71701474e-03 1.00148100e+00] [ 6.70262233e-02 -2.52163810e-04 9.97751182e-01 1.89330573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:1.01, Z:1.89 [[ 9.92194974e-01 -1.05365681e-01 -6.66873783e-02 2.79362975e+01] [ 1.05150671e-01 9.94433489e-01 -6.73583005e-03 1.00844962e+00] [ 6.70258877e-02 -3.28965851e-04 9.97751182e-01 1.89103019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.299999999999997 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:27.99, Y:1.01, Z:1.90 [[ 9.92344486e-01 -1.03949421e-01 -6.66853740e-02 2.79933202e+01] [ 1.03729886e-01 9.94582562e-01 -6.75561470e-03 1.01411373e+00] [ 6.70263524e-02 -2.13369246e-04 9.97751183e-01 1.89970641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:28.05, Y:1.02, Z:1.90 [[ 9.92487740e-01 -1.02573330e-01 -6.66843095e-02 2.80507399e+01] [ 1.02349988e-01 9.94725439e-01 -6.76610667e-03 1.02008618e+00] [ 6.70266011e-02 -1.09860339e-04 9.97751183e-01 1.90130418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.419999999999998 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:28.11, Y:1.03, Z:1.91 [[ 9.92543529e-01 -1.02032472e-01 -6.66837204e-02 2.81087409e+01] [ 1.01807521e-01 9.94781066e-01 -6.77190713e-03 1.02627382e+00] [ 6.70266569e-02 -6.74916532e-05 9.97751183e-01 1.90525846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:28.17, Y:1.03, Z:1.91 [[ 9.92608299e-01 -1.01401679e-01 -6.66818208e-02 2.81665415e+01] [ 1.01174052e-01 9.94845566e-01 -6.79056123e-03 1.03221513e+00] [ 6.70266880e-02 -6.10254661e-06 9.97751183e-01 1.91141214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:28.22, Y:1.04, Z:1.92 [[ 9.92720918e-01 -1.00293535e-01 -6.66812197e-02 2.82241362e+01] [ 1.00063014e-01 9.94957889e-01 -6.79645831e-03 1.03971831e+00] [ 6.70266465e-02 7.46624950e-05 9.97751183e-01 1.91538358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.599999999999998 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:28.28, Y:1.05, Z:1.92 [[ 9.92809865e-01 -9.94104924e-02 -6.66792751e-02 2.82803534e+01] [ 9.91767046e-02 9.95046497e-01 -6.81548377e-03 1.04599682e+00] [ 6.70265097e-02 1.53448757e-04 9.97751183e-01 1.91984959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:28.34, Y:1.05, Z:1.92 [[ 9.92569454e-01 -1.01783427e-01 -6.66784362e-02 2.83380139e+01] [ 1.01554435e-01 9.94806581e-01 -6.82368098e-03 1.05207413e+00] [ 6.70266848e-02 1.48635797e-06 9.97751183e-01 1.92277819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:1.06, Z:1.93 [[ 9.91984737e-01 -1.07333688e-01 -6.66765344e-02 2.83955309e+01] [ 1.07115967e-01 9.94222990e-01 -6.84221463e-03 1.05680039e+00] [ 6.70257435e-02 -3.54748997e-04 9.97751183e-01 1.93035248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.779999999999998 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:28.45, Y:1.06, Z:1.94 [[ 9.91450778e-01 -1.12159922e-01 -6.66746399e-02 2.84525536e+01] [ 1.11951859e-01 9.93689948e-01 -6.86062584e-03 1.06171292e+00] [ 6.70234067e-02 -6.62377045e-04 9.97751184e-01 1.93536128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:28.51, Y:1.07, Z:1.94 [[ 9.91297422e-01 -1.13507668e-01 -6.66740588e-02 2.85107305e+01] [ 1.13302269e-01 9.93536839e-01 -6.86626832e-03 1.06785368e+00] [ 6.70225077e-02 -7.47808086e-04 9.97751184e-01 1.93878644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.9 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:28.57, Y:1.07, Z:1.94 [[ 9.91227916e-01 -1.14114141e-01 -6.66721878e-02 2.85688974e+01] [ 1.13908894e-01 9.93467347e-01 -6.88438843e-03 1.07418379e+00] [ 6.70222476e-02 -7.70557153e-04 9.97751184e-01 1.94242594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.959999999999997 meters Centerline goodness : 0.998248 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:1.08, Z:1.94 [[ 9.91407220e-01 -1.12546712e-01 -6.66705417e-02 2.86272925e+01] [ 1.12336855e-01 9.93646223e-01 -6.90029330e-03 1.08362028e+00] [ 6.70235373e-02 -6.48558366e-04 9.97751184e-01 1.93710692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02 meters Centerline goodness : 0.998207 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:1.09, Z:1.94 [[ 9.91889985e-01 -1.08209832e-01 -6.66700017e-02 2.86856538e+01] [ 1.07989834e-01 9.94128015e-01 -6.90550667e-03 1.09140251e+00] [ 6.70257601e-02 -3.50179539e-04 9.97751184e-01 1.94215506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:28.74, Y:1.11, Z:1.94 [[ 9.90876414e-01 -1.17129417e-01 -6.66680677e-02 2.87439561e+01] [ 1.16928311e-01 9.93116220e-01 -6.92412796e-03 1.10847944e+00] [ 6.70201585e-02 -9.34429465e-04 9.97751184e-01 1.93720908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:28.80, Y:1.11, Z:1.95 [[ 9.91721780e-01 -1.09743240e-01 -6.66658220e-02 2.88015249e+01] [ 1.09524002e-01 9.93959884e-01 -6.94568261e-03 1.10526592e+00] [ 6.70253944e-02 -4.13322935e-04 9.97751184e-01 1.95435590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.2 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:28.86, Y:1.12, Z:1.95 [[ 9.91374890e-01 -1.12834313e-01 -6.66651700e-02 2.88600487e+01] [ 1.12621633e-01 9.93613626e-01 -6.95193492e-03 1.11502122e+00] [ 6.70238381e-02 -6.15966589e-04 9.97751184e-01 1.95037958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.259999999999998 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:28.92, Y:1.11, Z:1.96 [[ 9.92281489e-01 -1.04563122e-01 -6.66633350e-02 2.89181809e+01] [ 1.04330601e-01 9.94518251e-01 -6.96948714e-03 1.11372128e+00] [ 6.70266547e-02 -3.93327506e-05 9.97751184e-01 1.96215373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:28.98, Y:1.12, Z:1.96 [[ 9.92581979e-01 -1.01672304e-01 -6.66615210e-02 2.89752177e+01] [ 1.01432106e-01 9.94817929e-01 -6.98679488e-03 1.11903710e+00] [ 6.70264398e-02 1.73348189e-04 9.97751185e-01 1.96495615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:29.03, Y:1.12, Z:1.97 [[ 9.92903245e-01 -9.84860238e-02 -6.66607049e-02 2.90327667e+01] [ 9.82381285e-02 9.95138355e-01 -6.99457263e-03 1.12474810e+00] [ 6.70254919e-02 3.96310971e-04 9.97751185e-01 1.96954560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.439999999999998 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:29.09, Y:1.13, Z:1.97 [[ 9.93211507e-01 -9.53284608e-02 -6.66587355e-02 2.90901024e+01] [ 9.50722038e-02 9.95445674e-01 -7.01329055e-03 1.13357942e+00] [ 6.70237161e-02 6.28287984e-04 9.97751185e-01 1.97153117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.5 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:29.15, Y:1.14, Z:1.98 [[ 9.93354255e-01 -9.38297270e-02 -6.66581311e-02 2.91474676e+01] [ 9.35697141e-02 9.95587988e-01 -7.01903080e-03 1.14306733e+00] [ 6.70226284e-02 7.35201837e-04 9.97751185e-01 1.97647601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.20, Y:1.15, Z:1.98 [[ 9.93442269e-01 -9.28946352e-02 -6.66561702e-02 2.92045134e+01] [ 9.26312738e-02 9.95675609e-01 -7.03760347e-03 1.15081837e+00] [ 6.70216785e-02 8.17006804e-04 9.97751185e-01 1.97961385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.619999999999997 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:29.26, Y:1.16, Z:1.98 [[ 9.93314584e-01 -9.42505841e-02 -6.66555666e-02 2.92624133e+01] [ 9.39898882e-02 9.95548237e-01 -7.04331581e-03 1.15796122e+00] [ 6.70226685e-02 7.31279065e-04 9.97751185e-01 1.97934420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.32, Y:1.16, Z:1.98 [[ 9.92851629e-01 -9.90088785e-02 -6.66549751e-02 2.93196254e+01] [ 9.87585124e-02 9.95086463e-01 -7.04890892e-03 1.16321857e+00] [ 6.70253680e-02 4.15774517e-04 9.97751185e-01 1.98480621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.38, Y:1.17, Z:1.99 [[ 9.92072009e-01 -1.06538789e-01 -6.66529538e-02 2.93782452e+01] [ 1.06304105e-01 9.94308544e-01 -7.06797075e-03 1.16646163e+00] [ 6.70266145e-02 -7.35466908e-05 9.97751185e-01 1.99043729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.799999999999997 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:29.44, Y:1.17, Z:1.99 [[ 9.91488293e-01 -1.11841770e-01 -6.66512098e-02 2.94371026e+01] [ 1.11617945e-01 9.93725941e-01 -7.08437899e-03 1.17155323e+00] [ 6.70253656e-02 -4.15392255e-04 9.97751185e-01 1.99493838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:1.18, Z:2.00 [[ 9.90863626e-01 -1.17248132e-01 -6.66494582e-02 2.94952441e+01] [ 1.17035410e-01 9.93102357e-01 -7.10081979e-03 1.17809804e+00] [ 6.70222918e-02 -7.64402624e-04 9.97751185e-01 1.99950211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.919999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:1.18, Z:2.00 [[ 9.90565826e-01 -1.19738998e-01 -6.66477013e-02 2.95536323e+01] [ 1.19530799e-01 9.92804982e-01 -7.11727127e-03 1.18492581e+00] [ 6.70203849e-02 -9.16327282e-04 9.97751186e-01 2.00479657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:1.19, Z:2.01 [[ 9.90432300e-01 -1.20839458e-01 -6.66459661e-02 2.96109720e+01] [ 1.20632656e-01 9.92671585e-01 -7.13348265e-03 1.19044295e+00] [ 6.70195630e-02 -9.74448271e-04 9.97751186e-01 2.00897305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:1.20, Z:2.01 [[ 9.90640778e-01 -1.19119393e-01 -6.66439765e-02 2.96685595e+01] [ 1.18907455e-01 9.92879583e-01 -7.15202280e-03 1.19847408e+00] [ 6.70213882e-02 -8.39380206e-04 9.97751186e-01 2.01227035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.1 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:1.21, Z:2.02 [[ 9.90932323e-01 -1.16670386e-01 -6.66419763e-02 2.97260470e+01] [ 1.16451666e-01 9.93170475e-01 -7.17061167e-03 1.20764004e+00] [ 6.70234413e-02 -6.54978264e-04 9.97751186e-01 2.01640232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:1.21, Z:2.02 [[ 9.90941562e-01 -1.16593065e-01 -6.66399105e-02 2.97834161e+01] [ 1.16372881e-01 9.93179571e-01 -7.18975978e-03 1.21475165e+00] [ 6.70236738e-02 -6.30446616e-04 9.97751186e-01 2.01997661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:1.22, Z:2.03 [[ 9.90449126e-01 -1.20705336e-01 -6.66389551e-02 2.98417171e+01] [ 1.20493849e-01 9.92687973e-01 -7.19860425e-03 1.22072960e+00] [ 6.70205992e-02 -8.99732910e-04 9.97751186e-01 2.02546473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:1.23, Z:2.03 [[ 9.90121150e-01 -1.23367715e-01 -6.66371848e-02 2.98990906e+01] [ 1.23161148e-01 9.92360457e-01 -7.21495418e-03 1.22626756e+00] [ 6.70181996e-02 -1.06343348e-03 9.97751186e-01 2.02987364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.339999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.96, Y:1.23, Z:2.03 [[ 9.89883710e-01 -1.25259729e-01 -6.66351339e-02 2.99563438e+01] [ 1.25056170e-01 9.92123292e-01 -7.23384703e-03 1.23268089e+00] [ 6.70163781e-02 -1.17246732e-03 9.97751187e-01 2.03409344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.4 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:30.01, Y:1.24, Z:2.04 [[ 9.89849830e-01 -1.25528269e-01 -6.66330886e-02 3.00142330e+01] [ 1.25324053e-01 9.92089351e-01 -7.25263776e-03 1.23889358e+00] [ 6.70163887e-02 -1.17170649e-03 9.97751187e-01 2.03739556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:30.07, Y:1.24, Z:2.04 [[ 9.89928816e-01 -1.24904931e-01 -6.66310572e-02 3.00731108e+01] [ 1.24698053e-01 9.92168093e-01 -7.27125286e-03 1.24460766e+00] [ 6.70174243e-02 -1.11074035e-03 9.97751187e-01 2.03938273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.519999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.13, Y:1.25, Z:2.04 [[ 9.90046438e-01 -1.23970057e-01 -6.66293955e-02 3.01314224e+01] [ 1.23760042e-01 9.92285422e-01 -7.28644826e-03 1.25045360e+00] [ 6.70186792e-02 -1.03213467e-03 9.97751187e-01 2.04446180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:30.19, Y:1.26, Z:2.05 [[ 9.90417458e-01 -1.20971162e-01 -6.66275985e-02 3.01887402e+01] [ 1.20753264e-01 9.92655689e-01 -7.30284327e-03 1.25670524e+00] [ 6.70216981e-02 -8.12636547e-04 9.97751187e-01 2.04694055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:30.25, Y:1.26, Z:2.05 [[ 9.90844983e-01 -1.17419155e-01 -6.66255294e-02 3.02464267e+01] [ 1.17191968e-01 9.93082291e-01 -7.32167108e-03 1.26272943e+00] [ 6.70243378e-02 -5.53335847e-04 9.97751187e-01 2.05094274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.699999999999996 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:1.27, Z:2.05 [[ 9.91175813e-01 -1.14594158e-01 -6.66234655e-02 3.03044034e+01] [ 1.14359335e-01 9.93412332e-01 -7.34040415e-03 1.26905289e+00] [ 6.70257396e-02 -3.43384138e-04 9.97751188e-01 2.05419601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:1.28, Z:2.06 [[ 9.91346186e-01 -1.13112039e-01 -6.66213671e-02 3.03613362e+01] [ 1.12872595e-01 9.93582214e-01 -7.35940044e-03 1.27524335e+00] [ 6.70262422e-02 -2.24013037e-04 9.97751188e-01 2.05667434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.42, Y:1.28, Z:2.06 [[ 9.91428279e-01 -1.12390749e-01 -6.66204654e-02 3.04198238e+01] [ 1.12149131e-01 9.93664074e-01 -7.36755360e-03 1.27968073e+00] [ 6.70264079e-02 -1.67026312e-04 9.97751188e-01 2.06235565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.879999999999995 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:30.48, Y:1.29, Z:2.07 [[ 9.91260398e-01 -1.13862938e-01 -6.66187282e-02 3.04774892e+01] [ 1.13623587e-01 9.93496436e-01 -7.38322888e-03 1.28545891e+00] [ 6.70261451e-02 -2.50756450e-04 9.97751188e-01 2.06613764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.54, Y:1.29, Z:2.07 [[ 9.91187677e-01 -1.14495459e-01 -6.66166504e-02 3.05350311e+01] [ 1.14256278e-01 9.93423734e-01 -7.40192831e-03 1.29131044e+00] [ 6.70260488e-02 -2.74670411e-04 9.97751188e-01 2.07049736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:1.30, Z:2.07 [[ 9.91034906e-01 -1.15810716e-01 -6.66160112e-02 3.05927371e+01] [ 1.15574116e-01 9.93271237e-01 -7.40767713e-03 1.29723311e+00] [ 6.70256562e-02 -3.57819964e-04 9.97751188e-01 2.07422730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:1.30, Z:2.08 [[ 9.90615916e-01 -1.19342775e-01 -6.66138849e-02 3.06502706e+01] [ 1.19112867e-01 9.92852944e-01 -7.42674901e-03 1.30345753e+00] [ 6.70241205e-02 -5.77515005e-04 9.97751188e-01 2.07534445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:1.31, Z:2.08 [[ 9.89900117e-01 -1.25141662e-01 -6.66132323e-02 3.07077409e+01] [ 1.24924463e-01 9.92138415e-01 -7.43259763e-03 1.30937897e+00] [ 6.70196743e-02 -9.64093015e-04 9.97751188e-01 2.07854462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:1.32, Z:2.08 [[ 9.89522771e-01 -1.28092328e-01 -6.66111144e-02 3.07656848e+01] [ 1.27880529e-01 9.91761587e-01 -7.45153013e-03 1.31624119e+00] [ 6.70168283e-02 -1.14480580e-03 9.97751188e-01 2.08409785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:1.32, Z:2.09 [[ 9.88923666e-01 -1.32639324e-01 -6.66092534e-02 3.08234625e+01] [ 1.32436701e-01 9.91163330e-01 -7.46812827e-03 1.32334667e+00] [ 6.70112170e-02 -1.43610100e-03 9.97751189e-01 2.08892362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.3 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:30.88, Y:1.33, Z:2.09 [[ 9.88542940e-01 -1.35448681e-01 -6.66071312e-02 3.08809213e+01] [ 1.35251151e-01 9.90783059e-01 -7.48700851e-03 1.33056850e+00] [ 6.70073227e-02 -1.60746177e-03 9.97751189e-01 2.09225015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.94, Y:1.34, Z:2.10 [[ 9.88494832e-01 -1.35800373e-01 -6.66049986e-02 3.09389308e+01] [ 1.35602366e-01 9.90734909e-01 -7.50593243e-03 1.33805667e+00] [ 6.70072057e-02 -1.61221998e-03 9.97751189e-01 2.09532964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:31.00, Y:1.35, Z:2.10 [[ 9.88913763e-01 -1.32716367e-01 -6.66028124e-02 3.09951840e+01] [ 1.32510071e-01 9.91153092e-01 -7.52528178e-03 1.34771079e+00] [ 6.70123115e-02 -1.38368866e-03 9.97751189e-01 2.09824412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:31.05, Y:1.36, Z:2.10 [[ 9.89317419e-01 -1.29673576e-01 -6.66018674e-02 3.10528637e+01] [ 1.29459829e-01 9.91556048e-01 -7.53363652e-03 1.35596028e+00] [ 6.70163980e-02 -1.16910854e-03 9.97751189e-01 2.10237907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:1.37, Z:2.10 [[ 9.89361477e-01 -1.29338123e-01 -6.65996877e-02 3.11112478e+01] [ 1.29122324e-01 9.91599909e-01 -7.55285683e-03 1.36963667e+00] [ 6.70171166e-02 -1.12700084e-03 9.97751189e-01 2.09901587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.17, Y:1.37, Z:2.11 [[ 9.90277763e-01 -1.22125748e-01 -6.65977001e-02 3.11686222e+01] [ 1.21892469e-01 9.92514441e-01 -7.57034164e-03 1.37227419e+00] [ 6.70237128e-02 -6.21017122e-04 9.97751190e-01 2.10803120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:31.23, Y:1.39, Z:2.10 [[ 9.90152951e-01 -1.23133964e-01 -6.65970035e-02 3.12273543e+01] [ 1.22902550e-01 9.92389823e-01 -7.57646499e-03 1.38629341e+00] [ 6.70231087e-02 -6.83082404e-04 9.97751190e-01 2.10102516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:1.39, Z:2.11 [[ 9.91079473e-01 -1.15440811e-01 -6.65950277e-02 3.12847328e+01] [ 1.15190869e-01 9.93314350e-01 -7.59379227e-03 1.39125819e+00] [ 6.70264302e-02 -1.45087475e-04 9.97751190e-01 2.10613267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:1.40, Z:2.11 [[ 9.91694182e-01 -1.10036574e-01 -6.65927988e-02 3.13421269e+01] [ 1.09773144e-01 9.93927510e-01 -7.61328848e-03 1.39620412e+00] [ 6.70261548e-02 2.39953036e-04 9.97751190e-01 2.11126011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.839999999999996 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:1.40, Z:2.13 [[ 9.92663651e-01 -1.00918464e-01 -6.65908375e-02 3.14007935e+01] [ 1.00633372e-01 9.94894317e-01 -7.63040448e-03 1.39586829e+00] [ 6.70208945e-02 8.73164611e-04 9.97751190e-01 2.12578441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:1.40, Z:2.13 [[ 9.92834648e-01 -9.92233696e-02 -6.65889277e-02 3.14584667e+01] [ 9.89333548e-02 9.95064678e-01 -7.64703507e-03 1.40295699e+00] [ 6.70190545e-02 1.00437536e-03 9.97751190e-01 2.12929336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:1.41, Z:2.13 [[ 9.92996165e-01 -9.75951797e-02 -6.65867577e-02 3.15159061e+01] [ 9.73002449e-02 9.95225551e-01 -7.66588408e-03 1.41010708e+00] [ 6.70169959e-02 1.13328566e-03 9.97751190e-01 2.13000185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.019999999999996 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:31.57, Y:1.42, Z:2.13 [[ 9.93048222e-01 -9.70645199e-02 -6.65860885e-02 3.15731358e+01] [ 9.67680045e-02 9.95277398e-01 -7.67169202e-03 1.41784546e+00] [ 6.70162780e-02 1.17495720e-03 9.97751190e-01 2.13013135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:31.63, Y:1.42, Z:2.13 [[ 9.92889243e-01 -9.86789518e-02 -6.65838981e-02 3.16296975e+01] [ 9.83847897e-02 9.95118730e-01 -7.69065658e-03 1.42460774e+00] [ 6.70177900e-02 1.08512738e-03 9.97751191e-01 2.13230715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:31.69, Y:1.43, Z:2.14 [[ 9.92661043e-01 -1.00949312e-01 -6.65829567e-02 3.16874543e+01] [ 1.00659703e-01 9.94891126e-01 -7.69879844e-03 1.43011521e+00] [ 6.70199811e-02 9.40076643e-04 9.97751191e-01 2.13799021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.199999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.75, Y:1.44, Z:2.14 [[ 9.92327713e-01 -1.04176312e-01 -6.65808295e-02 3.17452493e+01] [ 1.03892724e-01 9.94558569e-01 -7.71715076e-03 1.43586108e+00] [ 6.70224788e-02 7.40678789e-04 9.97751191e-01 2.14482190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:31.80, Y:1.44, Z:2.15 [[ 9.91855209e-01 -1.08584207e-01 -6.65786272e-02 3.18020549e+01] [ 1.08309262e-01 9.94087147e-01 -7.73610439e-03 1.44231515e+00] [ 6.70249764e-02 4.62013497e-04 9.97751191e-01 2.14681559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:31.86, Y:1.45, Z:2.15 [[ 9.90851262e-01 -1.17393613e-01 -6.65771420e-02 3.18604576e+01] [ 1.17137654e-01 9.93085457e-01 -7.74886530e-03 1.44649892e+00] [ 6.70264588e-02 -1.20717255e-04 9.97751191e-01 2.14977228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.379999999999995 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:31.92, Y:1.45, Z:2.16 [[ 9.90183803e-01 -1.22897547e-01 -6.65749869e-02 3.19179017e+01] [ 1.22652764e-01 9.92419250e-01 -7.76733729e-03 1.45258911e+00] [ 6.70248852e-02 -4.74514598e-04 9.97751191e-01 2.15543254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:31.98, Y:1.46, Z:2.16 [[ 9.89281315e-01 -1.29963645e-01 -6.65727534e-02 3.19751222e+01] [ 1.29733544e-01 9.91518320e-01 -7.78643299e-03 1.46155051e+00] [ 6.70200578e-02 -9.33746583e-04 9.97751191e-01 2.15824715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.5 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:32.03, Y:1.47, Z:2.16 [[ 9.88852431e-01 -1.33188710e-01 -6.65705469e-02 3.20323707e+01] [ 1.32964638e-01 9.91090048e-01 -7.80525202e-03 1.46798459e+00] [ 6.70169780e-02 -1.13328622e-03 9.97751192e-01 2.16367893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:32.09, Y:1.48, Z:2.17 [[ 9.87845708e-01 -1.40461776e-01 -6.65683675e-02 3.20897084e+01] [ 1.40252927e-01 9.90084797e-01 -7.82379572e-03 1.47740373e+00] [ 6.70072728e-02 -1.60770536e-03 9.97751192e-01 2.16567702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:32.15, Y:1.48, Z:2.17 [[ 9.87649448e-01 -1.41836233e-01 -6.65661354e-02 3.21474948e+01] [ 1.41629223e-01 9.89888708e-01 -7.84274108e-03 1.48414329e+00] [ 6.70054506e-02 -1.68183115e-03 9.97751192e-01 2.17244323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:32.20, Y:1.49, Z:2.18 [[ 9.87344801e-01 -1.43942604e-01 -6.65640351e-02 3.22046683e+01] [ 1.43739173e-01 9.89584389e-01 -7.86052636e-03 1.49331781e+00] [ 6.70021947e-02 -1.80680956e-03 9.97751192e-01 2.17710025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:32.26, Y:1.50, Z:2.18 [[ 9.87228804e-01 -1.44736539e-01 -6.65629204e-02 3.22616882e+01] [ 1.44534274e-01 9.89468497e-01 -7.86995443e-03 1.50104795e+00] [ 6.70009828e-02 -1.85117768e-03 9.97751192e-01 2.18184570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.8 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.32, Y:1.51, Z:2.19 [[ 9.87339797e-01 -1.43978484e-01 -6.65606598e-02 3.23192402e+01] [ 1.43773215e-01 9.89579217e-01 -7.88902755e-03 1.50820050e+00] [ 6.70028958e-02 -1.78048917e-03 9.97751192e-01 2.18642100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:32.38, Y:1.52, Z:2.19 [[ 9.87761258e-01 -1.41059106e-01 -6.65584312e-02 3.23752629e+01] [ 1.40845954e-01 9.89999941e-01 -7.90778589e-03 1.51741204e+00] [ 6.70083082e-02 -1.56348121e-03 9.97751193e-01 2.18688068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:1.52, Z:2.19 [[ 9.88295726e-01 -1.37264929e-01 -6.65574721e-02 3.24337584e+01] [ 1.37042639e-01 9.90533520e-01 -7.91584948e-03 1.52489405e+00] [ 6.70139757e-02 -1.29801141e-03 9.97751193e-01 2.19347031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:1.53, Z:2.20 [[ 9.89166116e-01 -1.30846332e-01 -6.65554833e-02 3.24914906e+01] [ 1.30608397e-01 9.91402301e-01 -7.93253604e-03 1.53361499e+00] [ 6.70212025e-02 -8.46109121e-04 9.97751193e-01 2.19660982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:1.54, Z:2.20 [[ 9.89636913e-01 -1.27237798e-01 -6.65531676e-02 3.25474863e+01] [ 1.26990406e-01 9.91872070e-01 -7.95191746e-03 1.54164679e+00] [ 6.70240126e-02 -5.82102710e-04 9.97751193e-01 2.20001687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.1 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:32.60, Y:1.55, Z:2.20 [[ 9.89912141e-01 -1.25079019e-01 -6.65521717e-02 3.26046928e+01] [ 1.24826193e-01 9.92146691e-01 -7.96024406e-03 1.54993430e+00] [ 6.70251764e-02 -4.27511963e-04 9.97751193e-01 2.20383828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:32.66, Y:1.56, Z:2.21 [[ 9.90265453e-01 -1.22251550e-01 -6.65499119e-02 3.26631767e+01] [ 1.21991076e-01 9.92499124e-01 -7.97909195e-03 1.55818899e+00] [ 6.70261856e-02 -2.17076283e-04 9.97751193e-01 2.21027657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:32.72, Y:1.56, Z:2.21 [[ 9.90910852e-01 -1.16906170e-01 -6.65479558e-02 3.27219847e+01] [ 1.16632553e-01 9.93142951e-01 -7.99537289e-03 1.56429272e+00] [ 6.70263417e-02 1.61043740e-04 9.97751193e-01 2.21321029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:32.78, Y:1.57, Z:2.22 [[ 9.91240365e-01 -1.14079644e-01 -6.65460212e-02 3.27799672e+01] [ 1.13798584e-01 9.93471539e-01 -8.01144283e-03 1.57245671e+00] [ 6.70255207e-02 3.68422529e-04 9.97751193e-01 2.21785657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.339999999999996 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:32.84, Y:1.58, Z:2.22 [[ 9.91913539e-01 -1.08071486e-01 -6.65438601e-02 3.28385581e+01] [ 1.07775711e-01 9.94142809e-01 -8.02935299e-03 1.57708686e+00] [ 6.70218442e-02 7.92612119e-04 9.97751194e-01 2.21608096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.4 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:32.90, Y:1.58, Z:2.22 [[ 9.91969636e-01 -1.07556681e-01 -6.65417348e-02 3.28967372e+01] [ 1.07258570e-01 9.94198595e-01 -8.04692776e-03 1.58281936e+00] [ 6.70212001e-02 8.45136697e-04 9.97751194e-01 2.22329813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:32.95, Y:1.58, Z:2.22 [[ 9.92329417e-01 -1.04186437e-01 -6.65395784e-02 3.29548504e+01] [ 1.03879563e-01 9.94557186e-01 -8.06471953e-03 1.58470773e+00] [ 6.70176503e-02 1.09075606e-03 9.97751194e-01 2.22495895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.519999999999996 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:33.01, Y:1.59, Z:2.23 [[ 9.92460462e-01 -1.02932117e-01 -6.65372857e-02 3.30133263e+01] [ 1.02621163e-01 9.94687666e-01 -8.08359130e-03 1.58737250e+00] [ 6.70158786e-02 1.19451110e-03 9.97751194e-01 2.22963361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.07, Y:1.59, Z:2.24 [[ 9.92863346e-01 -9.89720317e-02 -6.65350449e-02 3.30711786e+01] [ 9.86509626e-02 9.95089114e-01 -8.10199361e-03 1.59097908e+00] [ 6.70101696e-02 1.48042627e-03 9.97751194e-01 2.24195899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:33.13, Y:1.60, Z:2.24 [[ 9.92771508e-01 -9.98906589e-02 -6.65326130e-02 3.31297209e+01] [ 9.95703149e-02 9.94997380e-01 -8.12191516e-03 1.59661465e+00] [ 6.70110791e-02 1.43853273e-03 9.97751194e-01 2.24395118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.699999999999996 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:33.19, Y:1.60, Z:2.25 [[ 9.92460998e-01 -1.02931292e-01 -6.65305636e-02 3.31877666e+01] [ 1.02616645e-01 9.94687683e-01 -8.13866786e-03 1.59968193e+00] [ 6.70148558e-02 1.25016717e-03 9.97751195e-01 2.24972016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:1.60, Z:2.25 [[ 9.92392897e-01 -1.03586288e-01 -6.65298421e-02 3.32465304e+01] [ 1.03272715e-01 9.94619733e-01 -8.14456195e-03 1.60414698e+00] [ 6.70155587e-02 1.21188798e-03 9.97751195e-01 2.25324395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:1.62, Z:2.25 [[ 9.91562829e-01 -1.11253067e-01 -6.65275299e-02 3.33033230e+01] [ 1.10955450e-01 9.93791853e-01 -8.16340530e-03 1.61747276e+00] [ 6.70227211e-02 7.12937219e-04 9.97751195e-01 2.24721856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.879999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.36, Y:1.62, Z:2.26 [[ 9.91884522e-01 -1.08348163e-01 -6.65264625e-02 3.33617456e+01] [ 1.08043436e-01 9.94112586e-01 -8.17209418e-03 1.61818400e+00] [ 6.70202251e-02 9.18026113e-04 9.97751195e-01 2.26407477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:1.62, Z:2.27 [[ 9.91134440e-01 -1.15007789e-01 -6.65261703e-02 3.34195345e+01] [ 1.14717874e-01 9.93364479e-01 -8.17447290e-03 1.62482890e+00] [ 6.70248625e-02 4.70260812e-04 9.97751195e-01 2.27120942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.0 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:1.63, Z:2.27 [[ 9.90458586e-01 -1.20691239e-01 -6.65237853e-02 3.34766773e+01] [ 1.20412821e-01 9.92690089e-01 -8.19383592e-03 1.63234927e+00] [ 6.70264266e-02 1.05338501e-04 9.97751195e-01 2.27225432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.059999999999995 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:33.54, Y:1.65, Z:2.27 [[ 9.88233033e-01 -1.37732186e-01 -6.65230526e-02 3.35361111e+01] [ 1.37491842e-01 9.90468958e-01 -8.19978006e-03 1.64685433e+00] [ 6.70183922e-02 -1.04308355e-03 9.97751195e-01 2.26687648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:33.59, Y:1.65, Z:2.27 [[ 9.87058125e-01 -1.45914227e-01 -6.65229002e-02 3.35936844e+01] [ 1.45692332e-01 9.89295956e-01 -8.20101666e-03 1.65356986e+00] [ 6.70074811e-02 -1.59699630e-03 9.97751195e-01 2.26963065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:33.65, Y:1.66, Z:2.27 [[ 9.86019167e-01 -1.52778366e-01 -6.65204778e-02 3.36504909e+01] [ 1.52570725e-01 9.88258365e-01 -8.22061837e-03 1.66217576e+00] [ 6.69953512e-02 -2.04339022e-03 9.97751195e-01 2.27185179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:33.71, Y:1.66, Z:2.29 [[ 9.86403726e-01 -1.50276568e-01 -6.65179800e-02 3.37100532e+01] [ 1.50061888e-01 9.88642261e-01 -8.24078026e-03 1.66238046e+00] [ 6.70008823e-02 -1.85307731e-03 9.97751195e-01 2.29156503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.3 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:33.77, Y:1.67, Z:2.29 [[ 9.85889387e-01 -1.53614865e-01 -6.65175979e-02 3.37671850e+01] [ 1.53407556e-01 9.88128615e-01 -8.24386330e-03 1.67190750e+00] [ 6.69943218e-02 -2.07676480e-03 9.97751195e-01 2.29107357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:1.68, Z:2.29 [[ 9.85851176e-01 -1.53860209e-01 -6.65168784e-02 3.38242143e+01] [ 1.53653067e-01 9.88090420e-01 -8.24966463e-03 1.68140387e+00] [ 6.69939854e-02 -2.08758081e-03 9.97751195e-01 2.29377229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:1.69, Z:2.30 [[ 9.86075995e-01 -1.52413717e-01 -6.65145853e-02 3.38810351e+01] [ 1.52202047e-01 9.88314816e-01 -8.26811173e-03 1.69215201e+00] [ 6.69975238e-02 -1.97066952e-03 9.97751196e-01 2.29895279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:1.70, Z:2.30 [[ 9.86444769e-01 -1.50008763e-01 -6.65138220e-02 3.39387207e+01] [ 1.49791220e-01 9.88683027e-01 -8.27424792e-03 1.70131801e+00] [ 6.70022965e-02 -1.80109797e-03 9.97751196e-01 2.30374930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:34.00, Y:1.71, Z:2.31 [[ 9.86668801e-01 -1.48528959e-01 -6.65118469e-02 3.39963616e+01] [ 1.48306992e-01 9.88906624e-01 -8.29009435e-03 1.71009613e+00] [ 6.70053250e-02 -1.68459446e-03 9.97751196e-01 2.30866337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.6 meters Centerline goodness : 0.996880 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:1.72, Z:2.31 [[ 9.87855402e-01 -1.40421328e-01 -6.65098170e-02 3.40538934e+01] [ 1.40179898e-01 9.90091208e-01 -8.30634789e-03 1.72225245e+00] [ 6.70171735e-02 -1.11786870e-03 9.97751196e-01 2.30710300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:1.75, Z:2.30 [[ 9.88117225e-01 -1.38568073e-01 -6.65074305e-02 3.41110579e+01] [ 1.38321166e-01 9.90352434e-01 -8.32541241e-03 1.74759177e+00] [ 6.70194320e-02 -9.72901902e-04 9.97751196e-01 2.29659087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:34.17, Y:1.74, Z:2.32 [[ 9.89897329e-01 -1.25221213e-01 -6.65050814e-02 3.41698492e+01] [ 1.24942907e-01 9.92128845e-01 -8.34413527e-03 1.74490909e+00] [ 6.70264724e-02 -4.95009691e-05 9.97751196e-01 2.31952844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:34.23, Y:1.75, Z:2.32 [[ 9.90787679e-01 -1.17970741e-01 -6.65032320e-02 3.42275308e+01] [ 1.17675118e-01 9.93016967e-01 -8.35884933e-03 1.75432294e+00] [ 6.70249374e-02 4.56069231e-04 9.97751196e-01 2.32347670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.839999999999996 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:1.76, Z:2.33 [[ 9.91292830e-01 -1.13649102e-01 -6.65011826e-02 3.42845528e+01] [ 1.13342669e-01 9.93520657e-01 -8.37512241e-03 1.76286864e+00] [ 6.70221238e-02 7.64777256e-04 9.97751196e-01 2.32656001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.9 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:1.77, Z:2.33 [[ 9.91822494e-01 -1.08931387e-01 -6.64988233e-02 3.43414527e+01] [ 1.08613105e-01 9.94048659e-01 -8.39381376e-03 1.77107571e+00] [ 6.70174159e-02 1.10252963e-03 9.97751197e-01 2.32729008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:34.40, Y:1.78, Z:2.33 [[ 9.92002409e-01 -1.07281052e-01 -6.64980987e-02 3.43984681e+01] [ 1.06958682e-01 9.94227986e-01 -8.39955008e-03 1.77769827e+00] [ 6.70153834e-02 1.21982489e-03 9.97751197e-01 2.32966854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.019999999999996 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:34.46, Y:1.78, Z:2.34 [[ 9.91955365e-01 -1.07716120e-01 -6.64965518e-02 3.44563064e+01] [ 1.07393907e-01 9.94180965e-01 -8.41177873e-03 1.78399765e+00] [ 6.70156902e-02 1.20278453e-03 9.97751197e-01 2.33502898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:1.80, Z:2.33 [[ 9.90983228e-01 -1.16321071e-01 -6.64954933e-02 3.45140677e+01] [ 1.16017625e-01 9.93211464e-01 -8.42013817e-03 1.79846767e+00] [ 6.70235257e-02 6.29566508e-04 9.97751197e-01 2.32859881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:34.57, Y:1.80, Z:2.33 [[ 9.90605758e-01 -1.19494354e-01 -6.64930923e-02 3.45732194e+01] [ 1.19196775e-01 9.92834785e-01 -8.43905591e-03 1.80238504e+00] [ 6.70250746e-02 4.34015186e-04 9.97751197e-01 2.33423607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.199999999999996 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:34.63, Y:1.80, Z:2.35 [[ 9.90875783e-01 -1.17235260e-01 -6.64911746e-02 3.46308136e+01] [ 1.16931588e-01 9.93103988e-01 -8.45413910e-03 1.79869175e+00] [ 6.70237738e-02 6.02083078e-04 9.97751197e-01 2.34877370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:34.69, Y:1.80, Z:2.35 [[ 9.90603432e-01 -1.19515108e-01 -6.64904480e-02 3.46886083e+01] [ 1.19216181e-01 9.92832278e-01 -8.45984991e-03 1.80427211e+00] [ 6.70249428e-02 4.53619064e-04 9.97751197e-01 2.35146499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:1.82, Z:2.34 [[ 9.89524586e-01 -1.28142167e-01 -6.64881863e-02 3.47475098e+01] [ 1.27861480e-01 9.91755803e-01 -8.47758813e-03 1.81627267e+00] [ 6.70263811e-02 -1.12496009e-04 9.97751197e-01 2.34462801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.379999999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:1.82, Z:2.35 [[ 9.89211263e-01 -1.30539883e-01 -6.64862090e-02 3.48054085e+01] [ 1.30263564e-01 9.91443025e-01 -8.49306701e-03 1.82191517e+00] [ 6.70259721e-02 -2.59293019e-04 9.97751197e-01 2.34942656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:34.86, Y:1.82, Z:2.36 [[ 9.88882754e-01 -1.33005923e-01 -6.64855160e-02 3.48635197e+01] [ 1.32734804e-01 9.91115153e-01 -8.49848853e-03 1.81972861e+00] [ 6.70251517e-02 -4.20933226e-04 9.97751197e-01 2.36146978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.5 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:34.92, Y:1.82, Z:2.37 [[ 9.88052792e-01 -1.39037573e-01 -6.64848327e-02 3.49215142e+01] [ 1.38779723e-01 9.90286763e-01 -8.50383030e-03 1.82453512e+00] [ 6.70214017e-02 -8.24513388e-04 9.97751197e-01 2.36737935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.559999999999995 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:34.98, Y:1.83, Z:2.37 [[ 9.86010401e-01 -1.52851377e-01 -6.64826669e-02 3.49802209e+01] [ 1.52623677e-01 9.88247646e-01 -8.52072935e-03 1.83347998e+00] [ 6.70037443e-02 -1.74530128e-03 9.97751198e-01 2.36648267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:35.04, Y:1.83, Z:2.38 [[ 9.85706521e-01 -1.54799861e-01 -6.64805112e-02 3.50381904e+01] [ 1.54575452e-01 9.87944098e-01 -8.53751548e-03 1.83320724e+00] [ 6.70006349e-02 -1.86077038e-03 9.97751198e-01 2.37568020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:35.10, Y:1.84, Z:2.38 [[ 9.85349780e-01 -1.57055097e-01 -6.64793809e-02 3.50955625e+01] [ 1.56835216e-01 9.87587807e-01 -8.54630731e-03 1.83877236e+00] [ 6.69964671e-02 -2.00520603e-03 9.97751198e-01 2.37875403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:35.15, Y:1.85, Z:2.38 [[ 9.85191333e-01 -1.58046930e-01 -6.64771093e-02 3.51540452e+01] [ 1.57828114e-01 9.87429464e-01 -8.56394060e-03 1.84504847e+00] [ 6.69949609e-02 -2.05483673e-03 9.97751198e-01 2.37942158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.8 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:35.21, Y:1.86, Z:2.38 [[ 9.84353415e-01 -1.63185258e-01 -6.64750069e-02 3.52122958e+01] [ 1.62977024e-01 9.86592555e-01 -8.58022898e-03 1.85751824e+00] [ 6.69839138e-02 -2.38792112e-03 9.97751198e-01 2.37902679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:35.27, Y:1.86, Z:2.39 [[ 9.84883774e-01 -1.59954131e-01 -6.64727668e-02 3.52701126e+01] [ 1.59737382e-01 9.87122105e-01 -8.59754899e-03 1.85826663e+00] [ 6.69919510e-02 -2.15059925e-03 9.97751198e-01 2.38885560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:35.33, Y:1.88, Z:2.38 [[ 9.83401554e-01 -1.68827895e-01 -6.64719845e-02 3.53281301e+01] [ 1.68630929e-01 9.85641714e-01 -8.60359306e-03 1.87562497e+00] [ 6.69700872e-02 -2.74844571e-03 9.97751198e-01 2.38188866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:35.39, Y:1.87, Z:2.40 [[ 9.84657726e-01 -1.61340386e-01 -6.64713678e-02 3.53863639e+01] [ 1.61126060e-01 9.86896291e-01 -8.60835528e-03 1.87337384e+00] [ 6.69892217e-02 -2.23398605e-03 9.97751198e-01 2.39862263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:1.89, Z:2.39 [[ 9.83438756e-01 -1.68611605e-01 -6.64705899e-02 3.54446644e+01] [ 1.68413420e-01 9.85678808e-01 -8.61435776e-03 1.89226696e+00] [ 6.69711325e-02 -2.72284610e-03 9.97751198e-01 2.38784875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.1 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:1.91, Z:2.38 [[ 9.83687167e-01 -1.67156692e-01 -6.64695172e-02 3.55016193e+01] [ 1.66954636e-01 9.85926873e-01 -8.62262689e-03 1.90629506e+00] [ 6.69754130e-02 -2.61542665e-03 9.97751198e-01 2.38498233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:35.56, Y:1.90, Z:2.41 [[ 9.85860713e-01 -1.53820078e-01 -6.64683199e-02 3.55606946e+01] [ 1.53587088e-01 9.88097413e-01 -8.63184606e-03 1.90254335e+00] [ 6.70049262e-02 -1.69887781e-03 9.97751198e-01 2.40773585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:35.62, Y:1.91, Z:2.41 [[ 9.86473071e-01 -1.49842861e-01 -6.64680171e-02 3.56191147e+01] [ 1.49600696e-01 9.88708796e-01 -8.63417701e-03 1.91276421e+00] [ 6.70112830e-02 -1.42627852e-03 9.97751198e-01 2.41107220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:35.68, Y:1.92, Z:2.42 [[ 9.86987599e-01 -1.46416417e-01 -6.64658673e-02 3.56762450e+01] [ 1.46165378e-01 9.89222345e-01 -8.65069461e-03 1.92226418e+00] [ 6.70161249e-02 -1.17688030e-03 9.97751198e-01 2.41555028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.339999999999996 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:35.73, Y:1.93, Z:2.42 [[ 9.87940447e-01 -1.39843787e-01 -6.64634339e-02 3.57345624e+01] [ 1.39576624e-01 9.90173322e-01 -8.66935103e-03 1.93136226e+00] [ 6.70226740e-02 -7.11939198e-04 9.97751199e-01 2.42190920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.4 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:35.79, Y:1.94, Z:2.43 [[ 9.88563374e-01 -1.35371148e-01 -6.64613249e-02 3.57921678e+01] [ 1.35092798e-01 9.90794882e-01 -8.68548891e-03 1.93968378e+00] [ 6.70253052e-02 -3.92290089e-04 9.97751199e-01 2.42716348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:35.85, Y:1.95, Z:2.43 [[ 9.89153419e-01 -1.30991362e-01 -6.64588396e-02 3.58495288e+01] [ 1.30701856e-01 9.91383507e-01 -8.70446463e-03 1.94877943e+00] [ 6.70264071e-02 -7.62427084e-05 9.97751199e-01 2.43230243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.519999999999996 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:35.91, Y:1.96, Z:2.43 [[ 9.89691554e-01 -1.26862840e-01 -6.64563611e-02 3.59077415e+01] [ 1.26562763e-01 9.91920244e-01 -8.72334632e-03 1.95694195e+00] [ 6.70260784e-02 2.22521514e-04 9.97751199e-01 2.43431527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:35.96, Y:1.96, Z:2.44 [[ 9.90281290e-01 -1.22175309e-01 -6.64541940e-02 3.59649206e+01] [ 1.21863577e-01 9.92508380e-01 -8.73982381e-03 1.96387066e+00] [ 6.70241351e-02 5.56538226e-04 9.97751199e-01 2.43707243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:36.02, Y:1.97, Z:2.44 [[ 9.90340408e-01 -1.21695591e-01 -6.64534323e-02 3.60235612e+01] [ 1.21382392e-01 9.92567292e-01 -8.74561191e-03 1.97102878e+00] [ 6.70238057e-02 5.94856318e-04 9.97751199e-01 2.44098824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.699999999999996 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:36.08, Y:1.98, Z:2.45 [[ 9.90132939e-01 -1.23373399e-01 -6.64512429e-02 3.60822064e+01] [ 1.23062858e-01 9.92360195e-01 -8.76221574e-03 1.97612181e+00] [ 6.70245927e-02 4.98078520e-04 9.97751199e-01 2.44754573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:36.14, Y:1.98, Z:2.45 [[ 9.89700622e-01 -1.26795922e-01 -6.64490313e-02 3.61410361e+01] [ 1.26491961e-01 9.91928785e-01 -8.77895566e-03 1.97944142e+00] [ 6.70258427e-02 2.83269611e-04 9.97751200e-01 2.45372684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:36.20, Y:1.98, Z:2.46 [[ 9.89495826e-01 -1.28385473e-01 -6.64468291e-02 3.61982759e+01] [ 1.28083973e-01 9.91724323e-01 -8.79559227e-03 1.98368838e+00] [ 6.70261629e-02 1.92427965e-04 9.97751200e-01 2.46231645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.879999999999995 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:1.99, Z:2.46 [[ 9.88783398e-01 -1.33763031e-01 -6.64442811e-02 3.62575039e+01] [ 1.33472361e-01 9.91013334e-01 -8.81479897e-03 1.99008738e+00] [ 6.70262628e-02 -1.52548161e-04 9.97751200e-01 2.46041452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:36.32, Y:1.99, Z:2.47 [[ 9.88780559e-01 -1.33785175e-01 -6.64419534e-02 3.63166727e+01] [ 1.33493378e-01 9.91010347e-01 -8.83230970e-03 1.99288914e+00] [ 6.70262954e-02 -1.36344696e-04 9.97751200e-01 2.46599114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.0 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:2.01, Z:2.46 [[ 9.88300211e-01 -1.37288758e-01 -6.64416269e-02 3.63750912e+01] [ 1.37004701e-01 9.90530998e-01 -8.83476466e-03 2.00700230e+00] [ 6.70254049e-02 -3.71415438e-04 9.97751200e-01 2.46376620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.059999999999995 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:2.02, Z:2.47 [[ 9.88394420e-01 -1.36609102e-01 -6.64411257e-02 3.64319535e+01] [ 1.36323257e-01 9.90624979e-01 -8.83853231e-03 2.01661522e+00] [ 6.70256628e-02 -3.21514654e-04 9.97751200e-01 2.46788662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:2.02, Z:2.48 [[ 9.88962287e-01 -1.32436864e-01 -6.64384865e-02 3.64900064e+01] [ 1.32140279e-01 9.91191443e-01 -8.85832708e-03 2.01884267e+00] [ 6.70264283e-02 -1.86487631e-05 9.97751200e-01 2.47976409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:2.03, Z:2.48 [[ 9.88731315e-01 -1.34150584e-01 -6.64379992e-02 3.65473539e+01] [ 1.33857617e-01 9.90960950e-01 -8.86198037e-03 2.02595111e+00] [ 6.70263026e-02 -1.31114752e-04 9.97751200e-01 2.48437976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:2.03, Z:2.49 [[ 9.88635224e-01 -1.34857288e-01 -6.64372258e-02 3.66052904e+01] [ 1.34565525e-01 9.90865017e-01 -8.86777475e-03 2.03347545e+00] [ 6.70262069e-02 -1.73165707e-04 9.97751200e-01 2.48822830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.3 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:36.66, Y:2.04, Z:2.49 [[ 9.88885233e-01 -1.33012723e-01 -6.64350234e-02 3.66630011e+01] [ 1.32715695e-01 9.91114330e-01 -8.88424381e-03 2.04274736e+00] [ 6.70264211e-02 -3.14728016e-05 9.97751200e-01 2.49157314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:36.72, Y:2.05, Z:2.50 [[ 9.89237469e-01 -1.30368364e-01 -6.64328204e-02 3.67206569e+01] [ 1.30064273e-01 9.91465613e-01 -8.90068644e-03 2.05208247e+00] [ 6.70262250e-02 1.64356018e-04 9.97751201e-01 2.49534590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:36.78, Y:2.06, Z:2.50 [[ 9.89831261e-01 -1.25781910e-01 -6.64303100e-02 3.67773527e+01] [ 1.25466240e-01 9.92057794e-01 -8.91938357e-03 2.06174998e+00] [ 6.70246039e-02 4.93923460e-04 9.97751201e-01 2.49800652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:36.84, Y:2.08, Z:2.49 [[ 9.89349152e-01 -1.29519777e-01 -6.64295391e-02 3.68359879e+01] [ 1.29212134e-01 9.91576808e-01 -8.92512152e-03 2.07898189e+00] [ 6.70259701e-02 2.46558863e-04 9.97751201e-01 2.49284863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:36.89, Y:2.08, Z:2.51 [[ 9.90273306e-01 -1.22253570e-01 -6.64292428e-02 3.68946719e+01] [ 1.21929435e-01 9.92498623e-01 -8.92732619e-03 2.08150484e+00] [ 6.70223295e-02 7.40812807e-04 9.97751201e-01 2.50519137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.6 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:36.95, Y:2.09, Z:2.51 [[ 9.89966514e-01 -1.24713674e-01 -6.64289166e-02 3.69527160e+01] [ 1.24394906e-01 9.92192606e-01 -8.92975309e-03 2.08869172e+00] [ 6.70239422e-02 5.76737727e-04 9.97751201e-01 2.51273628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:37.01, Y:2.09, Z:2.52 [[ 9.90131537e-01 -1.23397870e-01 -6.64266853e-02 3.70108320e+01] [ 1.23075033e-01 9.92357042e-01 -8.94632064e-03 2.09485917e+00] [ 6.70229459e-02 6.82567738e-04 9.97751201e-01 2.51576608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:37.07, Y:2.10, Z:2.52 [[ 9.89123681e-01 -1.31232282e-01 -6.64261420e-02 3.70688185e+01] [ 1.30926802e-01 9.91351635e-01 -8.95035244e-03 2.10469798e+00] [ 6.70262397e-02 1.56043201e-04 9.97751201e-01 2.51884772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:37.13, Y:2.11, Z:2.52 [[ 9.88753774e-01 -1.33991192e-01 -6.64254044e-02 3.71259160e+01] [ 1.33691561e-01 9.90982522e-01 -8.95582326e-03 2.11191246e+00] [ 6.70264163e-02 -2.54119476e-05 9.97751201e-01 2.52191816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.839999999999996 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:37.18, Y:2.12, Z:2.53 [[ 9.87966325e-01 -1.39680151e-01 -6.64228564e-02 3.71845879e+01] [ 1.39392086e-01 9.90196597e-01 -8.97468139e-03 2.11761169e+00] [ 6.70252713e-02 -3.92137491e-04 9.97751201e-01 2.52551200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.9 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:37.24, Y:2.13, Z:2.52 [[ 9.86629699e-01 -1.48829223e-01 -6.64206235e-02 3.72430887e+01] [ 1.48560726e-01 9.88862412e-01 -8.99117652e-03 2.13264700e+00] [ 6.70190078e-02 -9.96534275e-04 9.97751201e-01 2.51507019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96 meters Centerline goodness : 0.998496 with order 1 Centerline is valid? [True, True] Translation: X:37.30, Y:2.14, Z:2.53 [[ 9.87431119e-01 -1.43416820e-01 -6.64183709e-02 3.73013302e+01] [ 1.43134967e-01 9.89662185e-01 -9.00778632e-03 2.13721476e+00] [ 6.70236182e-02 -6.12222820e-04 9.97751201e-01 2.52550515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.019999999999996 meters Centerline goodness : 0.998224 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:2.14, Z:2.53 [[ 9.87638586e-01 -1.41982409e-01 -6.64155088e-02 3.73578171e+01] [ 1.41695900e-01 9.89869058e-01 -9.02883981e-03 2.14496657e+00] [ 6.70245936e-02 -4.93574703e-04 9.97751202e-01 2.52877755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:2.16, Z:2.53 [[ 9.86914542e-01 -1.46931469e-01 -6.64140777e-02 3.74157297e+01] [ 1.46655437e-01 9.89146335e-01 -9.03935417e-03 2.15816985e+00] [ 6.70214072e-02 -8.18915537e-04 9.97751202e-01 2.52838045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14 meters Centerline goodness : 0.997422 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:2.16, Z:2.55 [[ 9.87979045e-01 -1.39595718e-01 -6.64111551e-02 3.74727919e+01] [ 1.39301674e-01 9.90208537e-01 -9.06077602e-03 2.15829545e+00] [ 6.70257382e-02 -2.99328227e-04 9.97751202e-01 2.54510575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.199999999999996 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:2.17, Z:2.55 [[ 9.88032047e-01 -1.39221467e-01 -6.64082695e-02 3.75311898e+01] [ 1.38925160e-01 9.90261238e-01 -9.08187594e-03 2.16622004e+00] [ 6.70259273e-02 -2.52595001e-04 9.97751202e-01 2.55422605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:2.17, Z:2.56 [[ 9.88444498e-01 -1.36263663e-01 -6.64054827e-02 3.75873471e+01] [ 1.35959320e-01 9.90672606e-01 -9.10220700e-03 2.17383134e+00] [ 6.70263927e-02 -3.14178596e-05 9.97751202e-01 2.55883387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:37.64, Y:2.18, Z:2.56 [[ 9.88536301e-01 -1.35596614e-01 -6.64043593e-02 3.76448414e+01] [ 1.35290217e-01 9.90764128e-01 -9.11039582e-03 2.18253337e+00] [ 6.70263959e-02 2.20967901e-05 9.97751202e-01 2.56133556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.379999999999995 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:37.70, Y:2.19, Z:2.56 [[ 9.89319690e-01 -1.29758844e-01 -6.64017555e-02 3.77027214e+01] [ 1.29438030e-01 9.91545486e-01 -9.12933421e-03 2.19190579e+00] [ 6.70249728e-02 4.36917645e-04 9.97751203e-01 2.56224246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:37.76, Y:2.20, Z:2.57 [[ 9.89835881e-01 -1.25762026e-01 -6.63991044e-02 3.77600463e+01] [ 1.25430935e-01 9.92060172e-01 -9.14857600e-03 2.19997818e+00] [ 6.70224503e-02 7.27087064e-04 9.97751203e-01 2.56501142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.5 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:37.82, Y:2.21, Z:2.56 [[ 9.89957002e-01 -1.24806417e-01 -6.63964845e-02 3.78180504e+01] [ 1.24471907e-01 9.92180780e-01 -9.16755026e-03 2.21124580e+00] [ 6.70214849e-02 8.10983539e-04 9.97751203e-01 2.55938654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.559999999999995 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:37.88, Y:2.22, Z:2.57 [[ 9.90157471e-01 -1.23207285e-01 -6.63938758e-02 3.78754022e+01] [ 1.22867919e-01 9.92380514e-01 -9.18640484e-03 2.21566252e+00] [ 6.70198206e-02 9.38310051e-04 9.97751203e-01 2.57079377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:37.93, Y:2.22, Z:2.57 [[ 9.89418420e-01 -1.29009285e-01 -6.63912221e-02 3.79339048e+01] [ 1.28681671e-01 9.91643225e-01 -9.20554350e-03 2.22065229e+00] [ 6.70240062e-02 5.64800901e-04 9.97751203e-01 2.57272107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:37.99, Y:2.23, Z:2.58 [[ 9.89161660e-01 -1.30964941e-01 -6.63882169e-02 3.79900025e+01] [ 1.30640275e-01 9.91386896e-01 -9.22716604e-03 2.22801806e+00] [ 6.70248435e-02 4.54183972e-04 9.97751203e-01 2.58134935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:38.05, Y:2.23, Z:2.58 [[ 9.88824259e-01 -1.33489233e-01 -6.63868156e-02 3.80464352e+01] [ 1.33169572e-01 9.91050220e-01 -9.23723669e-03 2.23480454e+00] [ 6.70257399e-02 2.93299915e-04 9.97751204e-01 2.58421184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.8 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:2.24, Z:2.59 [[ 9.88709974e-01 -1.34333653e-01 -6.63856683e-02 3.81045435e+01] [ 1.34015340e-01 9.90936128e-01 -9.24547511e-03 2.24067475e+00] [ 6.70259355e-02 2.44395562e-04 9.97751204e-01 2.58773662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:38.16, Y:2.25, Z:2.59 [[ 9.88770578e-01 -1.33888158e-01 -6.63830128e-02 3.81618343e+01] [ 1.33567564e-01 9.90996405e-01 -9.26450208e-03 2.24715384e+00] [ 6.70257342e-02 2.93849738e-04 9.97751204e-01 2.59203696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:38.22, Y:2.25, Z:2.59 [[ 9.88760667e-01 -1.33962654e-01 -6.63803500e-02 3.82187161e+01] [ 1.33640950e-01 9.90986333e-01 -9.28354259e-03 2.25474839e+00] [ 6.70256676e-02 3.08068745e-04 9.97751204e-01 2.59409777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:38.28, Y:2.26, Z:2.60 [[ 9.88810465e-01 -1.33595151e-01 -6.63792098e-02 3.82751783e+01] [ 1.33272073e-01 9.91035932e-01 -9.29168793e-03 2.26239792e+00] [ 6.70255065e-02 3.41223394e-04 9.97751204e-01 2.59968795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:2.27, Z:2.60 [[ 9.88309913e-01 -1.37249646e-01 -6.63780925e-02 3.83318008e+01] [ 1.36934261e-01 9.90536483e-01 -9.29966264e-03 2.27370023e+00] [ 6.70262977e-02 1.01513699e-04 9.97751204e-01 2.60177378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.1 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:38.39, Y:2.28, Z:2.61 [[ 9.88583940e-01 -1.35263141e-01 -6.63752662e-02 3.83884093e+01] [ 1.34941930e-01 9.90809677e-01 -9.31979192e-03 2.27858615e+00] [ 6.70258804e-02 2.56590076e-04 9.97751204e-01 2.61029321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:38.45, Y:2.29, Z:2.61 [[ 9.87775970e-01 -1.41043288e-01 -6.63733672e-02 3.84467113e+01] [ 1.40734194e-01 9.90003422e-01 -9.33329652e-03 2.29137339e+00] [ 6.70262595e-02 -1.21796325e-04 9.97751204e-01 2.60812031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:38.50, Y:2.29, Z:2.62 [[ 9.88662628e-01 -1.34688939e-01 -6.63709022e-02 3.85043523e+01] [ 1.34364355e-01 9.90887876e-01 -9.35079268e-03 2.29372028e+00] [ 6.70255707e-02 3.26895798e-04 9.97751204e-01 2.61943042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:38.56, Y:2.30, Z:2.62 [[ 9.89146932e-01 -1.31085551e-01 -6.63696099e-02 3.85613037e+01] [ 1.30752246e-01 9.91370890e-01 -9.35995591e-03 2.30408332e+00] [ 6.70238543e-02 5.80396101e-04 9.97751205e-01 2.61924487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.339999999999996 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:38.62, Y:2.31, Z:2.62 [[ 9.89578903e-01 -1.27785088e-01 -6.63669049e-02 3.86188758e+01] [ 1.27443082e-01 9.91801539e-01 -9.37909719e-03 2.31368880e+00] [ 6.70213072e-02 8.23353818e-04 9.97751205e-01 2.62098974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.4 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:38.68, Y:2.32, Z:2.62 [[ 9.90018752e-01 -1.24332861e-01 -6.63642172e-02 3.86762075e+01] [ 1.23981834e-01 9.92239982e-01 -9.39807645e-03 2.32324302e+00] [ 6.70177194e-02 1.07631459e-03 9.97751205e-01 2.62461664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:38.73, Y:2.33, Z:2.63 [[ 9.90526625e-01 -1.20221261e-01 -6.63615350e-02 3.87323601e+01] [ 1.19859748e-01 9.92746172e-01 -9.41697767e-03 2.33373895e+00] [ 6.70122808e-02 1.37369027e-03 9.97751205e-01 2.62889746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.519999999999996 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:38.79, Y:2.34, Z:2.63 [[ 9.90675916e-01 -1.18985419e-01 -6.63603789e-02 3.87900113e+01] [ 1.18620592e-01 9.92894920e-01 -9.42511735e-03 2.34199286e+00] [ 6.70103347e-02 1.46552934e-03 9.97751205e-01 2.63215766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:38.85, Y:2.35, Z:2.64 [[ 9.90490978e-01 -1.20516711e-01 -6.63577066e-02 3.88473857e+01] [ 1.20154057e-01 9.92710338e-01 -9.44389476e-03 2.34935379e+00] [ 6.70121285e-02 1.38094487e-03 9.97751205e-01 2.63753281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:38.91, Y:2.36, Z:2.64 [[ 9.90018927e-01 -1.24336402e-01 -6.63549756e-02 3.89051469e+01] [ 1.23981029e-01 9.92239465e-01 -9.46304444e-03 2.35675322e+00] [ 6.70166264e-02 1.14183495e-03 9.97751205e-01 2.64069467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.699999999999996 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:2.36, Z:2.64 [[ 9.89466042e-01 -1.28663620e-01 -6.63522770e-02 3.89628392e+01] [ 1.28316692e-01 9.91687914e-01 -9.48192894e-03 2.36353620e+00] [ 6.70207305e-02 8.67942004e-04 9.97751206e-01 2.64365936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:2.37, Z:2.65 [[ 9.88411146e-01 -1.36532570e-01 -6.63495629e-02 3.90207609e+01] [ 1.36202060e-01 9.90635519e-01 -9.50088291e-03 2.36750321e+00] [ 6.70254137e-02 3.53831407e-04 9.97751206e-01 2.64688216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:39.08, Y:2.37, Z:2.65 [[ 9.87596415e-01 -1.42306594e-01 -6.63487289e-02 3.90781470e+01] [ 1.41988698e-01 9.89822627e-01 -9.50670350e-03 2.37400486e+00] [ 6.70263397e-02 -3.19833349e-05 9.97751206e-01 2.65329100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.879999999999995 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:39.14, Y:2.38, Z:2.65 [[ 9.86704109e-01 -1.48368462e-01 -6.63460700e-02 3.91364133e+01] [ 1.48062997e-01 9.88932060e-01 -9.52522336e-03 2.38081127e+00] [ 6.70249985e-02 -4.24820933e-04 9.97751206e-01 2.65476143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:2.39, Z:2.66 [[ 9.86328122e-01 -1.50848859e-01 -6.63434739e-02 3.91931724e+01] [ 1.50547783e-01 9.88556671e-01 -9.54327135e-03 2.38715517e+00] [ 6.70238753e-02 -5.75066023e-04 9.97751206e-01 2.66022681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.0 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:2.40, Z:2.67 [[ 9.86313742e-01 -1.50943378e-01 -6.63422854e-02 3.92506992e+01] [ 1.50641960e-01 9.88542244e-01 -9.55152670e-03 2.39583504e+00] [ 6.70238914e-02 -5.73129864e-04 9.97751206e-01 2.66517181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.059999999999995 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:39.31, Y:2.41, Z:2.67 [[ 9.86736241e-01 -1.48157508e-01 -6.63396111e-02 3.93074082e+01] [ 1.47848552e-01 9.88963710e-01 -9.57006489e-03 2.40671077e+00] [ 6.70253449e-02 -3.65085554e-04 9.97751206e-01 2.66615986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:2.42, Z:2.67 [[ 9.87122033e-01 -1.45565300e-01 -6.63387900e-02 3.93654950e+01] [ 1.45250112e-01 9.89348629e-01 -9.57575293e-03 2.41611333e+00] [ 6.70260883e-02 -1.83280000e-04 9.97751206e-01 2.67311006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:39.42, Y:2.43, Z:2.68 [[ 9.87691584e-01 -1.41650310e-01 -6.63364558e-02 3.94215271e+01] [ 1.41325212e-01 9.89916754e-01 -9.59189610e-03 2.42647002e+00] [ 6.70262641e-02 9.88213843e-05 9.97751207e-01 2.67521585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.239999999999995 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:39.48, Y:2.44, Z:2.68 [[ 9.87826678e-01 -1.40705966e-01 -6.63346520e-02 3.94792983e+01] [ 1.40377904e-01 9.90051413e-01 -9.60435481e-03 2.43545732e+00] [ 6.70261060e-02 1.75518499e-04 9.97751207e-01 2.67862571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.3 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:39.54, Y:2.44, Z:2.68 [[ 9.87960357e-01 -1.39765568e-01 -6.63318854e-02 3.95354157e+01] [ 1.39434108e-01 9.90184588e-01 -9.62342398e-03 2.44442967e+00] [ 6.70258340e-02 2.58634089e-04 9.97751207e-01 2.68135962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:39.59, Y:2.45, Z:2.69 [[ 9.87881249e-01 -1.40324186e-01 -6.63306864e-02 3.95923841e+01] [ 1.39993430e-01 9.90105585e-01 -9.63168134e-03 2.45317635e+00] [ 6.70259410e-02 2.29097102e-04 9.97751207e-01 2.68871466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:2.46, Z:2.69 [[ 9.87445277e-01 -1.43360495e-01 -6.63294284e-02 3.96490610e+01] [ 1.43035997e-01 9.89670535e-01 -9.64033696e-03 2.46108417e+00] [ 6.70263244e-02 3.18092722e-05 9.97751207e-01 2.69280400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:2.47, Z:2.69 [[ 9.86970947e-01 -1.46590884e-01 -6.63284453e-02 3.97067696e+01] [ 1.46273215e-01 9.89197190e-01 -9.64709663e-03 2.46905525e+00] [ 6.70260881e-02 -1.80670858e-04 9.97751207e-01 2.69490615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:2.48, Z:2.70 [[ 9.86276639e-01 -1.51192867e-01 -6.63257750e-02 3.97639039e+01] [ 1.50884353e-01 9.88504169e-01 -9.66542035e-03 2.47645125e+00] [ 6.70246477e-02 -4.74743349e-04 9.97751207e-01 2.69795548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:2.48, Z:2.71 [[ 9.85995404e-01 -1.53016546e-01 -6.63249580e-02 3.98213489e+01] [ 1.52711775e-01 9.88223449e-01 -9.67102382e-03 2.48418008e+00] [ 6.70237054e-02 -5.93017051e-04 9.97751207e-01 2.70667345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:2.49, Z:2.71 [[ 9.85917781e-01 -1.53517066e-01 -6.63222364e-02 3.98784066e+01] [ 1.53212174e-01 9.88145809e-01 -9.68965182e-03 2.49292487e+00] [ 6.70235669e-02 -6.08173976e-04 9.97751207e-01 2.70828736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:2.50, Z:2.71 [[ 9.86293894e-01 -1.51082998e-01 -6.63195487e-02 3.99352142e+01] [ 1.50771373e-01 9.88520990e-01 -9.70801329e-03 2.50206885e+00] [ 6.70249816e-02 -4.24135150e-04 9.97751207e-01 2.70907316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:2.51, Z:2.71 [[ 9.86688577e-01 -1.48483938e-01 -6.63187205e-02 3.99930621e+01] [ 1.48166066e-01 9.88914790e-01 -9.71366722e-03 2.51054894e+00] [ 6.70258871e-02 -2.41819414e-04 9.97751207e-01 2.71278301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.839999999999996 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:2.52, Z:2.72 [[ 9.87198047e-01 -1.45059257e-01 -6.63161135e-02 4.00493299e+01] [ 1.44732468e-01 9.89422969e-01 -9.73143329e-03 2.51907800e+00] [ 6.70263204e-02 8.75714239e-06 9.97751208e-01 2.71743290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.9 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:2.53, Z:2.72 [[ 9.87486134e-01 -1.43085786e-01 -6.63143503e-02 4.01076138e+01] [ 1.42753745e-01 9.89710278e-01 -9.74343381e-03 2.52820295e+00] [ 6.70261409e-02 1.54883953e-04 9.97751208e-01 2.72355277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:2.54, Z:2.73 [[ 9.87847602e-01 -1.40569647e-01 -6.63120682e-02 4.01651844e+01] [ 1.40230899e-01 9.90070734e-01 -9.75894089e-03 2.53690794e+00] [ 6.70254489e-02 3.41345398e-04 9.97751208e-01 2.72797690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.019999999999996 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:40.22, Y:2.54, Z:2.73 [[ 9.87890426e-01 -1.40269691e-01 -6.63092763e-02 4.02216884e+01] [ 1.39928998e-01 9.90113261e-01 -9.77787391e-03 2.54467399e+00] [ 6.70252331e-02 3.80877414e-04 9.97751208e-01 2.73219892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:40.28, Y:2.56, Z:2.73 [[ 9.86801792e-01 -1.47734433e-01 -6.63080749e-02 4.02796895e+01] [ 1.47410008e-01 9.89027059e-01 -9.78601469e-03 2.56105552e+00] [ 6.70262116e-02 -1.17617025e-04 9.97751208e-01 2.72590135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:40.34, Y:2.56, Z:2.74 [[ 9.87749529e-01 -1.41260173e-01 -6.63055980e-02 4.03376270e+01] [ 1.40920037e-01 9.89972448e-01 -9.80276824e-03 2.56152245e+00] [ 6.70254559e-02 3.38892355e-04 9.97751208e-01 2.73985435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.199999999999996 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:2.57, Z:2.74 [[ 9.87450111e-01 -1.43338621e-01 -6.63047314e-02 4.03945768e+01] [ 1.43002772e-01 9.89673683e-01 -9.80862656e-03 2.57032578e+00] [ 6.70260027e-02 2.03769027e-04 9.97751208e-01 2.74427182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:2.58, Z:2.75 [[ 9.86978961e-01 -1.46548907e-01 -6.63019556e-02 4.04525642e+01] [ 1.46219032e-01 9.89203426e-01 -9.82735369e-03 2.57837858e+00] [ 6.70263096e-02 4.78359264e-06 9.97751208e-01 2.74834710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:2.59, Z:2.75 [[ 9.86631865e-01 -1.48868842e-01 -6.62995602e-02 4.05096634e+01] [ 1.48543113e-01 9.88856941e-01 -9.84348789e-03 2.58657175e+00] [ 6.70261689e-02 -1.36444257e-04 9.97751208e-01 2.75156024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.379999999999995 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:2.59, Z:2.75 [[ 9.86205911e-01 -1.51666198e-01 -6.62967926e-02 4.05667417e+01] [ 1.51345530e-01 9.88431722e-01 -9.86209297e-03 2.59444021e+00] [ 6.70255990e-02 -3.07668818e-04 9.97751209e-01 2.75412396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:40.62, Y:2.60, Z:2.76 [[ 9.85954342e-01 -1.53294276e-01 -6.62940511e-02 4.06245962e+01] [ 1.52976046e-01 9.88180502e-01 -9.88048701e-03 2.60223956e+00] [ 6.70251109e-02 -3.99692771e-04 9.97751209e-01 2.75837609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.5 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:40.68, Y:2.61, Z:2.76 [[ 9.85926689e-01 -1.53473244e-01 -6.62912260e-02 4.06816219e+01] [ 1.53154146e-01 9.88152726e-01 -9.89940544e-03 2.61015087e+00] [ 6.70251495e-02 -3.92688089e-04 9.97751209e-01 2.76374765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.559999999999995 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:40.74, Y:2.63, Z:2.76 [[ 9.85596541e-01 -1.55579711e-01 -6.62903597e-02 4.07391544e+01] [ 1.55264981e-01 9.87823199e-01 -9.90520301e-03 2.62583644e+00] [ 6.70242039e-02 -5.30037603e-04 9.97751209e-01 2.76116690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:40.80, Y:2.63, Z:2.76 [[ 9.86051327e-01 -1.52671858e-01 -6.62878961e-02 4.07966460e+01] [ 1.52349455e-01 9.88276886e-01 -9.92166323e-03 2.63448026e+00] [ 6.70255543e-02 -3.15655650e-04 9.97751209e-01 2.76408430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:2.64, Z:2.78 [[ 9.87276306e-01 -1.44540012e-01 -6.62848384e-02 4.08539849e+01] [ 1.44197909e-01 9.89498923e-01 -9.94204883e-03 2.63662084e+00] [ 6.70258001e-02 2.57414160e-04 9.97751209e-01 2.77554033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.739999999999995 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:40.91, Y:2.65, Z:2.77 [[ 9.86555539e-01 -1.49380765e-01 -6.62839028e-02 4.09113256e+01] [ 1.49049149e-01 9.88779744e-01 -9.94828321e-03 2.65306114e+00] [ 6.70262626e-02 -6.50254037e-05 9.97751209e-01 2.76872575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.8 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:40.97, Y:2.65, Z:2.78 [[ 9.87541909e-01 -1.42715655e-01 -6.62813738e-02 4.09691233e+01] [ 1.42367899e-01 9.89763648e-01 -9.96510390e-03 2.65282337e+00] [ 6.70250707e-02 4.04617776e-04 9.97751210e-01 2.78245966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:41.03, Y:2.66, Z:2.79 [[ 9.87172131e-01 -1.45251783e-01 -6.62804901e-02 4.10266591e+01] [ 1.44909341e-01 9.89394695e-01 -9.97097835e-03 2.65884929e+00] [ 6.70258677e-02 2.38409817e-04 9.97751210e-01 2.78873005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:2.67, Z:2.79 [[ 9.86812852e-01 -1.47674168e-01 -6.62777164e-02 4.10847741e+01] [ 1.47335945e-01 9.89036062e-01 -9.98938124e-03 2.66633128e+00] [ 6.70262252e-02 9.25598092e-05 9.97751210e-01 2.79060948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:2.68, Z:2.80 [[ 9.86823443e-01 -1.47604699e-01 -6.62747720e-02 4.11421405e+01] [ 1.47265011e-01 9.89046429e-01 -1.00088782e-02 2.67564938e+00] [ 6.70261841e-02 1.17040607e-04 9.97751210e-01 2.79500050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:2.69, Z:2.80 [[ 9.86990312e-01 -1.46485357e-01 -6.62734019e-02 4.11995128e+01] [ 1.46142538e-01 9.89212818e-01 -1.00179421e-02 2.68650361e+00] [ 6.70259805e-02 2.02248666e-04 9.97751210e-01 2.79691961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.1 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:2.70, Z:2.80 [[ 9.86998551e-01 -1.46431127e-01 -6.62705478e-02 4.12568250e+01] [ 1.46086921e-01 9.89220842e-01 -1.00367872e-02 2.69606094e+00] [ 6.70259052e-02 2.25034096e-04 9.97751210e-01 2.80108317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:41.31, Y:2.71, Z:2.81 [[ 9.86968418e-01 -1.46635366e-01 -6.62677191e-02 4.13136181e+01] [ 1.46290368e-01 9.89190587e-01 -1.00554294e-02 2.70505034e+00] [ 6.70258855e-02 2.30062198e-04 9.97751210e-01 2.80523333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:41.37, Y:2.71, Z:2.81 [[ 9.86864163e-01 -1.47336665e-01 -6.62648550e-02 4.13701571e+01] [ 1.46991982e-01 9.89086380e-01 -1.00742681e-02 2.71349695e+00] [ 6.70259746e-02 2.01531848e-04 9.97751211e-01 2.80950248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:2.72, Z:2.82 [[ 9.86559658e-01 -1.49362558e-01 -6.62636265e-02 4.14276537e+01] [ 1.49021896e-01 9.88782494e-01 -1.00823420e-02 2.72164929e+00] [ 6.70262383e-02 7.21006666e-05 9.97751211e-01 2.81828563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.339999999999996 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:2.73, Z:2.82 [[ 9.86010561e-01 -1.52946690e-01 -6.62607251e-02 4.14856582e+01] [ 1.52612829e-01 9.88234429e-01 -1.01013742e-02 2.72959151e+00] [ 6.70261016e-02 -1.52175005e-04 9.97751211e-01 2.81901941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.4 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:41.54, Y:2.74, Z:2.82 [[ 9.85218423e-01 -1.57970122e-01 -6.62578229e-02 4.15436189e+01] [ 1.57646321e-01 9.87443778e-01 -1.01203748e-02 2.73690742e+00] [ 6.70245919e-02 -4.74522275e-04 9.97751211e-01 2.82348524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:41.60, Y:2.75, Z:2.83 [[ 9.84855836e-01 -1.60216320e-01 -6.62549088e-02 4.15997387e+01] [ 1.59896314e-01 9.87081740e-01 -1.01394171e-02 2.74568927e+00] [ 6.70235107e-02 -6.08051599e-04 9.97751211e-01 2.82870094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.519999999999996 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:41.66, Y:2.76, Z:2.83 [[ 9.84518869e-01 -1.62274902e-01 -6.62529415e-02 4.16566743e+01] [ 1.61958686e-01 9.86745314e-01 -1.01522554e-02 2.75609192e+00] [ 6.70222358e-02 -7.35152362e-04 9.97751211e-01 2.83254056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.71, Y:2.77, Z:2.84 [[ 9.84540705e-01 -1.62143544e-01 -6.62500616e-02 4.17122637e+01] [ 1.61825768e-01 9.86766929e-01 -1.01710137e-02 2.76509399e+00] [ 6.70225341e-02 -7.07190103e-04 9.97751211e-01 2.83949468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:41.77, Y:2.78, Z:2.84 [[ 9.84487335e-01 -1.62467784e-01 -6.62488230e-02 4.17701079e+01] [ 1.62150199e-01 9.86713585e-01 -1.01790751e-02 2.77589526e+00] [ 6.70223855e-02 -7.21089324e-04 9.97751211e-01 2.83808432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.699999999999996 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:41.83, Y:2.79, Z:2.84 [[ 9.84900536e-01 -1.59944873e-01 -6.62463007e-02 4.18273063e+01] [ 1.59620484e-01 9.87125804e-01 -1.01954641e-02 2.78667740e+00] [ 6.70241451e-02 -5.32748491e-04 9.97751212e-01 2.84049114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:2.80, Z:2.84 [[ 9.85117696e-01 -1.58602241e-01 -6.62454157e-02 4.18844559e+01] [ 1.58274432e-01 9.87342463e-01 -1.02012112e-02 2.79572218e+00] [ 6.70248469e-02 -4.35561849e-04 9.97751212e-01 2.84458737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:2.80, Z:2.86 [[ 9.85693116e-01 -1.54987112e-01 -6.62425568e-02 4.19425005e+01] [ 1.54649898e-01 9.87916477e-01 -1.02197424e-02 2.80453346e+00] [ 6.70260417e-02 -1.70874875e-04 9.97751212e-01 2.85515495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.879999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:2.82, Z:2.85 [[ 9.85471061e-01 -1.56393896e-01 -6.62399939e-02 4.20005092e+01] [ 1.56058741e-01 9.87694734e-01 -1.02363273e-02 2.81919275e+00] [ 6.70257922e-02 -2.49725747e-04 9.97751212e-01 2.85399481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:2.82, Z:2.86 [[ 9.86659816e-01 -1.48711230e-01 -6.62372818e-02 4.20574994e+01] [ 1.48357585e-01 9.88880623e-01 -1.02538468e-02 2.82400551e+00] [ 6.70256266e-02 2.90255482e-04 9.97751212e-01 2.86284382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.0 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:42.11, Y:2.83, Z:2.86 [[ 9.86958043e-01 -1.46719568e-01 -6.62358635e-02 4.21143428e+01] [ 1.46360826e-01 9.89178032e-01 -1.02630000e-02 2.83363595e+00] [ 6.70248441e-02 4.34814649e-04 9.97751212e-01 2.86255159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.059999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:2.85, Z:2.86 [[ 9.86297343e-01 -1.51097588e-01 -6.62349671e-02 4.21714754e+01] [ 1.50748312e-01 9.88518841e-01 -1.02687820e-02 2.85070136e+00] [ 6.70261011e-02 1.43262915e-04 9.97751212e-01 2.85800242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:2.85, Z:2.87 [[ 9.87564602e-01 -1.42581370e-01 -6.62322484e-02 4.22294797e+01] [ 1.42211765e-01 9.89782808e-01 -1.02862877e-02 2.85091160e+00] [ 6.70221737e-02 7.39368699e-04 9.97751212e-01 2.87175110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:42.29, Y:2.86, Z:2.87 [[ 9.87131052e-01 -1.45553089e-01 -6.62312949e-02 4.22874546e+01] [ 1.45189750e-01 9.89350293e-01 -1.02924231e-02 2.86039419e+00] [ 6.70240450e-02 5.43865269e-04 9.97751212e-01 2.86854630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.239999999999995 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:42.34, Y:2.87, Z:2.88 [[ 9.87331787e-01 -1.44185921e-01 -6.62296184e-02 4.23449397e+01] [ 1.43818786e-01 9.89550403e-01 -1.03032003e-02 2.86624614e+00] [ 6.70231220e-02 6.47613833e-04 9.97751212e-01 2.87898631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.3 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:42.40, Y:2.88, Z:2.88 [[ 9.87369952e-01 -1.43925103e-01 -6.62279549e-02 4.24020611e+01] [ 1.43556666e-01 9.89588353e-01 -1.03138818e-02 2.87509295e+00] [ 6.70228393e-02 6.76152634e-04 9.97751212e-01 2.88224882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:42.46, Y:2.88, Z:2.88 [[ 9.87427590e-01 -1.43530491e-01 -6.62250213e-02 4.24597931e+01] [ 1.43159906e-01 9.89645632e-01 -1.03326838e-02 2.88424071e+00] [ 6.70223583e-02 7.22009212e-04 9.97751213e-01 2.88247356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42 meters Centerline goodness : 0.997979 with order 1 Centerline is valid? [True, True] Translation: X:42.52, Y:2.89, Z:2.88 [[ 9.87268475e-01 -1.44622139e-01 -6.62223111e-02 4.25169432e+01] [ 1.44252844e-01 9.89486733e-01 -1.03500246e-02 2.89324500e+00] [ 6.70229410e-02 6.65496293e-04 9.97751213e-01 2.88393719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:42.57, Y:2.90, Z:2.89 [[ 9.87307655e-01 -1.44355893e-01 -6.62191043e-02 4.25742383e+01] [ 1.43984626e-01 9.89525583e-01 -1.03705016e-02 2.90211716e+00] [ 6.70225408e-02 7.04342625e-04 9.97751213e-01 2.89012500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:42.63, Y:2.91, Z:2.89 [[ 9.87180437e-01 -1.45223813e-01 -6.62180369e-02 4.26311391e+01] [ 1.44854039e-01 9.89398615e-01 -1.03773127e-02 2.91063113e+00] [ 6.70230669e-02 6.52330007e-04 9.97751213e-01 2.89415328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.6 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:42.69, Y:2.92, Z:2.90 [[ 9.86952884e-01 -1.46763644e-01 -6.62150806e-02 4.26878804e+01] [ 1.46396068e-01 9.89171427e-01 -1.03961420e-02 2.91890884e+00] [ 6.70238414e-02 5.66874925e-04 9.97751213e-01 2.89810508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:2.93, Z:2.91 [[ 9.86358290e-01 -1.50708350e-01 -6.62141717e-02 4.27463995e+01] [ 1.50349258e-01 9.88578222e-01 -1.04019276e-02 2.92610562e+00] [ 6.70255454e-02 3.04775906e-04 9.97751213e-01 2.90505393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:42.80, Y:2.93, Z:2.91 [[ 9.85862549e-01 -1.53918985e-01 -6.62116286e-02 4.28046841e+01] [ 1.53566038e-01 9.88083466e-01 -1.04180903e-02 2.93435435e+00] [ 6.70261573e-02 1.02947625e-04 9.97751213e-01 2.91131940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:42.86, Y:2.95, Z:2.91 [[ 9.84294794e-01 -1.63646315e-01 -6.62090803e-02 4.28623373e+01] [ 1.63314227e-01 9.86518925e-01 -1.04342597e-02 2.95125882e+00] [ 6.70240389e-02 -5.42497324e-04 9.97751213e-01 2.90525174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.839999999999996 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:42.92, Y:2.95, Z:2.92 [[ 9.85263754e-01 -1.57708752e-01 -6.62063846e-02 4.29193261e+01] [ 1.57362113e-01 9.87485663e-01 -1.04513367e-02 2.95286096e+00] [ 6.70261228e-02 -1.21053397e-04 9.97751214e-01 2.92131578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.9 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:42.98, Y:2.96, Z:2.92 [[ 9.84946626e-01 -1.59677749e-01 -6.62054386e-02 4.29777949e+01] [ 1.59335149e-01 9.87169162e-01 -1.04573259e-02 2.96283002e+00] [ 6.70257696e-02 -2.48945615e-04 9.97751214e-01 2.92052204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:43.04, Y:2.98, Z:2.91 [[ 9.83252217e-01 -1.69800668e-01 -6.62028018e-02 4.30350656e+01] [ 1.69479826e-01 9.85477998e-01 -1.04739922e-02 2.98278952e+00] [ 6.70198954e-02 -9.21463243e-04 9.97751214e-01 2.90997206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.019999999999996 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:43.09, Y:2.98, Z:2.93 [[ 9.84542155e-01 -1.62155184e-01 -6.62000053e-02 4.30924234e+01] [ 1.61815869e-01 9.86765195e-01 -1.04916376e-02 2.98279853e+00] [ 6.70251345e-02 -3.82751936e-04 9.97751214e-01 2.92919807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:43.15, Y:2.99, Z:2.93 [[ 9.84290557e-01 -1.63675863e-01 -6.61990249e-02 4.31492641e+01] [ 1.63339568e-01 9.86514055e-01 -1.04978197e-02 2.99221672e+00] [ 6.70245083e-02 -4.80015371e-04 9.97751214e-01 2.93489681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:43.21, Y:3.00, Z:2.94 [[ 9.84079667e-01 -1.64940280e-01 -6.61960140e-02 4.32060478e+01] [ 1.64605566e-01 9.86303404e-01 -1.05167719e-02 3.00083920e+00] [ 6.70239932e-02 -5.46890966e-04 9.97751214e-01 2.93676325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.199999999999996 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:3.01, Z:2.94 [[ 9.84050100e-01 -1.65116962e-01 -6.61950905e-02 4.32638484e+01] [ 1.64782257e-01 9.86273838e-01 -1.05225814e-02 3.01049395e+00] [ 6.70239426e-02 -5.53029160e-04 9.97751214e-01 2.93834400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:3.03, Z:2.93 [[ 9.83087953e-01 -1.70753127e-01 -6.61924902e-02 4.33208867e+01] [ 1.70430070e-01 9.85313413e-01 -1.05389131e-02 3.02946762e+00] [ 6.70199008e-02 -9.20512244e-04 9.97751214e-01 2.92845938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:3.04, Z:2.93 [[ 9.83391262e-01 -1.68998626e-01 -6.61897996e-02 4.33781014e+01] [ 1.68670464e-01 9.85615975e-01 -1.05557844e-02 3.03952797e+00] [ 6.70216369e-02 -7.83798076e-04 9.97751214e-01 2.93219551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.379999999999995 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:3.05, Z:2.93 [[ 9.84163551e-01 -1.64442762e-01 -6.61867216e-02 4.34337787e+01] [ 1.64103005e-01 9.86386523e-01 -1.05750493e-02 3.05125024e+00] [ 6.70246804e-02 -4.53861847e-04 9.97751215e-01 2.93453557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:3.05, Z:2.95 [[ 9.85563845e-01 -1.55831326e-01 -6.61853921e-02 4.34922717e+01] [ 1.55471587e-01 9.87783670e-01 -1.05833631e-02 3.05164549e+00] [ 6.70260690e-02 1.40632101e-04 9.97751215e-01 2.95298705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.5 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:43.55, Y:3.06, Z:2.96 [[ 9.85860387e-01 -1.53945239e-01 -6.61827845e-02 4.35495175e+01] [ 1.53580160e-01 9.88079340e-01 -1.05996451e-02 3.06182146e+00] [ 6.70256069e-02 2.85407545e-04 9.97751215e-01 2.95686194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.559999999999995 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:43.61, Y:3.08, Z:2.95 [[ 9.84729177e-01 -1.61023866e-01 -6.61797787e-02 4.36064634e+01] [ 1.60673479e-01 9.86950497e-01 -1.06183789e-02 3.08153935e+00] [ 6.70259779e-02 -1.77107814e-04 9.97751215e-01 2.94669567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:43.66, Y:3.08, Z:2.96 [[ 9.86326980e-01 -1.50929548e-01 -6.61767324e-02 4.36645488e+01] [ 1.50555157e-01 9.88544380e-01 -1.06373303e-02 3.08096692e+00] [ 6.70241244e-02 5.28637562e-04 9.97751215e-01 2.96398570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:43.72, Y:3.10, Z:2.95 [[ 9.85346650e-01 -1.57203760e-01 -6.61736935e-02 4.37213425e+01] [ 1.56842221e-01 9.87566182e-01 -1.06562020e-02 3.10104524e+00] [ 6.70260968e-02 1.21223883e-04 9.97751215e-01 2.95415274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.739999999999995 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:43.78, Y:3.10, Z:2.97 [[ 9.86856923e-01 -1.47427596e-01 -6.61703691e-02 4.37779543e+01] [ 1.47042690e-01 9.89072522e-01 -1.06768050e-02 3.09948038e+00] [ 6.70213495e-02 8.06609846e-04 9.97751216e-01 2.97222730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.8 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:43.84, Y:3.12, Z:2.96 [[ 9.84900236e-01 -1.59978738e-01 -6.61689422e-02 4.38357328e+01] [ 1.59621475e-01 9.87120460e-01 -1.06856411e-02 3.11903264e+00] [ 6.70261920e-02 -3.76936629e-05 9.97751216e-01 2.95955479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:43.89, Y:3.12, Z:2.98 [[ 9.86175074e-01 -1.51923569e-01 -6.61660934e-02 4.38937183e+01] [ 1.51546989e-01 9.88392104e-01 -1.07032519e-02 3.11503591e+00] [ 6.70241205e-02 5.28007949e-04 9.97751216e-01 2.97939978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:43.95, Y:3.12, Z:2.98 [[ 9.85729140e-01 -1.54790964e-01 -6.61650933e-02 4.39504798e+01] [ 1.54420419e-01 9.87947186e-01 -1.07094308e-02 3.12277705e+00] [ 6.70253409e-02 3.39356582e-04 9.97751216e-01 2.98451021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.01, Y:3.13, Z:2.99 [[ 9.85450822e-01 -1.56553449e-01 -6.61641449e-02 4.40082707e+01] [ 1.56186478e-01 9.87669462e-01 -1.07152870e-02 3.13216609e+00] [ 6.70258205e-02 2.25443630e-04 9.97751216e-01 2.99027089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:44.07, Y:3.15, Z:2.98 [[ 9.83774231e-01 -1.66766060e-01 -6.61615030e-02 4.40658588e+01] [ 1.66421025e-01 9.85996387e-01 -1.07315747e-02 3.15254475e+00] [ 6.70246654e-02 -4.53218531e-04 9.97751216e-01 2.98002963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.1 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:3.15, Z:3.00 [[ 9.84901997e-01 -1.59972157e-01 -6.61586406e-02 4.41238839e+01] [ 1.59610610e-01 9.87121527e-01 -1.07491919e-02 3.15339834e+00] [ 6.70261897e-02 2.72795666e-05 9.97751216e-01 2.99563324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:3.16, Z:3.00 [[ 9.84608763e-01 -1.61767784e-01 -6.61571455e-02 4.41812175e+01] [ 1.61409667e-01 9.86828849e-01 -1.07583860e-02 3.16328824e+00] [ 6.70261400e-02 -8.56017008e-05 9.97751216e-01 2.99726903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:3.17, Z:3.00 [[ 9.84265452e-01 -1.63844907e-01 -6.61541041e-02 4.42380505e+01] [ 1.63490220e-01 9.86486089e-01 -1.07770554e-02 3.17220078e+00] [ 6.70258690e-02 -2.08065674e-04 9.97751216e-01 3.00078896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.29, Y:3.19, Z:3.00 [[ 9.82250937e-01 -1.75518994e-01 -6.61526979e-02 4.42942699e+01] [ 1.75190116e-01 9.84475542e-01 -1.07856802e-02 3.19068924e+00] [ 6.70188049e-02 -9.95054354e-04 9.97751216e-01 2.99502446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.339999999999996 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:3.19, Z:3.01 [[ 9.82871124e-01 -1.72013341e-01 -6.61495565e-02 4.43524930e+01] [ 1.71675233e-01 9.85094345e-01 -1.08049125e-02 3.19042902e+00] [ 6.70221431e-02 -7.36404047e-04 9.97751217e-01 3.01083292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.4 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:44.41, Y:3.21, Z:3.00 [[ 9.80926121e-01 -1.82779396e-01 -6.61485982e-02 4.44095762e+01] [ 1.82465289e-01 9.83152860e-01 -1.08107758e-02 3.20982392e+00] [ 6.70101706e-02 -1.46525072e-03 9.97751217e-01 3.00250305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:44.47, Y:3.21, Z:3.02 [[ 9.82201378e-01 -1.75798760e-01 -6.61456709e-02 4.44663989e+01] [ 1.75467621e-01 9.84425647e-01 -1.08286574e-02 3.21060503e+00] [ 6.70191594e-02 -9.70501268e-04 9.97751217e-01 3.02087639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.519999999999996 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:44.52, Y:3.22, Z:3.02 [[ 9.82112754e-01 -1.76293870e-01 -6.61438631e-02 4.45233447e+01] [ 1.75963110e-01 9.84337079e-01 -1.08396887e-02 3.22089055e+00] [ 6.70188276e-02 -9.93083284e-04 9.97751217e-01 3.02454119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:44.58, Y:3.24, Z:3.01 [[ 9.80826267e-01 -1.83317302e-01 -6.61407611e-02 4.45804186e+01] [ 1.83001193e-01 9.83052722e-01 -1.08585831e-02 3.24063458e+00] [ 6.70104214e-02 -1.45345473e-03 9.97751217e-01 3.01405157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:44.64, Y:3.24, Z:3.03 [[ 9.82214757e-01 -1.75726876e-01 -6.61380050e-02 4.46389282e+01] [ 1.75392431e-01 9.84438531e-01 -1.08753442e-02 3.24341549e+00] [ 6.70198908e-02 -9.18181916e-04 9.97751217e-01 3.03073648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.699999999999996 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:44.70, Y:3.26, Z:3.03 [[ 9.82254531e-01 -1.75505446e-01 -6.61352736e-02 4.46958869e+01] [ 1.75169384e-01 9.84478061e-01 -1.08919292e-02 3.25500984e+00] [ 6.70203188e-02 -8.86228357e-04 9.97751217e-01 3.03116203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.75, Y:3.26, Z:3.04 [[ 9.82458892e-01 -1.74359001e-01 -6.61321802e-02 4.47529077e+01] [ 1.74019082e-01 9.84681835e-01 -1.09106794e-02 3.26493391e+00] [ 6.70215317e-02 -7.88967269e-04 9.97751217e-01 3.03822954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:44.81, Y:3.28, Z:3.04 [[ 9.82626474e-01 -1.73412438e-01 -6.61312310e-02 4.48100923e+01] [ 1.73069990e-01 9.84849029e-01 -1.09164294e-02 3.27610797e+00] [ 6.70223233e-02 -7.18558935e-04 9.97751217e-01 3.04066301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.879999999999995 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:44.87, Y:3.29, Z:3.04 [[ 9.82851851e-01 -1.72131666e-01 -6.61281180e-02 4.48667194e+01] [ 1.71785056e-01 9.85073761e-01 -1.09352548e-02 3.28697584e+00] [ 6.70233775e-02 -6.12086987e-04 9.97751218e-01 3.04304938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:3.30, Z:3.05 [[ 9.82881009e-01 -1.71966277e-01 -6.61250440e-02 4.49243282e+01] [ 1.71618044e-01 9.85102665e-01 -1.09538117e-02 3.29655252e+00] [ 6.70236433e-02 -5.81957212e-04 9.97751218e-01 3.04594647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.0 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:3.31, Z:3.05 [[ 9.83044727e-01 -1.71029075e-01 -6.61220055e-02 4.49813024e+01] [ 1.70677493e-01 9.85265856e-01 -1.09721229e-02 3.30542883e+00] [ 6.70243063e-02 -4.99450515e-04 9.97751218e-01 3.05057443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.059999999999995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:45.04, Y:3.31, Z:3.05 [[ 9.83434732e-01 -1.68773277e-01 -6.61189045e-02 4.50388090e+01] [ 1.68415345e-01 9.85654845e-01 -1.09907778e-02 3.31424581e+00] [ 6.70253682e-02 -3.26725483e-04 9.97751218e-01 3.05401782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:45.10, Y:3.32, Z:3.06 [[ 9.83812482e-01 -1.66558380e-01 -6.61158517e-02 4.50962673e+01] [ 1.66194218e-01 9.86031582e-01 -1.10091115e-02 3.32350508e+00] [ 6.70259777e-02 -1.57170944e-04 9.97751218e-01 3.05860202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:45.15, Y:3.33, Z:3.06 [[ 9.84523207e-01 -1.62305799e-01 -6.61126559e-02 4.51533651e+01] [ 1.61930765e-01 9.86740495e-01 -1.10282703e-02 3.33292021e+00] [ 6.70259870e-02 1.51915091e-04 9.97751218e-01 3.06195729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.239999999999995 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:3.35, Z:3.05 [[ 9.84020133e-01 -1.65328839e-01 -6.61116757e-02 4.52103566e+01] [ 1.64960223e-01 9.86238497e-01 -1.10341432e-02 3.35285784e+00] [ 6.70261417e-02 -4.79776772e-05 9.97751219e-01 3.05055065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.3 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:45.27, Y:3.36, Z:3.05 [[ 9.84459332e-01 -1.62693491e-01 -6.61109099e-02 4.52677887e+01] [ 1.62318628e-01 9.86676649e-01 -1.10387293e-02 3.36304803e+00] [ 6.70260205e-02 1.36147893e-04 9.97751219e-01 3.05267562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:45.33, Y:3.36, Z:3.07 [[ 9.86183783e-01 -1.51892397e-01 -6.61078331e-02 4.53265254e+01] [ 1.51492018e-01 9.88396635e-01 -1.10571248e-02 3.36164563e+00] [ 6.70202530e-02 8.89548134e-04 9.97751219e-01 3.07191320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.38, Y:3.37, Z:3.08 [[ 9.86360211e-01 -1.50742706e-01 -6.61072666e-02 4.53839577e+01] [ 1.50339521e-01 9.88572553e-01 -1.10605106e-02 3.37170909e+00] [ 6.70191207e-02 9.71112806e-04 9.97751219e-01 3.07662494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:45.44, Y:3.38, Z:3.08 [[ 9.86316009e-01 -1.51032971e-01 -6.61042526e-02 4.54413135e+01] [ 1.50629232e-01 9.88528250e-01 -1.10784954e-02 3.38153061e+00] [ 6.70191392e-02 9.69664596e-04 9.97751219e-01 3.07683755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:45.50, Y:3.39, Z:3.08 [[ 9.86244930e-01 -1.51497784e-01 -6.61011239e-02 4.54980263e+01] [ 1.51093839e-01 9.88457134e-01 -1.10971315e-02 3.39017221e+00] [ 6.70193183e-02 9.57017173e-04 9.97751219e-01 3.08115979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.6 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:45.56, Y:3.40, Z:3.08 [[ 9.86043041e-01 -1.52806876e-01 -6.60997756e-02 4.55550651e+01] [ 1.52405330e-01 9.88255681e-01 -1.11051568e-02 3.39898734e+00] [ 6.70204231e-02 8.76204458e-04 9.97751219e-01 3.08481380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.61, Y:3.41, Z:3.09 [[ 9.85826524e-01 -1.54198878e-01 -6.60966755e-02 4.56108650e+01] [ 1.53799221e-01 9.88039506e-01 -1.11235781e-02 3.40690473e+00] [ 6.70213698e-02 8.00301104e-04 9.97751219e-01 3.09094310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:45.67, Y:3.42, Z:3.09 [[ 9.85431044e-01 -1.56707690e-01 -6.60935562e-02 4.56683136e+01] [ 1.56312427e-01 9.87644814e-01 -1.11420812e-02 3.41687679e+00] [ 6.70230079e-02 6.48508519e-04 9.97751219e-01 3.09448000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:3.43, Z:3.10 [[ 9.85194832e-01 -1.58187317e-01 -6.60902060e-02 4.57250705e+01] [ 1.57794048e-01 9.87408958e-01 -1.11619181e-02 3.42677047e+00] [ 6.70237353e-02 5.68022917e-04 9.97751220e-01 3.09892674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.839999999999996 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:45.78, Y:3.44, Z:3.10 [[ 9.85170120e-01 -1.58342472e-01 -6.60870317e-02 4.57824746e+01] [ 1.57948293e-01 9.87384084e-01 -1.11806809e-02 3.43663558e+00] [ 6.70236599e-02 5.76538906e-04 9.97751220e-01 3.10366782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.9 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:45.84, Y:3.46, Z:3.10 [[ 9.83952886e-01 -1.65739689e-01 -6.60838339e-02 4.58401021e+01] [ 1.65360887e-01 9.86169533e-01 -1.11995496e-02 3.45566431e+00] [ 6.70260735e-02 9.21476959e-05 9.97751220e-01 3.09542174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.90, Y:3.47, Z:3.10 [[ 9.83854983e-01 -1.66321016e-01 -6.60809469e-02 4.58963143e+01] [ 1.65942382e-01 9.86071658e-01 -1.12165583e-02 3.46714332e+00] [ 6.70260982e-02 6.98370722e-05 9.97751220e-01 3.09870880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.019999999999996 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:45.96, Y:3.47, Z:3.11 [[ 9.84929972e-01 -1.59832596e-01 -6.60794394e-02 4.59551700e+01] [ 1.59438764e-01 9.87143997e-01 -1.12254324e-02 3.46794388e+00] [ 6.70241119e-02 5.20640714e-04 9.97751220e-01 3.11279452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:3.49, Z:3.11 [[ 9.83695955e-01 -1.67260732e-01 -6.60765851e-02 4.60123386e+01] [ 1.66882492e-01 9.85912697e-01 -1.12422088e-02 3.48889184e+00] [ 6.70261243e-02 3.18901774e-05 9.97751220e-01 3.10515779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:46.07, Y:3.50, Z:3.11 [[ 9.84068656e-01 -1.65054990e-01 -6.60736768e-02 4.60702704e+01] [ 1.64670636e-01 9.86284346e-01 -1.12592756e-02 3.50260668e+00] [ 6.70258327e-02 1.99505786e-04 9.97751220e-01 3.10731936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.199999999999996 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:46.13, Y:3.50, Z:3.12 [[ 9.86054557e-01 -1.52745026e-01 -6.60709263e-02 4.61281007e+01] [ 1.52331935e-01 9.88265069e-01 -1.12753930e-02 3.50349578e+00] [ 6.70178488e-02 1.05344066e-03 9.97751221e-01 3.12453464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:46.19, Y:3.52, Z:3.13 [[ 9.86774331e-01 -1.48024289e-01 -6.60698885e-02 4.61857863e+01] [ 1.47600217e-01 9.88982762e-01 -1.12814712e-02 3.51571738e+00] [ 6.70119126e-02 1.38033633e-03 9.97751221e-01 3.12731403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:3.54, Z:3.12 [[ 9.85496325e-01 -1.56307830e-01 -6.60670533e-02 4.62427484e+01] [ 1.55901212e-01 9.87708037e-01 -1.12980504e-02 3.53942237e+00] [ 6.70209332e-02 8.34253495e-04 9.97751221e-01 3.11603240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.379999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:3.55, Z:3.12 [[ 9.85862662e-01 -1.53981689e-01 -6.60639926e-02 4.62993593e+01] [ 1.53568655e-01 9.88073185e-01 -1.13159188e-02 3.54990565e+00] [ 6.70185039e-02 1.01058335e-03 9.97751221e-01 3.12127969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.36, Y:3.55, Z:3.14 [[ 9.86800399e-01 -1.47853517e-01 -6.60629196e-02 4.63574106e+01] [ 1.47426338e-01 9.89008232e-01 -1.13221801e-02 3.54781499e+00] [ 6.70107954e-02 1.43331751e-03 9.97751221e-01 3.14146666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.5 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:46.42, Y:3.56, Z:3.15 [[ 9.86411089e-01 -1.50429359e-01 -6.60618755e-02 4.64150335e+01] [ 1.50007538e-01 9.88619952e-01 -1.13282687e-02 3.55622300e+00] [ 6.70141924e-02 1.26455052e-03 9.97751221e-01 3.14580961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.559999999999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:46.47, Y:3.57, Z:3.15 [[ 9.85804363e-01 -1.54355824e-01 -6.60608627e-02 4.64720303e+01] [ 1.53942406e-01 9.88014814e-01 -1.13341715e-02 3.56629167e+00] [ 6.70186064e-02 1.00370754e-03 9.97751221e-01 3.14734386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:46.53, Y:3.58, Z:3.15 [[ 9.85611521e-01 -1.55583805e-01 -6.60576248e-02 4.65293328e+01] [ 1.55171879e-01 9.87822250e-01 -1.13530117e-02 3.57609920e+00] [ 6.70195363e-02 9.39373425e-04 9.97751221e-01 3.15170449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:46.59, Y:3.59, Z:3.15 [[ 9.85375830e-01 -1.57070974e-01 -6.60543998e-02 4.65879217e+01] [ 1.56661128e-01 9.87586945e-01 -1.13717446e-02 3.58504523e+00] [ 6.70206339e-02 8.57285431e-04 9.97751221e-01 3.15220483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.739999999999995 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:46.64, Y:3.59, Z:3.16 [[ 9.85265478e-01 -1.57762884e-01 -6.60515697e-02 4.66447273e+01] [ 1.57353492e-01 9.87476677e-01 -1.13881592e-02 3.59391180e+00] [ 6.70210134e-02 8.26915001e-04 9.97751221e-01 3.15655415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.8 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:46.70, Y:3.60, Z:3.16 [[ 9.85262506e-01 -1.57782793e-01 -6.60483506e-02 4.67015897e+01] [ 1.57372195e-01 9.87473482e-01 -1.14067988e-02 3.60265344e+00] [ 6.70207913e-02 8.44517266e-04 9.97751222e-01 3.16305387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:46.76, Y:3.61, Z:3.17 [[ 9.85205218e-01 -1.58141474e-01 -6.60450822e-02 4.67575996e+01] [ 1.57730415e-01 9.87416108e-01 -1.14256915e-02 3.61188110e+00] [ 6.70208537e-02 8.39332671e-04 9.97751222e-01 3.16576628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:46.82, Y:3.62, Z:3.17 [[ 9.85146484e-01 -1.58507534e-01 -6.60436697e-02 4.68159479e+01] [ 1.58096749e-01 9.87357425e-01 -1.14338502e-02 3.62056554e+00] [ 6.70210591e-02 8.22727822e-04 9.97751222e-01 3.17133343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:3.63, Z:3.18 [[ 9.85112291e-01 -1.58721053e-01 -6.60409029e-02 4.68737220e+01] [ 1.58309679e-01 9.87323122e-01 -1.14498087e-02 3.62958497e+00] [ 6.70210362e-02 8.24433181e-04 9.97751222e-01 3.17864616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:46.93, Y:3.64, Z:3.18 [[ 9.84941047e-01 -1.59781441e-01 -6.60380560e-02 4.69305246e+01] [ 1.59371347e-01 9.87152116e-01 -1.14662052e-02 3.63788561e+00] [ 6.70216935e-02 7.68962159e-04 9.97751222e-01 3.17973522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.99, Y:3.65, Z:3.17 [[ 9.83827949e-01 -1.66498742e-01 -6.60358638e-02 4.69881421e+01] [ 1.66102899e-01 9.86041614e-01 -1.14788166e-02 3.65490270e+00] [ 6.70253182e-02 3.24432197e-04 9.97751222e-01 3.17471481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:3.67, Z:3.18 [[ 9.84135894e-01 -1.64670024e-01 -6.60327612e-02 4.70447727e+01] [ 1.64268872e-01 9.86348602e-01 -1.14966371e-02 3.66521781e+00] [ 6.70244732e-02 4.67126097e-04 9.97751222e-01 3.17878717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:3.68, Z:3.18 [[ 9.84169528e-01 -1.64469318e-01 -6.60316788e-02 4.71020788e+01] [ 1.64067298e-01 9.86382079e-01 -1.15028506e-02 3.67545623e+00] [ 6.70243306e-02 4.87115867e-04 9.97751222e-01 3.18348620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:47.16, Y:3.68, Z:3.20 [[ 9.85285116e-01 -1.57649993e-01 -6.60281751e-02 4.71597551e+01] [ 1.57231315e-01 9.87494575e-01 -1.15229273e-02 3.67737706e+00] [ 6.70190541e-02 9.71671936e-04 9.97751223e-01 3.19746116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.339999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:3.70, Z:3.19 [[ 9.83967931e-01 -1.65672970e-01 -6.60271010e-02 4.72167757e+01] [ 1.65271897e-01 9.86180653e-01 -1.15290785e-02 3.69624303e+00] [ 6.70247063e-02 4.31819277e-04 9.97751223e-01 3.19251947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.4 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:47.27, Y:3.70, Z:3.20 [[ 9.85038263e-01 -1.59186821e-01 -6.60240631e-02 4.72747337e+01] [ 1.58770015e-01 9.87248075e-01 -1.15464500e-02 3.69836606e+00] [ 6.70201719e-02 8.91053595e-04 9.97751223e-01 3.20231579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:47.33, Y:3.72, Z:3.20 [[ 9.83515744e-01 -1.68338183e-01 -6.60230034e-02 4.73311022e+01] [ 1.67941533e-01 9.85729264e-01 -1.15525062e-02 3.71856011e+00] [ 6.70255344e-02 2.74067368e-04 9.97751223e-01 3.19535424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.519999999999996 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:47.39, Y:3.73, Z:3.20 [[ 9.83785427e-01 -1.66756296e-01 -6.60194785e-02 4.73889120e+01] [ 1.66354737e-01 9.85998061e-01 -1.15726148e-02 3.72698069e+00] [ 6.70248842e-02 4.02316768e-04 9.97751223e-01 3.20326539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:47.45, Y:3.73, Z:3.21 [[ 9.85068879e-01 -1.59000420e-01 -6.60164357e-02 4.74465892e+01] [ 1.58580280e-01 9.87278060e-01 -1.15899470e-02 3.72844091e+00] [ 6.70193850e-02 9.47991203e-04 9.97751223e-01 3.21345625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:3.74, Z:3.22 [[ 9.85156758e-01 -1.58455460e-01 -6.60153735e-02 4.75038650e+01] [ 1.58033693e-01 9.87365629e-01 -1.15959940e-02 3.73896049e+00] [ 6.70187593e-02 9.91218607e-04 9.97751223e-01 3.21841676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.699999999999996 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:3.75, Z:3.22 [[ 9.85011598e-01 -1.59356640e-01 -6.60122213e-02 4.75609794e+01] [ 1.58935694e-01 9.87220625e-01 -1.16139110e-02 3.74887648e+00] [ 6.70193802e-02 9.48138849e-04 9.97751223e-01 3.22365922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:3.76, Z:3.23 [[ 9.84871780e-01 -1.60219928e-01 -6.60087308e-02 4.76188309e+01] [ 1.59799591e-01 9.87080922e-01 -1.16337155e-02 3.75802625e+00] [ 6.70199120e-02 9.09549889e-04 9.97751224e-01 3.22870659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:47.68, Y:3.77, Z:3.23 [[ 9.84734499e-01 -1.61062718e-01 -6.60058139e-02 4.76764127e+01] [ 1.60643164e-01 9.86943791e-01 -1.16502417e-02 3.76790649e+00] [ 6.70204478e-02 8.69012124e-04 9.97751224e-01 3.23164292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.879999999999995 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:3.78, Z:3.23 [[ 9.84699606e-01 -1.61277286e-01 -6.60024500e-02 4.77338496e+01] [ 1.60856939e-01 9.86908746e-01 -1.16692683e-02 3.77798027e+00] [ 6.70203831e-02 8.73771813e-04 9.97751224e-01 3.23282662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:3.79, Z:3.23 [[ 9.83928559e-01 -1.65916855e-01 -6.60014189e-02 4.77914124e+01] [ 1.65506534e-01 9.86139584e-01 -1.16750974e-02 3.79343487e+00] [ 6.70237072e-02 5.63795679e-04 9.97751224e-01 3.23038576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.0 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:3.80, Z:3.24 [[ 9.83742003e-01 -1.67020637e-01 -6.59983195e-02 4.78484295e+01] [ 1.66611623e-01 9.85953270e-01 -1.16925916e-02 3.80438516e+00] [ 6.70241631e-02 5.06406336e-04 9.97751224e-01 3.23518020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.059999999999995 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:3.81, Z:3.24 [[ 9.84673279e-01 -1.61441087e-01 -6.59947675e-02 4.79063902e+01] [ 1.61018203e-01 9.86881935e-01 -1.17126055e-02 3.80888060e+00] [ 6.70199396e-02 9.06730764e-04 9.97751224e-01 3.24494429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:47.96, Y:3.82, Z:3.25 [[ 9.84619681e-01 -1.61768903e-01 -6.59917069e-02 4.79630134e+01] [ 1.61345600e-01 9.86828257e-01 -1.17298246e-02 3.81907327e+00] [ 6.70200019e-02 9.01944562e-04 9.97751224e-01 3.25055504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.02, Y:3.83, Z:3.26 [[ 9.84707681e-01 -1.61233754e-01 -6.59883239e-02 4.80194703e+01] [ 1.60807978e-01 9.86915781e-01 -1.17488258e-02 3.82963786e+00] [ 6.70192255e-02 9.57710036e-04 9.97751225e-01 3.25768614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.239999999999995 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:3.84, Z:3.26 [[ 9.84645154e-01 -1.61616530e-01 -6.59849768e-02 4.80764148e+01] [ 1.61190355e-01 9.86853177e-01 -1.17675943e-02 3.84013596e+00] [ 6.70193217e-02 9.50762891e-04 9.97751225e-01 3.25921368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.3 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:48.13, Y:3.86, Z:3.25 [[ 9.83405922e-01 -1.68994720e-01 -6.59816404e-02 4.81337291e+01] [ 1.68583859e-01 9.85616846e-01 -1.17862720e-02 3.85818645e+00] [ 6.70244340e-02 4.67250109e-04 9.97751225e-01 3.25084403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.19, Y:3.86, Z:3.27 [[ 9.84406314e-01 -1.63067604e-01 -6.59785295e-02 4.81905660e+01] [ 1.62642266e-01 9.86614498e-01 -1.18036606e-02 3.86023201e+00] [ 6.70201684e-02 8.88700441e-04 9.97751225e-01 3.26933748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.419999999999995 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:48.25, Y:3.88, Z:3.26 [[ 9.82927475e-01 -1.71757261e-01 -6.59774437e-02 4.82480003e+01] [ 1.71351040e-01 9.85139255e-01 -1.18097270e-02 3.87734449e+00] [ 6.70253761e-02 3.02801534e-04 9.97751225e-01 3.26221505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:48.30, Y:3.89, Z:3.26 [[ 9.82628303e-01 -1.73461868e-01 -6.59742241e-02 4.83043121e+01] [ 1.73058278e-01 9.84840565e-01 -1.18276856e-02 3.88837064e+00] [ 6.70257446e-02 2.04833034e-04 9.97751225e-01 3.26340891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.36, Y:3.89, Z:3.28 [[ 9.83677695e-01 -1.67409081e-01 -6.59726549e-02 4.83625366e+01] [ 1.66991292e-01 9.85887320e-01 -1.18364320e-02 3.89103369e+00] [ 6.70231301e-02 6.26375272e-04 9.97751225e-01 3.28338719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.6 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:48.42, Y:3.91, Z:3.27 [[ 9.82178294e-01 -1.75993766e-01 -6.59696385e-02 4.84190350e+01] [ 1.75594163e-01 9.84391279e-01 -1.18532199e-02 3.91111958e+00] [ 6.70260297e-02 5.80918671e-05 9.97751225e-01 3.27352338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:3.91, Z:3.29 [[ 9.83379796e-01 -1.69152782e-01 -6.59660053e-02 4.84764552e+01] [ 1.68736431e-01 9.85589691e-01 -1.18734055e-02 3.91440198e+00] [ 6.70238343e-02 5.45198717e-04 9.97751226e-01 3.28720963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.53, Y:3.92, Z:3.30 [[ 9.83462646e-01 -1.68670852e-01 -6.59648975e-02 4.85328083e+01] [ 1.68253006e-01 9.85672259e-01 -1.18795569e-02 3.92430949e+00] [ 6.70235045e-02 5.84308194e-04 9.97751226e-01 3.29525704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:48.59, Y:3.93, Z:3.30 [[ 9.83317832e-01 -1.69514370e-01 -6.59615056e-02 4.85889943e+01] [ 1.69097158e-01 9.85527564e-01 -1.18983604e-02 3.93487116e+00] [ 6.70238251e-02 5.45966792e-04 9.97751226e-01 3.29578832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.839999999999996 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:48.65, Y:3.95, Z:3.30 [[ 9.83346601e-01 -1.69348292e-01 -6.59592171e-02 4.86455919e+01] [ 1.68929857e-01 9.85556102e-01 -1.19110334e-02 3.94569948e+00] [ 6.70236221e-02 5.70193127e-04 9.97751226e-01 3.29995446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.9 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:3.96, Z:3.30 [[ 9.83705141e-01 -1.67254359e-01 -6.59558504e-02 4.87026250e+01] [ 1.66829972e-01 9.85913507e-01 -1.19296469e-02 3.95785107e+00] [ 6.70220493e-02 7.31842303e-04 9.97751226e-01 3.30077635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:48.76, Y:3.97, Z:3.30 [[ 9.83998068e-01 -1.65522703e-01 -6.59548168e-02 4.87606119e+01] [ 1.65094047e-01 9.86205609e-01 -1.19353589e-02 3.96910203e+00] [ 6.70205831e-02 8.55622481e-04 9.97751226e-01 3.30463292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.019999999999996 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:48.82, Y:3.98, Z:3.31 [[ 9.84161813e-01 -1.64547490e-01 -6.59518653e-02 4.88181549e+01] [ 1.64115556e-01 9.86368715e-01 -1.19516459e-02 3.98018825e+00] [ 6.70194700e-02 9.38626470e-04 9.97751226e-01 3.30975839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:48.88, Y:3.99, Z:3.31 [[ 9.84291415e-01 -1.63771667e-01 -6.59488482e-02 4.88752204e+01] [ 1.63336880e-01 9.86497757e-01 -1.19682711e-02 3.99084899e+00] [ 6.70184545e-02 1.00838746e-03 9.97751226e-01 3.31334335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:48.93, Y:4.00, Z:3.32 [[ 9.84091083e-01 -1.64972563e-01 -6.59453801e-02 4.89320325e+01] [ 1.64539189e-01 9.86297703e-01 -1.19873503e-02 4.00115972e+00] [ 6.70193608e-02 9.46045131e-04 9.97751227e-01 3.31706156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.199999999999996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:48.99, Y:4.01, Z:3.32 [[ 9.83524646e-01 -1.68317943e-01 -6.59419435e-02 4.89887869e+01] [ 1.67890810e-01 9.85732482e-01 -1.20062250e-02 4.00985963e+00] [ 6.70219787e-02 7.37371926e-04 9.97751227e-01 3.32269810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:49.05, Y:4.02, Z:3.33 [[ 9.82337882e-01 -1.75111633e-01 -6.59408921e-02 4.90457600e+01] [ 1.74699383e-01 9.84548545e-01 -1.20119968e-02 4.01826669e+00] [ 6.70254497e-02 2.80006334e-04 9.97751227e-01 3.32766009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:4.03, Z:3.32 [[ 9.80431378e-01 -1.85490063e-01 -6.59374718e-02 4.91029678e+01] [ 1.85099953e-01 9.82646055e-01 -1.20307425e-02 4.03406775e+00] [ 6.70247797e-02 -4.09705534e-04 9.97751227e-01 3.32319587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.379999999999995 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:49.16, Y:4.04, Z:3.34 [[ 9.80383316e-01 -1.85744989e-01 -6.59344555e-02 4.91602739e+01] [ 1.85354345e-01 9.82597899e-01 -1.20472508e-02 4.03643601e+00] [ 6.70247739e-02 -4.10314117e-04 9.97751227e-01 3.33508856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:49.22, Y:4.05, Z:3.34 [[ 9.79643307e-01 -1.89609720e-01 -6.59328852e-02 4.92169053e+01] [ 1.89227234e-01 9.81859313e-01 -1.20558390e-02 4.04628823e+00] [ 6.70227216e-02 -6.65875451e-04 9.97751227e-01 3.33993198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.5 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:49.27, Y:4.06, Z:3.35 [[ 9.79321216e-01 -1.91267534e-01 -6.59294082e-02 4.92733949e+01] [ 1.90887521e-01 9.81537647e-01 -1.20748233e-02 4.05663724e+00] [ 6.70217179e-02 -7.59970720e-04 9.97751227e-01 3.34566140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.559999999999995 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:49.33, Y:4.07, Z:3.35 [[ 9.78999171e-01 -1.92910316e-01 -6.59259663e-02 4.93310808e+01] [ 1.92532759e-01 9.81216022e-01 -1.20935864e-02 4.06872805e+00] [ 6.70205920e-02 -8.53297084e-04 9.97751228e-01 3.35177619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:49.39, Y:4.08, Z:3.35 [[ 9.78916494e-01 -1.93330446e-01 -6.59229630e-02 4.93882297e+01] [ 1.92952740e-01 9.81133319e-01 -1.21099359e-02 4.08056088e+00] [ 6.70204347e-02 -8.65400348e-04 9.97751228e-01 3.35440906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:49.45, Y:4.09, Z:3.36 [[ 9.79008201e-01 -1.92866677e-01 -6.59195556e-02 4.94450474e+01] [ 1.92486673e-01 9.81224633e-01 -1.21284553e-02 4.09293716e+00] [ 6.70210666e-02 -8.14778767e-04 9.97751228e-01 3.35740663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.739999999999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:4.11, Z:3.36 [[ 9.79155083e-01 -1.92119946e-01 -6.59185075e-02 4.95014978e+01] [ 1.91737869e-01 9.81371159e-01 -1.21341491e-02 4.10601155e+00] [ 6.70217342e-02 -7.57860388e-04 9.97751228e-01 3.36269321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:4.13, Z:3.36 [[ 9.77985947e-01 -1.97986606e-01 -6.59150280e-02 4.95582551e+01] [ 1.97616550e-01 9.80204062e-01 -1.21530209e-02 4.12726693e+00] [ 6.70163136e-02 -1.14041675e-03 9.97751228e-01 3.35532804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:4.13, Z:3.37 [[ 9.79492227e-01 -1.90395955e-01 -6.59117483e-02 4.96150730e+01] [ 1.90007512e-01 9.81707195e-01 -1.21707827e-02 4.13142892e+00] [ 6.70233053e-02 -6.02540326e-04 9.97751228e-01 3.36903449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.919999999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:49.67, Y:4.15, Z:3.37 [[ 9.79315450e-01 -1.91303540e-01 -6.59105783e-02 4.96721826e+01] [ 1.90916724e-01 9.81530704e-01 -1.21771153e-02 4.14562144e+00] [ 6.70227816e-02 -6.58194491e-04 9.97751228e-01 3.37020402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:49.73, Y:4.16, Z:3.38 [[ 9.79089921e-01 -1.92455511e-01 -6.59075392e-02 4.97294625e+01] [ 1.92070196e-01 9.81305435e-01 -1.21935423e-02 4.15797604e+00] [ 6.70221408e-02 -7.20299574e-04 9.97751228e-01 3.37655531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.79, Y:4.18, Z:3.38 [[ 9.77758764e-01 -1.99109008e-01 -6.59044911e-02 4.97860403e+01] [ 1.98737659e-01 9.79976662e-01 -1.22099946e-02 4.17615920e+00] [ 6.70159831e-02 -1.15927510e-03 9.97751229e-01 3.37518973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.1 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:49.84, Y:4.19, Z:3.39 [[ 9.78743901e-01 -1.94209652e-01 -6.59013499e-02 4.98412121e+01] [ 1.93826059e-01 9.80959714e-01 -1.22269255e-02 4.18519297e+00] [ 6.70211563e-02 -8.06370208e-04 9.97751229e-01 3.38804484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:49.90, Y:4.20, Z:3.39 [[ 9.78749194e-01 -1.94183795e-01 -6.58989338e-02 4.98975410e+01] [ 1.93799269e-01 9.80964845e-01 -1.22399334e-02 4.19893492e+00] [ 6.70213341e-02 -7.91340274e-04 9.97751229e-01 3.39005561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:49.95, Y:4.21, Z:3.39 [[ 9.78890207e-01 -1.93472882e-01 -6.58954153e-02 4.99543441e+01] [ 1.93085474e-01 9.81105356e-01 -1.22588464e-02 4.21371270e+00] [ 6.70220993e-02 -7.23382788e-04 9.97751229e-01 3.39226583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:50.01, Y:4.23, Z:3.40 [[ 9.78888538e-01 -1.93482370e-01 -6.58923621e-02 5.00107576e+01] [ 1.93093880e-01 9.81103497e-01 -1.22752362e-02 4.22827385e+00] [ 6.70222686e-02 -7.07323873e-04 9.97751229e-01 3.39572366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.339999999999996 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:50.07, Y:4.24, Z:3.40 [[ 9.78895733e-01 -1.93447170e-01 -6.58888162e-02 5.00681853e+01] [ 1.93057322e-01 9.81110454e-01 -1.22942396e-02 4.24080519e+00] [ 6.70224922e-02 -6.85539729e-04 9.97751229e-01 3.40054130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.4 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:50.13, Y:4.25, Z:3.41 [[ 9.78806864e-01 -1.93897374e-01 -6.58857465e-02 5.01254882e+01] [ 1.93507438e-01 9.81021569e-01 -1.23106685e-02 4.25333721e+00] [ 6.70223447e-02 -6.99615196e-04 9.97751229e-01 3.40812439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:4.27, Z:3.40 [[ 9.77314726e-01 -2.01284383e-01 -6.58826531e-02 5.01824454e+01] [ 2.00910070e-01 9.79532125e-01 -1.23272015e-02 4.27494203e+00] [ 6.70154483e-02 -1.18893294e-03 9.97751230e-01 3.40047938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.519999999999996 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:50.24, Y:4.28, Z:3.41 [[ 9.78630784e-01 -1.94786267e-01 -6.58794206e-02 5.02391611e+01] [ 1.94396069e-01 9.80845443e-01 -1.23444525e-02 4.28199645e+00] [ 6.70220593e-02 -7.26039178e-04 9.97751230e-01 3.41244232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.30, Y:4.30, Z:3.42 [[ 9.78899150e-01 -1.93433465e-01 -6.58782861e-02 5.02964649e+01] [ 1.93039799e-01 9.81113195e-01 -1.23505038e-02 4.29526160e+00] [ 6.70230565e-02 -6.27233391e-04 9.97751230e-01 3.42000359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:4.31, Z:3.42 [[ 9.78809419e-01 -1.93888063e-01 -6.58751848e-02 5.03541494e+01] [ 1.93494313e-01 9.81023449e-01 -1.23670236e-02 4.31081281e+00] [ 6.70229192e-02 -6.41514452e-04 9.97751230e-01 3.41940950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.699999999999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:50.41, Y:4.32, Z:3.42 [[ 9.78786223e-01 -1.94006107e-01 -6.58722952e-02 5.04109347e+01] [ 1.93611589e-01 9.81000117e-01 -1.23823958e-02 4.32248861e+00] [ 6.70229897e-02 -6.33921378e-04 9.97751230e-01 3.42280979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.47, Y:4.34, Z:3.43 [[ 9.79047271e-01 -1.92685625e-01 -6.58687389e-02 5.04673634e+01] [ 1.92286851e-01 9.81260401e-01 -1.24012848e-02 4.33571205e+00] [ 6.70239345e-02 -5.24248354e-04 9.97751230e-01 3.43149662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:50.52, Y:4.35, Z:3.43 [[ 9.78973224e-01 -1.93061866e-01 -6.58676180e-02 5.05239767e+01] [ 1.92663542e-01 9.81186435e-01 -1.24072358e-02 4.35004857e+00] [ 6.70237773e-02 -5.43936913e-04 9.97751230e-01 3.43362039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.879999999999995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:50.58, Y:4.36, Z:3.44 [[ 9.79274854e-01 -1.91526401e-01 -6.58665133e-02 5.05807373e+01] [ 1.91124212e-01 9.81487366e-01 -1.24130973e-02 4.36447926e+00] [ 6.70245865e-02 -4.32851375e-04 9.97751230e-01 3.43537843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:50.64, Y:4.38, Z:3.44 [[ 9.80035795e-01 -1.87595029e-01 -6.58630798e-02 5.06382531e+01] [ 1.87182743e-01 9.82246448e-01 -1.24312888e-02 4.37889661e+00] [ 6.70258241e-02 -1.45323854e-04 9.97751230e-01 3.43912069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.0 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:50.70, Y:4.39, Z:3.44 [[ 9.80560680e-01 -1.84832946e-01 -6.58599632e-02 5.06958881e+01] [ 1.84413325e-01 9.82769952e-01 -1.24477785e-02 4.39315885e+00] [ 6.70259524e-02 6.03473844e-05 9.97751231e-01 3.43921785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.059999999999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:50.75, Y:4.41, Z:3.45 [[ 9.81732141e-01 -1.78507348e-01 -6.58568865e-02 5.07525206e+01] [ 1.78072402e-01 9.83938447e-01 -1.24640348e-02 4.40642069e+00] [ 6.70240445e-02 5.09049593e-04 9.97751231e-01 3.44538347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:50.81, Y:4.42, Z:3.45 [[ 9.82716822e-01 -1.73005713e-01 -6.58534068e-02 5.08088138e+01] [ 1.72557186e-01 9.84920407e-01 -1.24823927e-02 4.42006892e+00] [ 6.70198895e-02 9.03178720e-04 9.97751231e-01 3.44966356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:50.87, Y:4.43, Z:3.45 [[ 9.83177132e-01 -1.70371730e-01 -6.58498317e-02 5.08653689e+01] [ 1.69916038e-01 9.85379246e-01 -1.25012249e-02 4.43283538e+00] [ 6.70169128e-02 1.10197591e-03 9.97751231e-01 3.45232618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.239999999999995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:50.92, Y:4.44, Z:3.46 [[ 9.83670295e-01 -1.67502311e-01 -6.58462382e-02 5.09223876e+01] [ 1.67038931e-01 9.85870804e-01 -1.25201238e-02 4.44360962e+00] [ 6.70130335e-02 1.31678862e-03 9.97751231e-01 3.45713869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.3 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:4.45, Z:3.46 [[ 9.83802108e-01 -1.66727814e-01 -6.58426045e-02 5.09795055e+01] [ 1.66261425e-01 9.86001981e-01 -1.25392043e-02 4.45260917e+00] [ 6.70115726e-02 1.38901036e-03 9.97751231e-01 3.46119661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:51.04, Y:4.46, Z:3.46 [[ 9.83790635e-01 -1.66796918e-01 -6.58390032e-02 5.10366725e+01] [ 1.66329421e-01 9.85990273e-01 -1.25580848e-02 4.46281199e+00] [ 6.70112666e-02 1.40356296e-03 9.97751232e-01 3.46463219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.419999999999995 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:51.10, Y:4.47, Z:3.47 [[ 9.83727580e-01 -1.67169821e-01 -6.58353944e-02 5.10950346e+01] [ 1.66701894e-01 9.85927126e-01 -1.25769759e-02 4.47159385e+00] [ 6.70113920e-02 1.39743311e-03 9.97751232e-01 3.46888938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:51.15, Y:4.48, Z:3.47 [[ 9.83393409e-01 -1.69125771e-01 -6.58321880e-02 5.11516222e+01] [ 1.68661098e-01 9.85593644e-01 -1.25937366e-02 4.47780138e+00] [ 6.70137115e-02 1.28126845e-03 9.97751232e-01 3.47204984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:4.49, Z:3.47 [[ 9.82754497e-01 -1.72800599e-01 -6.58297150e-02 5.12104711e+01] [ 1.72343289e-01 9.84956275e-01 -1.26066505e-02 4.48610332e+00] [ 6.70178276e-02 1.04393289e-03 9.97751232e-01 3.47439613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.6 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:4.49, Z:3.48 [[ 9.81584648e-01 -1.79327736e-01 -6.58265963e-02 5.12698372e+01] [ 1.78883978e-01 9.83789197e-01 -1.26229138e-02 4.48949258e+00] [ 6.70231329e-02 6.15135016e-04 9.97751232e-01 3.48147657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:51.33, Y:4.50, Z:3.49 [[ 9.80777880e-01 -1.83690017e-01 -6.58234539e-02 5.13287711e+01] [ 1.83254966e-01 9.82984164e-01 -1.26392791e-02 4.49564497e+00] [ 6.70251222e-02 3.33850547e-04 9.97751232e-01 3.48711300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:51.39, Y:4.50, Z:3.49 [[ 9.79799027e-01 -1.88842682e-01 -6.58202787e-02 5.13871810e+01] [ 1.88418124e-01 9.82007353e-01 -1.26557927e-02 4.50056213e+00] [ 6.70259515e-02 -1.60011872e-06 9.97751232e-01 3.49362147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:51.45, Y:4.51, Z:3.50 [[ 9.79135784e-01 -1.92253034e-01 -6.58170790e-02 5.14452606e+01] [ 1.91835050e-01 9.81345364e-01 -1.26724113e-02 4.50589411e+00] [ 6.70255949e-02 -2.18011313e-04 9.97751233e-01 3.49821158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.839999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.50, Y:4.51, Z:3.50 [[ 9.78930213e-01 -1.93298286e-01 -6.58134562e-02 5.15023617e+01] [ 1.92881399e-01 9.81140000e-01 -1.26911980e-02 4.51365660e+00] [ 6.70254013e-02 -2.70394322e-04 9.97751233e-01 3.50410823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.9 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:51.56, Y:4.52, Z:3.50 [[ 9.78375142e-01 -1.96089647e-01 -6.58098241e-02 5.15611081e+01] [ 1.95677799e-01 9.80585873e-01 -1.27100047e-02 4.52140949e+00] [ 6.70244842e-02 -4.42368923e-04 9.97751233e-01 3.50170537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.62, Y:4.53, Z:3.51 [[ 9.78062520e-01 -1.97644106e-01 -6.58066507e-02 5.16180569e+01] [ 1.97234668e-01 9.80273699e-01 -1.27264139e-02 4.52856133e+00] [ 6.70238296e-02 -5.32124463e-04 9.97751233e-01 3.50862304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.019999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.68, Y:4.54, Z:3.52 [[ 9.77422078e-01 -2.00787914e-01 -6.58049785e-02 5.16769024e+01] [ 2.00385006e-01 9.79634456e-01 -1.27350545e-02 4.53504564e+00] [ 6.70218694e-02 -7.38807546e-04 9.97751233e-01 3.51518771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:51.73, Y:4.54, Z:3.52 [[ 9.77024125e-01 -2.02716476e-01 -6.58018932e-02 5.17339630e+01] [ 2.02316863e-01 9.79237101e-01 -1.27509763e-02 4.54333000e+00] [ 6.70204881e-02 -8.54821181e-04 9.97751233e-01 3.51864549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:4.55, Z:3.52 [[ 9.76853045e-01 -2.03539630e-01 -6.58008103e-02 5.17910406e+01] [ 2.03141505e-01 9.79066289e-01 -1.27565620e-02 4.55263426e+00] [ 6.70198211e-02 -9.05589215e-04 9.97751233e-01 3.52121736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.199999999999996 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:51.85, Y:4.56, Z:3.52 [[ 9.76649093e-01 -2.04517176e-01 -6.57972183e-02 5.18496228e+01] [ 2.04120020e-01 9.78862511e-01 -1.27750628e-02 4.56124365e+00] [ 6.70191501e-02 -9.53776075e-04 9.97751233e-01 3.52224694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:51.91, Y:4.57, Z:3.53 [[ 9.76373598e-01 -2.05829404e-01 -6.57940294e-02 5.19071431e+01] [ 2.05434118e-01 9.78587350e-01 -1.27914651e-02 4.57003776e+00] [ 6.70180645e-02 -1.02708954e-03 9.97751234e-01 3.52799627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:4.59, Z:3.52 [[ 9.75071575e-01 -2.11912837e-01 -6.57903677e-02 5.19648447e+01] [ 2.11530093e-01 9.77287530e-01 -1.28102709e-02 4.58609128e+00] [ 6.70107668e-02 -1.42571159e-03 9.97751234e-01 3.52164394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.379999999999995 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:4.59, Z:3.54 [[ 9.76082651e-01 -2.07206944e-01 -6.57870814e-02 5.20218855e+01] [ 2.06812380e-01 9.78296532e-01 -1.28271253e-02 4.58984054e+00] [ 6.70171430e-02 -1.08524839e-03 9.97751234e-01 3.53681096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:4.61, Z:3.53 [[ 9.74722028e-01 -2.13516226e-01 -6.57859299e-02 5.20789047e+01] [ 2.13135592e-01 9.76938347e-01 -1.28330283e-02 4.60688614e+00] [ 6.70088574e-02 -1.51268772e-03 9.97751234e-01 3.52880179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:4.61, Z:3.55 [[ 9.75837310e-01 -2.08360841e-01 -6.57822495e-02 5.21366169e+01] [ 2.07967227e-01 9.78051360e-01 -1.28518668e-02 4.60863063e+00] [ 6.70162443e-02 -1.13922090e-03 9.97751234e-01 3.54780605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.559999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.19, Y:4.62, Z:3.55 [[ 9.75930448e-01 -2.07925318e-01 -6.57785945e-02 5.21938031e+01] [ 2.07529457e-01 9.78144097e-01 -1.28705466e-02 4.61758297e+00] [ 6.70170564e-02 -1.09023763e-03 9.97751234e-01 3.55127758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:52.25, Y:4.63, Z:3.55 [[ 9.76176525e-01 -2.06768106e-01 -6.57749382e-02 5.22516577e+01] [ 2.06368364e-01 9.78389476e-01 -1.28892048e-02 4.62759526e+00] [ 6.70185838e-02 -9.91727229e-04 9.97751234e-01 3.55009019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:52.31, Y:4.64, Z:3.55 [[ 9.76962422e-01 -2.03023399e-01 -6.57717612e-02 5.23090699e+01] [ 2.02614084e-01 9.79173623e-01 -1.29053966e-02 4.63733917e+00] [ 6.70220712e-02 -7.18197682e-04 9.97751235e-01 3.55123247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.739999999999995 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:52.37, Y:4.65, Z:3.56 [[ 9.77662269e-01 -1.99626427e-01 -6.57706440e-02 5.23661143e+01] [ 1.99209046e-01 9.79871961e-01 -1.29110880e-02 4.64744957e+00] [ 6.70242042e-02 -4.79423660e-04 9.97751235e-01 3.55548906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.8 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:52.42, Y:4.66, Z:3.55 [[ 9.77617001e-01 -1.99849197e-01 -6.57670027e-02 5.24232498e+01] [ 1.99431073e-01 9.79826552e-01 -1.29296096e-02 4.66344908e+00] [ 6.70242276e-02 -4.75777780e-04 9.97751235e-01 3.55292256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.48, Y:4.68, Z:3.56 [[ 9.78752840e-01 -1.94211310e-01 -6.57635617e-02 5.24806897e+01] [ 1.93779284e-01 9.80959715e-01 -1.29470879e-02 4.67509088e+00] [ 6.70258756e-02 -7.16168716e-05 9.97751235e-01 3.56077817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.919999999999995 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:52.54, Y:4.68, Z:3.57 [[ 9.80650685e-01 -1.84390482e-01 -6.57600430e-02 5.25383667e+01] [ 1.83935160e-01 9.82852872e-01 -1.29649353e-02 4.67949522e+00] [ 6.70230577e-02 6.18488698e-04 9.97751235e-01 3.57149809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:52.60, Y:4.69, Z:3.58 [[ 9.81328127e-01 -1.80750896e-01 -6.57588040e-02 5.25957048e+01] [ 1.80286985e-01 9.83528520e-01 -1.29712166e-02 4.69114650e+00] [ 6.70202182e-02 8.73563203e-04 9.97751235e-01 3.57597834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:52.65, Y:4.70, Z:3.58 [[ 9.81760811e-01 -1.78386967e-01 -6.57556131e-02 5.26536299e+01] [ 1.77916677e-01 9.83959849e-01 -1.29873718e-02 4.70340988e+00] [ 6.70176611e-02 1.05147253e-03 9.97751235e-01 3.57663034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.1 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:52.71, Y:4.72, Z:3.57 [[ 9.80809068e-01 -1.83548889e-01 -6.57523939e-02 5.27105668e+01] [ 1.83089082e-01 9.83010322e-01 -1.30036497e-02 4.72135403e+00] [ 6.70220874e-02 7.15552082e-04 9.97751235e-01 3.56950865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:52.77, Y:4.73, Z:3.58 [[ 9.81763516e-01 -1.78374472e-01 -6.57491187e-02 5.27685178e+01] [ 1.77901956e-01 9.83962077e-01 -1.30201891e-02 4.72532488e+00] [ 6.70171087e-02 1.08584986e-03 9.97751236e-01 3.58424440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:52.83, Y:4.73, Z:3.59 [[ 9.81284262e-01 -1.80993685e-01 -6.57455862e-02 5.28250310e+01] [ 1.80525845e-01 9.83483823e-01 -1.30380020e-02 4.73415980e+00] [ 6.70195165e-02 9.25208662e-04 9.97751236e-01 3.59234969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:4.74, Z:3.60 [[ 9.80801222e-01 -1.83593861e-01 -6.57438716e-02 5.28831330e+01] [ 1.83131272e-01 9.83001893e-01 -1.30466423e-02 4.74494283e+00] [ 6.70216337e-02 7.56403901e-04 9.97751236e-01 3.59652581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.339999999999996 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:4.76, Z:3.60 [[ 9.80354343e-01 -1.85966437e-01 -6.57407548e-02 5.29410874e+01] [ 1.85508123e-01 9.82555908e-01 -1.30623288e-02 4.75600931e+00] [ 6.70231217e-02 6.10266727e-04 9.97751236e-01 3.60433065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.4 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:53.00, Y:4.77, Z:3.60 [[ 9.80196921e-01 -1.86795553e-01 -6.57374861e-02 5.29985559e+01] [ 1.86338000e-01 9.82398644e-01 -1.30787580e-02 4.76955061e+00] [ 6.70234711e-02 5.70366631e-04 9.97751236e-01 3.60490216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:4.78, Z:3.61 [[ 9.80248100e-01 -1.86527973e-01 -6.57341458e-02 5.30560444e+01] [ 1.86068694e-01 9.82449463e-01 -1.30955248e-02 4.78263598e+00] [ 6.70231580e-02 6.05796587e-04 9.97751236e-01 3.60897247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.519999999999996 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:4.80, Z:3.61 [[ 9.80144626e-01 -1.87072093e-01 -6.57308404e-02 5.31131513e+01] [ 1.86612925e-01 9.82346013e-01 -1.31120951e-02 4.79525760e+00] [ 6.70233361e-02 5.85525119e-04 9.97751236e-01 3.60678288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:4.81, Z:3.61 [[ 9.80055369e-01 -1.87539751e-01 -6.57291130e-02 5.31707764e+01] [ 1.87081053e-01 9.82256853e-01 -1.31207487e-02 4.80747694e+00] [ 6.70235336e-02 5.62388550e-04 9.97751236e-01 3.61351081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.23, Y:4.82, Z:3.62 [[ 9.79951452e-01 -1.88083150e-01 -6.57257966e-02 5.32274928e+01] [ 1.87624560e-01 9.82152959e-01 -1.31373405e-02 4.82063852e+00] [ 6.70236980e-02 5.42182198e-04 9.97751237e-01 3.62208511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.699999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:4.84, Z:3.61 [[ 9.78509558e-01 -1.95447176e-01 -6.57224957e-02 5.32844399e+01] [ 1.95004047e-01 9.80714229e-01 -1.31538333e-02 4.84078336e+00] [ 6.70258663e-02 5.49989328e-05 9.97751237e-01 3.61279371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:53.34, Y:4.84, Z:3.63 [[ 9.79923061e-01 -1.88233371e-01 -6.57190402e-02 5.33425982e+01] [ 1.87772856e-01 9.82124166e-01 -1.31710751e-02 4.84404399e+00] [ 6.70234934e-02 5.66388373e-04 9.97751237e-01 3.62613006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:4.86, Z:3.63 [[ 9.80198593e-01 -1.86794462e-01 -6.57156473e-02 5.33994334e+01] [ 1.86329583e-01 9.82398780e-01 -1.31879820e-02 4.85672660e+00] [ 6.70224138e-02 6.82072262e-04 9.97751237e-01 3.63220073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.879999999999995 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:53.46, Y:4.87, Z:3.63 [[ 9.80345350e-01 -1.86023874e-01 -6.57123472e-02 5.34556407e+01] [ 1.85556165e-01 9.82544937e-01 -1.32044049e-02 4.86873921e+00] [ 6.70216686e-02 7.51545848e-04 9.97751237e-01 3.63215130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:53.51, Y:4.88, Z:3.64 [[ 9.80468055e-01 -1.85376626e-01 -6.57107244e-02 5.35134309e+01] [ 1.84906924e-01 9.82667217e-01 -1.32124757e-02 4.88029981e+00] [ 6.70210589e-02 8.04042436e-04 9.97751237e-01 3.63733676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.0 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:53.57, Y:4.89, Z:3.64 [[ 9.80615207e-01 -1.84597803e-01 -6.57074355e-02 5.35712616e+01] [ 1.84125260e-01 9.82813760e-01 -1.32288121e-02 4.89294621e+00] [ 6.70201814e-02 8.73975720e-04 9.97751237e-01 3.64227848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.059999999999995 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:53.63, Y:4.90, Z:3.65 [[ 9.80899249e-01 -1.83083681e-01 -6.57041094e-02 5.36278447e+01] [ 1.82606639e-01 9.83096830e-01 -1.32453115e-02 4.90435638e+00] [ 6.70185020e-02 9.94309497e-04 9.97751237e-01 3.64625917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.69, Y:4.91, Z:3.65 [[ 9.81143779e-01 -1.81769110e-01 -6.57029401e-02 5.36852590e+01] [ 1.81288736e-01 9.83340634e-01 -1.32511088e-02 4.91465696e+00] [ 6.70170131e-02 1.09004005e-03 9.97751237e-01 3.65258412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:4.93, Z:3.65 [[ 9.81117326e-01 -1.81913042e-01 -6.56996046e-02 5.37438502e+01] [ 1.81431884e-01 9.83314010e-01 -1.32676259e-02 4.92545256e+00] [ 6.70168958e-02 1.09709460e-03 9.97751238e-01 3.65266328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.239999999999995 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:4.94, Z:3.66 [[ 9.81183657e-01 -1.81556061e-01 -6.56964871e-02 5.37994468e+01] [ 1.81073072e-01 9.83379939e-01 -1.32830447e-02 4.93614219e+00] [ 6.70162248e-02 1.13724167e-03 9.97751238e-01 3.65577362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.3 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:4.95, Z:3.66 [[ 9.81339425e-01 -1.80713152e-01 -6.56939107e-02 5.38565009e+01] [ 1.80227425e-01 9.83535102e-01 -1.32957747e-02 4.94550560e+00] [ 6.70149886e-02 1.20782354e-03 9.97751238e-01 3.66100767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:53.91, Y:4.95, Z:3.66 [[ 9.80797692e-01 -1.83631988e-01 -6.56900362e-02 5.39125468e+01] [ 1.83151515e-01 9.82994525e-01 -1.33148902e-02 4.95458628e+00] [ 6.70179857e-02 1.02798387e-03 9.97751238e-01 3.66444394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.419999999999995 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:4.97, Z:3.67 [[ 9.80497402e-01 -1.85229265e-01 -6.56883807e-02 5.39703797e+01] [ 1.84751825e-01 9.82694896e-01 -1.33230523e-02 4.96535406e+00] [ 6.70194557e-02 9.27169954e-04 9.97751238e-01 3.66919005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:4.98, Z:3.67 [[ 9.79186195e-01 -1.92041314e-01 -6.56850806e-02 5.40273734e+01] [ 1.91578072e-01 9.81386726e-01 -1.33393024e-02 4.98243069e+00] [ 6.70241634e-02 4.77839703e-04 9.97751238e-01 3.66519330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:54.08, Y:4.99, Z:3.68 [[ 9.80040914e-01 -1.87631920e-01 -6.56815698e-02 5.40848020e+01] [ 1.87157621e-01 9.82239089e-01 -1.33565673e-02 4.98641590e+00] [ 6.70211236e-02 7.97176108e-04 9.97751238e-01 3.67683711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.599999999999994 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:54.14, Y:5.00, Z:3.68 [[ 9.79955117e-01 -1.88079936e-01 -6.56803360e-02 5.41417704e+01] [ 1.87606235e-01 9.82153420e-01 -1.33626319e-02 4.99769312e+00] [ 6.70214095e-02 7.72738946e-04 9.97751238e-01 3.68049682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:5.01, Z:3.69 [[ 9.80211644e-01 -1.86739739e-01 -6.56765091e-02 5.41989622e+01] [ 1.86261774e-01 9.82409023e-01 -1.33814145e-02 5.01084652e+00] [ 6.70200370e-02 8.83595179e-04 9.97751238e-01 3.68550918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:5.02, Z:3.69 [[ 9.80374401e-01 -1.85884563e-01 -6.56731584e-02 5.42559041e+01] [ 1.85403581e-01 9.82571122e-01 -1.33978387e-02 5.02385754e+00] [ 6.70190003e-02 9.58859315e-04 9.97751239e-01 3.68963015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.31, Y:5.05, Z:3.68 [[ 9.78594472e-01 -1.95039310e-01 -6.56698338e-02 5.43117314e+01] [ 1.94577789e-01 9.80795364e-01 -1.34141144e-02 5.04747020e+00] [ 6.70249482e-02 3.49087154e-04 9.97751239e-01 3.67927424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.839999999999996 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:54.37, Y:5.06, Z:3.68 [[ 9.78892592e-01 -1.93538692e-01 -6.56663433e-02 5.43698505e+01] [ 1.93072652e-01 9.81092531e-01 -1.34311799e-02 5.05752830e+00] [ 6.70242120e-02 4.69307432e-04 9.97751239e-01 3.68320546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.9 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:5.06, Z:3.70 [[ 9.80825710e-01 -1.83492002e-01 -6.56628584e-02 5.44273261e+01] [ 1.83002292e-01 9.83020502e-01 -1.34481957e-02 5.06167862e+00] [ 6.70155724e-02 1.17388259e-03 9.97751239e-01 3.70122651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.48, Y:5.09, Z:3.69 [[ 9.79429287e-01 -1.90805755e-01 -6.56615192e-02 5.44836085e+01] [ 1.90331998e-01 9.81627578e-01 -1.34547313e-02 5.08847681e+00] [ 6.70223982e-02 6.80469776e-04 9.97751239e-01 3.68842217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.019999999999996 meters Centerline goodness : 0.998318 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:5.09, Z:3.70 [[ 9.81471199e-01 -1.80009136e-01 -6.56581734e-02 5.45426913e+01] [ 1.79510111e-01 9.83663891e-01 -1.34710388e-02 5.09232421e+00] [ 6.70104844e-02 1.43513065e-03 9.97751239e-01 3.70179362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:5.10, Z:3.71 [[ 9.82095606e-01 -1.76571075e-01 -6.56572675e-02 5.45987454e+01] [ 1.76064079e-01 9.84286469e-01 -1.34754528e-02 5.10243390e+00] [ 6.70049351e-02 1.67429666e-03 9.97751239e-01 3.71233756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:5.12, Z:3.72 [[ 9.81996319e-01 -1.77122981e-01 -6.56557567e-02 5.46551817e+01] [ 1.76616725e-01 9.84187353e-01 -1.34828096e-02 5.11538949e+00] [ 6.70056808e-02 1.64416473e-03 9.97751239e-01 3.71703876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.199999999999996 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:54.71, Y:5.13, Z:3.72 [[ 9.81917645e-01 -1.77559044e-01 -6.56545797e-02 5.47120692e+01] [ 1.77053378e-01 9.84108815e-01 -1.34885387e-02 5.12807201e+00] [ 6.70062627e-02 1.62026900e-03 9.97751239e-01 3.72447842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:54.77, Y:5.14, Z:3.73 [[ 9.81811956e-01 -1.78143782e-01 -6.56511728e-02 5.47681694e+01] [ 1.77638314e-01 9.84003172e-01 -1.35051003e-02 5.14111713e+00] [ 6.70068119e-02 1.59730531e-03 9.97751239e-01 3.72714531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:5.15, Z:3.73 [[ 9.81540901e-01 -1.79632658e-01 -6.56472912e-02 5.48249287e+01] [ 1.79129255e-01 9.83732592e-01 -1.35239421e-02 5.15367682e+00] [ 6.70087216e-02 1.51495199e-03 9.97751240e-01 3.72882655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.379999999999995 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:54.88, Y:5.17, Z:3.73 [[ 9.81148053e-01 -1.81767547e-01 -6.56434066e-02 5.48805733e+01] [ 1.81267654e-01 9.83340547e-01 -1.35427713e-02 5.16540396e+00] [ 6.70114597e-02 1.38843736e-03 9.97751240e-01 3.73068729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:5.18, Z:3.74 [[ 9.80099423e-01 -1.87340023e-01 -6.56417297e-02 5.49376368e+01] [ 1.86852052e-01 9.82294601e-01 -1.35508946e-02 5.17564240e+00] [ 6.70181416e-02 1.01593207e-03 9.97751240e-01 3.73860270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.5 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:54.99, Y:5.19, Z:3.74 [[ 9.79009277e-01 -1.92957274e-01 -6.56378403e-02 5.49938561e+01] [ 1.92480638e-01 9.81206944e-01 -1.35697080e-02 5.18542320e+00] [ 6.70226785e-02 6.50856617e-04 9.97751240e-01 3.73939466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.559999999999995 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:55.05, Y:5.19, Z:3.74 [[ 9.77430729e-01 -2.00801052e-01 -6.56361719e-02 5.50516740e+01] [ 2.00341512e-01 9.79632034e-01 -1.35777729e-02 5.19432015e+00] [ 6.70257277e-02 1.21682573e-04 9.97751240e-01 3.74414887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:55.11, Y:5.20, Z:3.75 [[ 9.76287454e-01 -2.06289153e-01 -6.56322450e-02 5.51093661e+01] [ 2.05840713e-01 9.78491047e-01 -1.35967284e-02 5.20364971e+00] [ 6.70254218e-02 -2.35472768e-04 9.97751240e-01 3.74878312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.17, Y:5.22, Z:3.74 [[ 9.74159738e-01 -2.16115074e-01 -6.56283449e-02 5.51670925e+01] [ 2.15687592e-01 9.76367492e-01 -1.36155275e-02 5.22195269e+00] [ 6.70199033e-02 -8.91520993e-04 9.97751240e-01 3.74058529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.22, Y:5.23, Z:3.74 [[ 9.73984859e-01 -2.16902013e-01 -6.56278214e-02 5.52237124e+01] [ 2.16476145e-01 9.76192925e-01 -1.36180504e-02 5.23326170e+00] [ 6.70191975e-02 -9.43082922e-04 9.97751240e-01 3.74377281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.8 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:5.24, Z:3.75 [[ 9.73829204e-01 -2.17601028e-01 -6.56237291e-02 5.52800157e+01] [ 2.17175418e-01 9.76037320e-01 -1.36377422e-02 5.24435495e+00] [ 6.70187954e-02 -9.71029211e-04 9.97751241e-01 3.74549337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:55.34, Y:5.26, Z:3.75 [[ 9.73376327e-01 -2.19618631e-01 -6.56215162e-02 5.53380444e+01] [ 2.19196881e-01 9.75585183e-01 -1.36483818e-02 5.25565591e+00] [ 6.70168178e-02 -1.09901992e-03 9.97751241e-01 3.74888730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919999999999995 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:55.40, Y:5.26, Z:3.77 [[ 9.75030395e-01 -2.12155654e-01 -6.56178833e-02 5.53963431e+01] [ 2.11715821e-01 9.77235722e-01 -1.36658255e-02 5.25905084e+00] [ 6.70234217e-02 -5.67748807e-04 9.97751241e-01 3.76743568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:55.45, Y:5.28, Z:3.76 [[ 9.74344831e-01 -2.15282546e-01 -6.56168794e-02 5.54531566e+01] [ 2.14849466e-01 9.76551494e-01 -1.36706444e-02 5.28056491e+00] [ 6.70213127e-02 -7.77829775e-04 9.97751241e-01 3.75724094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:5.29, Z:3.76 [[ 9.74824833e-01 -2.13099496e-01 -6.56136425e-02 5.55099861e+01] [ 2.12660430e-01 9.77030312e-01 -1.36861628e-02 5.29204231e+00] [ 6.70230319e-02 -6.11814122e-04 9.97751241e-01 3.75979867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099999999999994 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:5.30, Z:3.78 [[ 9.77244409e-01 -2.01714556e-01 -6.56094727e-02 5.55670439e+01] [ 2.01248454e-01 9.79444333e-01 -1.37061228e-02 5.29796710e+00] [ 6.70255507e-02 1.90426864e-04 9.97751241e-01 3.77511170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:55.62, Y:5.31, Z:3.78 [[ 9.78342501e-01 -1.96320147e-01 -6.56075485e-02 5.56223044e+01] [ 1.95841299e-01 9.80539686e-01 -1.37153271e-02 5.31141339e+00] [ 6.70234001e-02 5.69619918e-04 9.97751241e-01 3.78030245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:55.68, Y:5.32, Z:3.78 [[ 9.78963396e-01 -1.93201066e-01 -6.56050094e-02 5.56777366e+01] [ 1.92714405e-01 9.81158863e-01 -1.37274621e-02 5.32400040e+00] [ 6.70210967e-02 7.95652611e-04 9.97751241e-01 3.78278715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:55.73, Y:5.34, Z:3.79 [[ 9.79510962e-01 -1.90406057e-01 -6.56034155e-02 5.57339244e+01] [ 1.89912621e-01 9.81704917e-01 -1.37350748e-02 5.33640982e+00] [ 6.70184371e-02 9.94739780e-04 9.97751241e-01 3.78766982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339999999999996 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:55.79, Y:5.35, Z:3.79 [[ 9.79500125e-01 -1.90463154e-01 -6.55994768e-02 5.57899225e+01] [ 1.89968589e-01 9.81693825e-01 -1.37538610e-02 5.34856927e+00] [ 6.70182050e-02 1.01006854e-03 9.97751242e-01 3.78905421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.4 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:5.36, Z:3.79 [[ 9.79391864e-01 -1.91019653e-01 -6.55977781e-02 5.58466639e+01] [ 1.90525792e-01 9.81585723e-01 -1.37619579e-02 5.36046788e+00] [ 6.70186469e-02 9.80280945e-04 9.97751242e-01 3.79462974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:55.90, Y:5.37, Z:3.80 [[ 9.79144878e-01 -1.92282996e-01 -6.55938753e-02 5.59025749e+01] [ 1.91790721e-01 9.81339093e-01 -1.37805350e-02 5.37198930e+00] [ 6.70195966e-02 9.12843616e-04 9.97751242e-01 3.80247368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519999999999996 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:55.96, Y:5.38, Z:3.81 [[ 9.78788273e-01 -1.94090692e-01 -6.55920727e-02 5.59588652e+01] [ 1.93601895e-01 9.80983265e-01 -1.37891095e-02 5.38406797e+00] [ 6.70210635e-02 7.97869059e-04 9.97751242e-01 3.80555747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:56.02, Y:5.40, Z:3.81 [[ 9.78343790e-01 -1.96320155e-01 -6.55883029e-02 5.60155098e+01] [ 1.95835159e-01 9.80539625e-01 -1.38070173e-02 5.39615907e+00] [ 6.70225258e-02 6.63513874e-04 9.97751242e-01 3.80817660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:56.07, Y:5.41, Z:3.81 [[ 9.78061278e-01 -1.97724137e-01 -6.55843139e-02 5.60724443e+01] [ 1.97241025e-01 9.80257528e-01 -1.38259398e-02 5.40899430e+00] [ 6.70232394e-02 5.86699069e-04 9.97751242e-01 3.81182368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699999999999996 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:56.13, Y:5.42, Z:3.81 [[ 9.77921367e-01 -1.98416281e-01 -6.55803318e-02 5.61294117e+01] [ 1.97933459e-01 9.80117680e-01 -1.38448024e-02 5.42176877e+00] [ 6.70234768e-02 5.58586178e-04 9.97751242e-01 3.81440861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:56.19, Y:5.43, Z:3.82 [[ 9.77844975e-01 -1.98793723e-01 -6.55763670e-02 5.61862620e+01] [ 1.98310491e-01 9.80041199e-01 -1.38635563e-02 5.43435234e+00] [ 6.70235293e-02 5.51927399e-04 9.97751242e-01 3.81612728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:56.24, Y:5.45, Z:3.81 [[ 9.77051042e-01 -2.02661084e-01 -6.55724493e-02 5.62422074e+01] [ 2.02185303e-01 9.79248891e-01 -1.38820616e-02 5.45185466e+00] [ 6.70251020e-02 3.05697230e-04 9.97751243e-01 3.81461176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879999999999995 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:56.30, Y:5.46, Z:3.82 [[ 9.78256604e-01 -1.96760722e-01 -6.55685527e-02 5.62997760e+01] [ 1.96270454e-01 9.80451267e-01 -1.39004423e-02 5.45880789e+00] [ 6.70218316e-02 7.29029884e-04 9.97751243e-01 3.82394248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.36, Y:5.47, Z:3.83 [[ 9.78531428e-01 -1.95389782e-01 -6.55673515e-02 5.63564182e+01] [ 1.94896059e-01 9.80725316e-01 -1.39061058e-02 5.47033349e+00] [ 6.70206725e-02 8.28743094e-04 9.97751243e-01 3.83252067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.0 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:56.41, Y:5.48, Z:3.83 [[ 9.78972791e-01 -1.93167527e-01 -6.55635655e-02 5.64127628e+01] [ 1.92667631e-01 9.81165281e-01 -1.39239330e-02 5.48288364e+00] [ 6.70183458e-02 9.99174746e-04 9.97751243e-01 3.83121800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059999999999995 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:56.47, Y:5.50, Z:3.84 [[ 9.79447903e-01 -1.90744429e-01 -6.55619400e-02 5.64693878e+01] [ 1.90238596e-01 9.81639031e-01 -1.39315826e-02 5.49513386e+00] [ 6.70155310e-02 1.17284791e-03 9.97751243e-01 3.83660910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:56.53, Y:5.51, Z:3.84 [[ 9.79827345e-01 -1.88786885e-01 -6.55582624e-02 5.65261227e+01] [ 1.88275519e-01 9.82017188e-01 -1.39488669e-02 5.50788332e+00] [ 6.70127036e-02 1.32446535e-03 9.97751243e-01 3.83719768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:56.58, Y:5.52, Z:3.84 [[ 9.79622266e-01 -1.89848566e-01 -6.55571334e-02 5.65814297e+01] [ 1.89339219e-01 9.81812579e-01 -1.39541711e-02 5.51987148e+00] [ 6.70139976e-02 1.25728031e-03 9.97751243e-01 3.84086575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239999999999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:5.53, Z:3.85 [[ 9.79381134e-01 -1.91089145e-01 -6.55555755e-02 5.66375722e+01] [ 1.90582083e-01 9.81571977e-01 -1.39614861e-02 5.53190066e+00] [ 6.70154043e-02 1.17989789e-03 9.97751243e-01 3.84560612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.3 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:56.69, Y:5.54, Z:3.85 [[ 9.79060077e-01 -1.92727726e-01 -6.55544806e-02 5.66945731e+01] [ 1.92223987e-01 9.81251686e-01 -1.39666252e-02 5.54407562e+00] [ 6.70172005e-02 1.07302155e-03 9.97751243e-01 3.84987099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:56.75, Y:5.56, Z:3.85 [[ 9.79049901e-01 -1.92780593e-01 -6.55510104e-02 5.67499041e+01] [ 1.92275884e-01 9.81241287e-01 -1.39828934e-02 5.55567492e+00] [ 6.70169883e-02 1.08607199e-03 9.97751243e-01 3.85308611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419999999999995 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:56.81, Y:5.57, Z:3.86 [[ 9.78979862e-01 -1.93136741e-01 -6.55486726e-02 5.68068096e+01] [ 1.92632095e-01 9.81171263e-01 -1.39938440e-02 5.56812695e+00] [ 6.70171993e-02 1.07291340e-03 9.97751243e-01 3.85585574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:56.86, Y:5.58, Z:3.86 [[ 9.79060592e-01 -1.92728439e-01 -6.55446859e-02 5.68645605e+01] [ 1.92221631e-01 9.81251494e-01 -1.40124920e-02 5.58100083e+00] [ 6.70164267e-02 1.11997221e-03 9.97751244e-01 3.85753479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:56.92, Y:5.59, Z:3.86 [[ 9.78951489e-01 -1.93283031e-01 -6.55412262e-02 5.69216147e+01] [ 1.92776382e-01 9.81142428e-01 -1.40286558e-02 5.59278772e+00] [ 6.70167789e-02 1.09857299e-03 9.97751244e-01 3.86058310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599999999999994 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:56.98, Y:5.60, Z:3.87 [[ 9.78633646e-01 -1.94887325e-01 -6.55371543e-02 5.69777858e+01] [ 1.94382996e-01 9.80825119e-01 -1.40476526e-02 5.60249545e+00] [ 6.70181966e-02 1.00819706e-03 9.97751244e-01 3.86719658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:57.03, Y:5.61, Z:3.87 [[ 9.78269001e-01 -1.96710122e-01 -6.55354030e-02 5.70347721e+01] [ 1.96209330e-01 9.80461286e-01 -1.40558178e-02 5.61314421e+00] [ 6.70198472e-02 8.91713276e-04 9.97751244e-01 3.87008439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:57.09, Y:5.62, Z:3.88 [[ 9.77891706e-01 -1.98578587e-01 -6.55313447e-02 5.70922683e+01] [ 1.98080718e-01 9.80084655e-01 -1.40747133e-02 5.62394387e+00] [ 6.70212021e-02 7.83049629e-04 9.97751244e-01 3.87636399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:57.15, Y:5.64, Z:3.88 [[ 9.77678129e-01 -1.99628614e-01 -6.55277948e-02 5.71486200e+01] [ 1.99131994e-01 9.79871362e-01 -1.40912212e-02 5.63579313e+00] [ 6.70218205e-02 7.27998288e-04 9.97751244e-01 3.87921028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839999999999996 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:57.21, Y:5.65, Z:3.89 [[ 9.77487077e-01 -2.00563334e-01 -6.55237561e-02 5.72059211e+01] [ 2.00067554e-01 9.79680500e-01 -1.41099762e-02 5.64868548e+00] [ 6.70222900e-02 6.83141836e-04 9.97751245e-01 3.88642545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.26, Y:5.66, Z:3.89 [[ 9.77066255e-01 -2.02604622e-01 -6.55202281e-02 5.72629467e+01] [ 2.02112327e-01 9.79260463e-01 -1.41263399e-02 5.66036166e+00] [ 6.70234306e-02 5.59924290e-04 9.97751245e-01 3.89165659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:57.32, Y:5.67, Z:3.89 [[ 9.76779309e-01 -2.03984810e-01 -6.55162470e-02 5.73188460e+01] [ 2.03494379e-01 9.78973934e-01 -1.41447798e-02 5.67192258e+00] [ 6.70240182e-02 4.84140245e-04 9.97751245e-01 3.89187979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.38, Y:5.69, Z:3.90 [[ 9.76768490e-01 -2.04037161e-01 -6.55145339e-02 5.73751167e+01] [ 2.03546316e-01 9.78963022e-01 -1.41527098e-02 5.68504388e+00] [ 6.70239848e-02 4.88678940e-04 9.97751245e-01 3.90014766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:5.70, Z:3.90 [[ 9.76710063e-01 -2.04317968e-01 -6.55104619e-02 5.74316015e+01] [ 2.03826492e-01 9.78904453e-01 -1.41715334e-02 5.69893568e+00] [ 6.70239818e-02 4.88711631e-04 9.97751245e-01 3.90307913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:5.71, Z:3.91 [[ 9.76623020e-01 -2.04734936e-01 -6.55063522e-02 5.74872912e+01] [ 2.04243123e-01 9.78817335e-01 -1.41905047e-02 5.71072454e+00] [ 6.70240452e-02 4.79551548e-04 9.97751245e-01 3.90660761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.54, Y:5.72, Z:3.91 [[ 9.76611528e-01 -2.04790636e-01 -6.55035762e-02 5.75435704e+01] [ 2.04298090e-01 9.78805679e-01 -1.42033072e-02 5.72402847e+00] [ 6.70239767e-02 4.88857991e-04 9.97751245e-01 3.91220618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:57.60, Y:5.74, Z:3.91 [[ 9.76718253e-01 -2.04282329e-01 -6.54994998e-02 5.76000777e+01] [ 2.03787382e-01 9.78911863e-01 -1.42220809e-02 5.73793029e+00] [ 6.70235572e-02 5.42994427e-04 9.97751246e-01 3.91249040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:57.66, Y:5.75, Z:3.92 [[ 9.76704509e-01 -2.04349330e-01 -6.54954448e-02 5.76564802e+01] [ 2.03853283e-01 9.78897870e-01 -1.42407308e-02 5.75023961e+00] [ 6.70234352e-02 5.57524535e-04 9.97751246e-01 3.91584381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379999999999995 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:57.71, Y:5.76, Z:3.92 [[ 9.76712723e-01 -2.04311369e-01 -6.54913854e-02 5.77130422e+01] [ 2.03813987e-01 9.78905781e-01 -1.42593749e-02 5.76308918e+00] [ 6.70232482e-02 5.79252526e-04 9.97751246e-01 3.92027641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.77, Y:5.78, Z:3.92 [[ 9.76020344e-01 -2.07595054e-01 -6.54872638e-02 5.77695523e+01] [ 2.07103782e-01 9.78214779e-01 -1.42782790e-02 5.78051247e+00] [ 6.70247093e-02 3.73230762e-04 9.97751246e-01 3.91717642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.5 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:57.83, Y:5.79, Z:3.92 [[ 9.76421675e-01 -2.05700472e-01 -6.54830388e-02 5.78255634e+01] [ 2.05203645e-01 9.78614859e-01 -1.42976293e-02 5.79086538e+00] [ 6.70237039e-02 5.23156920e-04 9.97751246e-01 3.91994455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.88, Y:5.80, Z:3.93 [[ 9.77196686e-01 -2.01988027e-01 -6.54788048e-02 5.78826968e+01] [ 2.01481571e-01 9.79387666e-01 -1.43169934e-02 5.79992591e+00] [ 6.70209951e-02 7.97746037e-04 9.97751246e-01 3.93270234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:57.94, Y:5.81, Z:3.93 [[ 9.76919111e-01 -2.03327643e-01 -6.54745733e-02 5.79398393e+01] [ 2.02822896e-01 9.79110486e-01 -1.43363190e-02 5.81239007e+00] [ 6.70218112e-02 7.25681442e-04 9.97751247e-01 3.93176451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.00, Y:5.82, Z:3.94 [[ 9.76793877e-01 -2.03929755e-01 -6.54704331e-02 5.79964533e+01] [ 2.03425093e-01 9.78985270e-01 -1.43552017e-02 5.82413941e+00] [ 6.70220424e-02 7.03744201e-04 9.97751247e-01 3.93955063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739999999999995 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:58.05, Y:5.84, Z:3.94 [[ 9.76598636e-01 -2.04864023e-01 -6.54662987e-02 5.80538853e+01] [ 2.04360195e-01 9.78790222e-01 -1.43740315e-02 5.83570534e+00] [ 6.70224950e-02 6.58954003e-04 9.97751247e-01 3.94000501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.8 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:58.11, Y:5.85, Z:3.94 [[ 9.76592980e-01 -2.04892296e-01 -6.54621984e-02 5.81103554e+01] [ 2.04387281e-01 9.78784292e-01 -1.43926812e-02 5.84944455e+00] [ 6.70223210e-02 6.76150673e-04 9.97751247e-01 3.94385535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:5.86, Z:3.95 [[ 9.76492689e-01 -2.05371039e-01 -6.54581204e-02 5.81665627e+01] [ 2.04865857e-01 9.78683962e-01 -1.44112041e-02 5.86180957e+00] [ 6.70224566e-02 6.62301464e-04 9.97751247e-01 3.94825093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.22, Y:5.87, Z:3.95 [[ 9.76320219e-01 -2.06189987e-01 -6.54562387e-02 5.82237970e+01] [ 2.05686070e-01 9.78511784e-01 -1.44197457e-02 5.87379933e+00] [ 6.70229081e-02 6.14852797e-04 9.97751247e-01 3.95338447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.28, Y:5.89, Z:3.96 [[ 9.76183866e-01 -2.06835707e-01 -6.54526544e-02 5.82804290e+01] [ 2.06332151e-01 9.78375513e-01 -1.44359968e-02 5.88571787e+00] [ 6.70231540e-02 5.87200202e-04 9.97751248e-01 3.95523294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:58.34, Y:5.90, Z:3.96 [[ 9.75960709e-01 -2.07886525e-01 -6.54514092e-02 5.83371108e+01] [ 2.07384950e-01 9.78152811e-01 -1.44416406e-02 5.89798246e+00] [ 6.70237023e-02 5.20836546e-04 9.97751248e-01 3.95731912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099999999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.39, Y:5.91, Z:3.96 [[ 9.75764926e-01 -2.08804784e-01 -6.54474664e-02 5.83935771e+01] [ 2.08304075e-01 9.77957226e-01 -1.44594868e-02 5.91038991e+00] [ 6.70240327e-02 4.76086061e-04 9.97751248e-01 3.96403761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:58.45, Y:5.92, Z:3.96 [[ 9.75388478e-01 -2.10557554e-01 -6.54433549e-02 5.84501872e+01] [ 2.10059537e-01 9.77581391e-01 -1.44780714e-02 5.92294098e+00] [ 6.70246732e-02 3.74743185e-04 9.97751248e-01 3.96448360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:58.51, Y:5.93, Z:3.97 [[ 9.75198581e-01 -2.11436588e-01 -6.54392648e-02 5.85074818e+01] [ 2.10939310e-01 9.77391661e-01 -1.44965346e-02 5.93476519e+00] [ 6.70248895e-02 3.33286605e-04 9.97751248e-01 3.97320070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:5.95, Z:3.98 [[ 9.74845139e-01 -2.13061328e-01 -6.54356550e-02 5.85645427e+01] [ 2.12566612e-01 9.77038798e-01 -1.45128107e-02 5.94778500e+00] [ 6.70252925e-02 2.38307511e-04 9.97751248e-01 3.97809264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:5.96, Z:3.99 [[ 9.74614753e-01 -2.14113844e-01 -6.54319897e-02 5.86202552e+01] [ 2.13620389e-01 9.76808696e-01 -1.45293171e-02 5.96059080e+00] [ 6.70254645e-02 1.82879665e-04 9.97751248e-01 3.98531637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.4 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:5.97, Z:3.98 [[ 9.74249841e-01 -2.15768558e-01 -6.54307065e-02 5.86769379e+01] [ 2.15278442e-01 9.76444532e-01 -1.45350934e-02 5.97489586e+00] [ 6.70256718e-02 7.49918809e-05 9.97751248e-01 3.98493362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:58.73, Y:5.99, Z:3.99 [[ 9.74520606e-01 -2.14543578e-01 -6.54266049e-02 5.87333330e+01] [ 2.14049465e-01 9.76714401e-01 -1.45535327e-02 5.98965216e+00] [ 6.70254742e-02 1.78187782e-04 9.97751249e-01 3.98712112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519999999999996 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:58.79, Y:6.00, Z:3.99 [[ 9.75104490e-01 -2.11875283e-01 -6.54224519e-02 5.87892223e+01] [ 2.11373916e-01 9.77296638e-01 -1.45721779e-02 6.00324162e+00] [ 6.70246266e-02 3.80796261e-04 9.97751249e-01 3.99254404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:58.85, Y:6.02, Z:3.99 [[ 9.75471417e-01 -2.10180781e-01 -6.54182936e-02 5.88459819e+01] [ 2.09674355e-01 9.77662402e-01 -1.45908218e-02 6.01864506e+00] [ 6.70237164e-02 5.16391142e-04 9.97751249e-01 3.99044633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:58.90, Y:6.03, Z:3.99 [[ 9.76016661e-01 -2.07635241e-01 -6.54147049e-02 5.89019158e+01] [ 2.07122024e-01 9.78206065e-01 -1.46068933e-02 6.03269100e+00] [ 6.70219669e-02 7.07745127e-04 9.97751249e-01 3.99485489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699999999999996 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:58.96, Y:6.05, Z:4.00 [[ 9.76031796e-01 -2.07565402e-01 -6.54105243e-02 5.89580517e+01] [ 2.07050775e-01 9.78220869e-01 -1.46255905e-02 6.04528916e+00] [ 6.70217065e-02 7.31741585e-04 9.97751249e-01 3.99878529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:59.01, Y:6.06, Z:4.01 [[ 9.75642850e-01 -2.09387299e-01 -6.54063362e-02 5.90137155e+01] [ 2.08875507e-01 9.77832587e-01 -1.46442958e-02 6.05771205e+00] [ 6.70227765e-02 6.25820861e-04 9.97751249e-01 4.00593053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:59.07, Y:6.08, Z:4.00 [[ 9.74335497e-01 -2.15389304e-01 -6.54047917e-02 5.90694300e+01] [ 2.14890538e-01 9.76528238e-01 -1.46511907e-02 6.07706385e+00] [ 6.70253358e-02 2.20304249e-04 9.97751249e-01 4.00293860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879999999999995 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:59.13, Y:6.09, Z:4.01 [[ 9.74486740e-01 -2.14705373e-01 -6.54002718e-02 5.91257577e+01] [ 2.14203716e-01 9.76678821e-01 -1.46713392e-02 6.09060568e+00] [ 6.70250757e-02 2.88044209e-04 9.97751250e-01 4.00815193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:6.10, Z:4.02 [[ 9.75274947e-01 -2.11096572e-01 -6.53988952e-02 5.91830257e+01] [ 2.10586393e-01 9.77465060e-01 -1.46774727e-02 6.09948323e+00] [ 6.70234992e-02 5.42453969e-04 9.97751250e-01 4.01530906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.0 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:59.24, Y:6.11, Z:4.02 [[ 9.75246486e-01 -2.11228620e-01 -6.53969495e-02 5.92395831e+01] [ 2.10718156e-01 9.77436533e-01 -1.46861369e-02 6.11289076e+00] [ 6.70235000e-02 5.42278786e-04 9.97751250e-01 4.01983495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:6.13, Z:4.03 [[ 9.75085929e-01 -2.11969821e-01 -6.53928588e-02 5.92961777e+01] [ 2.11459802e-01 9.77276079e-01 -1.47043290e-02 6.12549814e+00] [ 6.70237507e-02 5.10023259e-04 9.97751250e-01 4.02531681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:6.14, Z:4.03 [[ 9.74812733e-01 -2.13223922e-01 -6.53888022e-02 5.93515564e+01] [ 2.12715512e-01 9.77003257e-01 -1.47223464e-02 6.13819386e+00] [ 6.70242292e-02 4.42318210e-04 9.97751250e-01 4.02904907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:6.15, Z:4.03 [[ 9.74383282e-01 -2.15178421e-01 -6.53870613e-02 5.94079036e+01] [ 2.14673886e-01 9.76574701e-01 -1.47300745e-02 6.15069414e+00] [ 6.70249440e-02 3.15843733e-04 9.97751250e-01 4.03124189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239999999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:6.17, Z:4.03 [[ 9.73056959e-01 -2.21100075e-01 -6.53828016e-02 5.94650167e+01] [ 2.20607607e-01 9.75251122e-01 -1.47489579e-02 6.16700785e+00] [ 6.70256463e-02 -7.23673234e-05 9.97751250e-01 4.03076564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:6.18, Z:4.03 [[ 9.72466097e-01 -2.23685631e-01 -6.53791148e-02 5.95210434e+01] [ 2.23197900e-01 9.74661317e-01 -1.47652826e-02 6.17826283e+00] [ 6.70252757e-02 -2.33744382e-04 9.97751250e-01 4.03375867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:6.19, Z:4.04 [[ 9.72372035e-01 -2.24094996e-01 -6.53762823e-02 5.95778181e+01] [ 2.23607347e-01 9.74567274e-01 -1.47778134e-02 6.18576939e+00] [ 6.70252193e-02 -2.49084566e-04 9.97751251e-01 4.04178349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419999999999995 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:59.63, Y:6.20, Z:4.04 [[ 9.71891010e-01 -2.26172441e-01 -6.53750126e-02 5.96334335e+01] [ 2.25689106e-01 9.74087202e-01 -1.47834284e-02 6.20014415e+00] [ 6.70245672e-02 -3.86547012e-04 9.97751251e-01 4.04416019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:59.69, Y:6.21, Z:4.05 [[ 9.71274939e-01 -2.28804128e-01 -6.53732630e-02 5.96904787e+01] [ 2.28326224e-01 9.73472320e-01 -1.47911610e-02 6.21312925e+00] [ 6.70233407e-02 -5.60146322e-04 9.97751251e-01 4.04580387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:6.23, Z:4.05 [[ 9.70334590e-01 -2.32760903e-01 -6.53693032e-02 5.97461566e+01] [ 2.32290781e-01 9.72533648e-01 -1.48086410e-02 6.22667457e+00] [ 6.70207196e-02 -8.15349840e-04 9.97751251e-01 4.04879416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599999999999994 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:59.80, Y:6.24, Z:4.05 [[ 9.69414869e-01 -2.36562923e-01 -6.53666181e-02 5.98022049e+01] [ 2.36100627e-01 9.71615586e-01 -1.48204835e-02 6.24193305e+00] [ 6.70172019e-02 -1.06590241e-03 9.97751251e-01 4.05338438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.86, Y:6.26, Z:4.06 [[ 9.68909789e-01 -2.38623517e-01 -6.53654186e-02 5.98585600e+01] [ 2.38165544e-01 9.71111410e-01 -1.48257722e-02 6.25631680e+00] [ 6.70148817e-02 -1.20295462e-03 9.97751251e-01 4.05959445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:59.91, Y:6.27, Z:4.06 [[ 9.67748009e-01 -2.43293343e-01 -6.53616135e-02 5.99139761e+01] [ 2.42844862e-01 9.69951583e-01 -1.48425284e-02 6.27383187e+00] [ 6.70086888e-02 -1.50890472e-03 9.97751251e-01 4.05963693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.97, Y:6.29, Z:4.06 [[ 9.67190032e-01 -2.45502453e-01 -6.53604440e-02 5.99700271e+01] [ 2.45058657e-01 9.69394554e-01 -1.48476770e-02 6.28949379e+00] [ 6.70051995e-02 -1.65661748e-03 9.97751251e-01 4.06407481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839999999999996 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:60.03, Y:6.31, Z:4.06 [[ 9.66145806e-01 -2.49581202e-01 -6.53567559e-02 6.00254598e+01] [ 2.49145616e-01 9.68351964e-01 -1.48638935e-02 6.30731290e+00] [ 6.69980914e-02 -1.92266087e-03 9.97751251e-01 4.06248259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:6.33, Z:4.07 [[ 9.65908277e-01 -2.50499334e-01 -6.53550689e-02 6.00805315e+01] [ 2.50065343e-01 9.68114750e-01 -1.48713072e-02 6.32517200e+00] [ 6.69964587e-02 -1.97871904e-03 9.97751251e-01 4.06632881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:6.34, Z:4.07 [[ 9.65644267e-01 -2.51515428e-01 -6.53539525e-02 6.01364732e+01] [ 2.51083427e-01 9.67851131e-01 -1.48762119e-02 6.34196628e+00] [ 6.69944936e-02 -2.04416558e-03 9.97751251e-01 4.07222175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:60.19, Y:6.36, Z:4.07 [[ 9.64734218e-01 -2.54984857e-01 -6.53499203e-02 6.01917091e+01] [ 2.54559595e-01 9.66942389e-01 -1.48939040e-02 6.35985580e+00] [ 6.69873281e-02 -2.26679045e-03 9.97751251e-01 4.07270869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:60.25, Y:6.38, Z:4.08 [[ 9.64254508e-01 -2.56793289e-01 -6.53486807e-02 6.02476208e+01] [ 2.56371800e-01 9.66463403e-01 -1.48993409e-02 6.37630121e+00] [ 6.69831591e-02 -2.38680225e-03 9.97751251e-01 4.07936613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:6.39, Z:4.09 [[ 9.64491795e-01 -2.55901612e-01 -6.53448034e-02 6.03036050e+01] [ 2.55476931e-01 9.66700078e-01 -1.49163265e-02 6.39485996e+00] [ 6.69859385e-02 -2.30741533e-03 9.97751252e-01 4.08933271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:6.41, Z:4.09 [[ 9.65289119e-01 -2.52878337e-01 -6.53411315e-02 6.03591381e+01] [ 2.52445652e-01 9.67495848e-01 -1.49323942e-02 6.41382449e+00] [ 6.69933524e-02 -2.08100688e-03 9.97751252e-01 4.09354869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25999999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:6.43, Z:4.10 [[ 9.66724261e-01 -2.47336381e-01 -6.53369490e-02 6.04146206e+01] [ 2.46889809e-01 9.68928222e-01 -1.49506721e-02 6.43361000e+00] [ 6.70046590e-02 -1.67784944e-03 9.97751252e-01 4.09623560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:60.47, Y:6.45, Z:4.10 [[ 9.68061538e-01 -2.42050601e-01 -6.53327288e-02 6.04703030e+01] [ 2.41590751e-01 9.70262766e-01 -1.49690916e-02 6.45103173e+00] [ 6.70131918e-02 -1.29278115e-03 9.97751252e-01 4.09784866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:60.53, Y:6.47, Z:4.10 [[ 9.70351463e-01 -2.32702008e-01 -6.53285115e-02 6.05263150e+01] [ 2.32219711e-01 9.72547881e-01 -1.49874741e-02 6.47173954e+00] [ 6.70227208e-02 -6.27450613e-04 9.97751252e-01 4.09966632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:60.58, Y:6.49, Z:4.11 [[ 9.72886117e-01 -2.21867786e-01 -6.53244940e-02 6.05815794e+01] [ 2.21359853e-01 9.75076749e-01 -1.50049645e-02 6.48771909e+00] [ 6.70255135e-02 1.37901270e-04 9.97751252e-01 4.10558798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.5 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.64, Y:6.50, Z:4.11 [[ 9.74781605e-01 -2.13386352e-01 -6.53229499e-02 6.06375911e+01] [ 2.12858909e-01 9.76967622e-01 -1.50116836e-02 6.50454637e+00] [ 6.70216954e-02 7.28541163e-04 9.97751252e-01 4.11252860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:60.69, Y:6.52, Z:4.11 [[ 9.75492180e-01 -2.10115245e-01 -6.53191519e-02 6.06936870e+01] [ 2.09579367e-01 9.77676144e-01 -1.50281917e-02 6.51993385e+00] [ 6.70186287e-02 9.70336964e-04 9.97751252e-01 4.11427798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:60.75, Y:6.53, Z:4.12 [[ 9.75809493e-01 -2.08637992e-01 -6.53147853e-02 6.07496601e+01] [ 2.08097540e-01 9.77992330e-01 -1.50471454e-02 6.53288426e+00] [ 6.70167653e-02 1.09130120e-03 9.97751253e-01 4.11872527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67999999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:60.81, Y:6.54, Z:4.12 [[ 9.75887070e-01 -2.08276185e-01 -6.53104698e-02 6.08062858e+01] [ 2.07733672e-01 9.78069395e-01 -1.50658535e-02 6.54458804e+00] [ 6.70160301e-02 1.13538792e-03 9.97751253e-01 4.12365298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:6.55, Z:4.12 [[ 9.75464539e-01 -2.10247575e-01 -6.53061284e-02 6.08632724e+01] [ 2.09708214e-01 9.77647645e-01 -1.50846488e-02 6.55448206e+00] [ 6.70178934e-02 1.01930840e-03 9.97751253e-01 4.12371862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.8 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:6.56, Z:4.13 [[ 9.75006741e-01 -2.12360871e-01 -6.53047962e-02 6.09207743e+01] [ 2.11825856e-01 9.77190916e-01 -1.50904140e-02 6.56286489e+00] [ 6.70198670e-02 8.80010971e-04 9.97751253e-01 4.12550060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:60.98, Y:6.57, Z:4.13 [[ 9.74564313e-01 -2.14383419e-01 -6.53004607e-02 6.09796533e+01] [ 2.13851681e-01 9.76749288e-01 -1.51091515e-02 6.57077405e+00] [ 6.70213301e-02 7.60226581e-04 9.97751253e-01 4.12891826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:61.04, Y:6.58, Z:4.14 [[ 9.74213526e-01 -2.15973020e-01 -6.52967137e-02 6.10369737e+01] [ 2.15443764e-01 9.76399103e-01 -1.51253274e-02 6.57890203e+00] [ 6.70223154e-02 6.67528818e-04 9.97751253e-01 4.13540334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:61.09, Y:6.59, Z:4.14 [[ 9.73343863e-01 -2.19860500e-01 -6.52923057e-02 6.10946760e+01] [ 2.19338698e-01 9.75531232e-01 -1.51443320e-02 6.58528288e+00] [ 6.70243238e-02 4.19513294e-04 9.97751254e-01 4.13971933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.15, Y:6.59, Z:4.15 [[ 9.72866789e-01 -2.21963271e-01 -6.52879563e-02 6.11515525e+01] [ 2.21444940e-01 9.75054983e-01 -1.51630592e-02 6.59272182e+00] [ 6.70249894e-02 2.93949097e-04 9.97751254e-01 4.14786486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.21, Y:6.60, Z:4.15 [[ 9.72590463e-01 -2.23171342e-01 -6.52866220e-02 6.12082876e+01] [ 2.22655344e-01 9.74779208e-01 -1.51688019e-02 6.60434556e+00] [ 6.70252837e-02 2.16616800e-04 9.97751254e-01 4.15162716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.27, Y:6.61, Z:4.16 [[ 9.71925957e-01 -2.26048993e-01 -6.52823668e-02 6.12659706e+01] [ 2.25538247e-01 9.74115933e-01 -1.51870934e-02 6.61157927e+00] [ 6.70256208e-02 3.70597127e-05 9.97751254e-01 4.15543846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:61.32, Y:6.62, Z:4.16 [[ 9.71012222e-01 -2.29943529e-01 -6.52781570e-02 6.13242160e+01] [ 2.29440352e-01 9.73203950e-01 -1.52051666e-02 6.62008087e+00] [ 6.70252899e-02 -2.13040733e-04 9.97751254e-01 4.15631444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.38, Y:6.63, Z:4.16 [[ 9.69745127e-01 -2.35231051e-01 -6.52743581e-02 6.13815671e+01] [ 2.34738727e-01 9.71939318e-01 -1.52214578e-02 6.63427303e+00] [ 6.70232746e-02 -5.61485139e-04 9.97751254e-01 4.15566335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.44, Y:6.64, Z:4.17 [[ 9.70585297e-01 -2.31741139e-01 -6.52704072e-02 6.14392657e+01] [ 2.31239787e-01 9.72777443e-01 -1.52383805e-02 6.63792973e+00] [ 6.70249395e-02 -3.02967041e-04 9.97751254e-01 4.16685046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39999999999999 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:61.50, Y:6.65, Z:4.17 [[ 9.70171021e-01 -2.33469980e-01 -6.52683658e-02 6.14968687e+01] [ 2.32971946e-01 9.72363923e-01 -1.52471194e-02 6.64698180e+00] [ 6.70243488e-02 -4.13384789e-04 9.97751254e-01 4.16822545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:61.55, Y:6.65, Z:4.18 [[ 9.70471199e-01 -2.32220294e-01 -6.52639820e-02 6.15549813e+01] [ 2.31718177e-01 9.72663169e-01 -1.52658606e-02 6.65488162e+00] [ 6.70249142e-02 -3.07772869e-04 9.97751255e-01 4.17593303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:61.61, Y:6.67, Z:4.18 [[ 9.70844351e-01 -2.30656351e-01 -6.52602013e-02 6.16121537e+01] [ 2.30149617e-01 9.73035258e-01 -1.52820057e-02 6.66533889e+00] [ 6.70253685e-02 -1.83161454e-04 9.97751255e-01 4.17809784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.67, Y:6.68, Z:4.18 [[ 9.72579015e-01 -2.23230214e-01 -6.52558866e-02 6.16694321e+01] [ 2.22705516e-01 9.74765690e-01 -1.53004080e-02 6.67521029e+00] [ 6.70247127e-02 3.48009859e-04 9.97751255e-01 4.18438194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:61.73, Y:6.69, Z:4.18 [[ 9.74287432e-01 -2.15653064e-01 -6.52514898e-02 6.17276001e+01] [ 2.15110107e-01 9.76469644e-01 -1.53191363e-02 6.68671960e+00] [ 6.70197176e-02 8.88986959e-04 9.97751255e-01 4.18459463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.7 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:61.79, Y:6.70, Z:4.18 [[ 9.74943821e-01 -2.12667087e-01 -6.52476502e-02 6.17853943e+01] [ 2.12116355e-01 9.77124084e-01 -1.53354726e-02 6.69579887e+00] [ 6.70164007e-02 1.11113056e-03 9.97751255e-01 4.18316735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75999999999999 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:6.71, Z:4.19 [[ 9.74117835e-01 -2.16419416e-01 -6.52462953e-02 6.18421532e+01] [ 2.15876696e-01 9.76300107e-01 -1.53412350e-02 6.70531674e+00] [ 6.70201061e-02 8.59015993e-04 9.97751255e-01 4.18954701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:6.72, Z:4.19 [[ 9.73724663e-01 -2.18182856e-01 -6.52420259e-02 6.18979442e+01] [ 2.17642874e-01 9.75907613e-01 -1.53593699e-02 6.71930109e+00] [ 6.70213410e-02 7.56335305e-04 9.97751255e-01 4.19407241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:61.95, Y:6.74, Z:4.20 [[ 9.73777456e-01 -2.17947508e-01 -6.52407160e-02 6.19544022e+01] [ 2.17406625e-01 9.75960183e-01 -1.53649320e-02 6.73701634e+00] [ 6.70210897e-02 7.78260470e-04 9.97751255e-01 4.20156163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:62.01, Y:6.75, Z:4.21 [[ 9.74602008e-01 -2.14231374e-01 -6.52368411e-02 6.20112255e+01] [ 2.13681069e-01 9.76782378e-01 -1.53813665e-02 6.75226562e+00] [ 6.70173681e-02 1.05083273e-03 9.97751256e-01 4.20621304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.07, Y:6.77, Z:4.21 [[ 9.75427315e-01 -2.10442899e-01 -6.52329603e-02 6.20676501e+01] [ 2.09883028e-01 9.77605249e-01 -1.53978075e-02 6.76595995e+00] [ 6.70124437e-02 1.32815085e-03 9.97751256e-01 4.21003328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:6.78, Z:4.21 [[ 9.75477246e-01 -2.10211752e-01 -6.52315968e-02 6.21244946e+01] [ 2.09650978e-01 9.77654948e-01 -1.54035818e-02 6.78093803e+00] [ 6.70120073e-02 1.34997548e-03 9.97751256e-01 4.21373464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:62.18, Y:6.79, Z:4.22 [[ 9.74651620e-01 -2.14008343e-01 -6.52276672e-02 6.21803875e+01] [ 2.13454941e-01 9.76831206e-01 -1.54202040e-02 6.79433185e+00] [ 6.70164732e-02 1.10615895e-03 9.97751256e-01 4.21682445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:62.24, Y:6.81, Z:4.22 [[ 9.73542192e-01 -2.19000498e-01 -6.52256233e-02 6.22371311e+01] [ 2.18457695e-01 9.75724442e-01 -1.54288449e-02 6.80544886e+00] [ 6.70211596e-02 7.71592237e-04 9.97751256e-01 4.22211944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.29, Y:6.82, Z:4.23 [[ 9.71221527e-01 -2.29073219e-01 -6.52242723e-02 6.22949722e+01] [ 2.28552666e-01 9.73409191e-01 -1.54345540e-02 6.81534394e+00] [ 6.70255491e-02 8.31897229e-05 9.97751256e-01 4.23155416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.35, Y:6.83, Z:4.24 [[ 9.68618947e-01 -2.39840825e-01 -6.52205032e-02 6.23522015e+01] [ 2.39343519e-01 9.70812012e-01 -1.54504642e-02 6.82690514e+00] [ 6.70225001e-02 -6.44492336e-04 9.97751256e-01 4.23687238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:62.41, Y:6.84, Z:4.24 [[ 9.66510816e-01 -2.48200782e-01 -6.52166682e-02 6.24089908e+01] [ 2.47721351e-01 9.68707859e-01 -1.54666349e-02 6.83876210e+00] [ 6.70147299e-02 -1.20689128e-03 9.97751256e-01 4.23824967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.47, Y:6.85, Z:4.24 [[ 9.65780754e-01 -2.51027046e-01 -6.52146965e-02 6.24654451e+01] [ 2.50553483e-01 9.67979069e-01 -1.54749441e-02 6.85100539e+00] [ 6.70110907e-02 -1.39436623e-03 9.97751256e-01 4.24308267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.52, Y:6.87, Z:4.24 [[ 9.66567701e-01 -2.47980026e-01 -6.52133829e-02 6.25214804e+01] [ 2.47499160e-01 9.68764430e-01 -1.54804777e-02 6.86715936e+00] [ 6.70152550e-02 -1.17732769e-03 9.97751256e-01 4.24498382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53999999999999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:62.58, Y:6.88, Z:4.25 [[ 9.67497902e-01 -2.44325996e-01 -6.52120885e-02 6.25774061e+01] [ 2.43836465e-01 9.69692716e-01 -1.54859289e-02 6.88263823e+00] [ 6.70193022e-02 -9.18481454e-04 9.97751256e-01 4.24998577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.6 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:62.63, Y:6.90, Z:4.25 [[ 9.69071980e-01 -2.38007267e-01 -6.52076593e-02 6.26336024e+01] [ 2.37502171e-01 9.71263264e-01 -1.55045566e-02 6.89871633e+00] [ 6.70240012e-02 -4.61929237e-04 9.97751257e-01 4.25402707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.69, Y:6.91, Z:4.26 [[ 9.70953439e-01 -2.30212683e-01 -6.52038325e-02 6.26889972e+01] [ 2.29688916e-01 9.73140335e-01 -1.55206337e-02 6.91421571e+00] [ 6.70255261e-02 9.32150711e-05 9.97751257e-01 4.25951248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.75, Y:6.93, Z:4.27 [[ 9.72109238e-01 -2.25282635e-01 -6.52024878e-02 6.27454582e+01] [ 2.24747399e-01 9.74293355e-01 -1.55262805e-02 6.92908426e+00] [ 6.70241520e-02 4.39151184e-04 9.97751257e-01 4.26508326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:62.80, Y:6.95, Z:4.27 [[ 9.73336118e-01 -2.19922584e-01 -6.51986034e-02 6.28009688e+01] [ 2.19374229e-01 9.75516979e-01 -1.55425750e-02 6.94502754e+00] [ 6.70205079e-02 8.25256252e-04 9.97751257e-01 4.26850054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:62.86, Y:6.96, Z:4.26 [[ 9.73020864e-01 -2.21314556e-01 -6.51940665e-02 6.28580924e+01] [ 2.20768048e-01 9.75202187e-01 -1.55615822e-02 6.96146598e+00] [ 6.70214009e-02 7.48977343e-04 9.97751257e-01 4.26384393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.91, Y:6.97, Z:4.27 [[ 9.72466507e-01 -2.23739006e-01 -6.51901078e-02 6.29146894e+01] [ 2.23196826e-01 9.74648910e-01 -1.55781483e-02 6.97321356e+00] [ 6.70229069e-02 5.99002307e-04 9.97751257e-01 4.27271843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.97, Y:6.98, Z:4.28 [[ 9.71751630e-01 -2.26824198e-01 -6.51885866e-02 6.29713872e+01] [ 2.26288520e-01 9.73935639e-01 -1.55845112e-02 6.98464274e+00] [ 6.70244320e-02 3.92845439e-04 9.97751257e-01 4.27673064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.03, Y:7.00, Z:4.28 [[ 9.71488204e-01 -2.27951097e-01 -6.51840998e-02 6.30275200e+01] [ 2.27416694e-01 9.73672525e-01 -1.56032552e-02 6.99759765e+00] [ 6.70247462e-02 3.34425842e-04 9.97751257e-01 4.28027225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.08, Y:7.01, Z:4.28 [[ 9.70682999e-01 -2.31357156e-01 -6.51796138e-02 6.30844833e+01] [ 2.30829161e-01 9.72868877e-01 -1.56219721e-02 7.01014749e+00] [ 6.70254728e-02 1.18627148e-04 9.97751258e-01 4.28268201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:7.02, Z:4.29 [[ 9.70011626e-01 -2.34157315e-01 -6.51751197e-02 6.31417491e+01] [ 2.33634372e-01 9.72198719e-01 -1.56406994e-02 7.02088212e+00] [ 6.70255520e-02 -5.54879542e-05 9.97751258e-01 4.28638691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.20, Y:7.03, Z:4.29 [[ 9.69651920e-01 -2.35643664e-01 -6.51706859e-02 6.31988255e+01] [ 2.35122834e-01 9.71839516e-01 -1.56591521e-02 7.03314995e+00] [ 6.70254278e-02 -1.39189476e-04 9.97751258e-01 4.29042245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25999999999999 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:63.26, Y:7.05, Z:4.29 [[ 9.69461446e-01 -2.36427300e-01 -6.51662277e-02 6.32556444e+01] [ 2.35906991e-01 9.71649166e-01 -1.56776831e-02 7.04711304e+00] [ 6.70253431e-02 -1.74259414e-04 9.97751258e-01 4.29312358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:7.06, Z:4.30 [[ 9.69941039e-01 -2.34453250e-01 -6.51617531e-02 6.33116500e+01] [ 2.33927241e-01 9.72127396e-01 -1.56962591e-02 7.06151108e+00] [ 6.70255643e-02 -1.86633064e-05 9.97751258e-01 4.29807222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:7.08, Z:4.30 [[ 9.70739544e-01 -2.31125209e-01 -6.51603824e-02 6.33680462e+01] [ 2.30591323e-01 9.72923990e-01 -1.57019473e-02 7.07667852e+00] [ 6.70252151e-02 2.17082425e-04 9.97751258e-01 4.30491433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:7.09, Z:4.31 [[ 9.71441635e-01 -2.28157349e-01 -6.51565276e-02 6.34246107e+01] [ 2.27615718e-01 9.73624174e-01 -1.57179269e-02 7.09116843e+00] [ 6.70241309e-02 4.38398794e-04 9.97751258e-01 4.31091129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.5 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:7.11, Z:4.32 [[ 9.72428388e-01 -2.23915551e-01 -6.51525611e-02 6.34808719e+01] [ 2.23363299e-01 9.74608263e-01 -1.57343514e-02 7.10754826e+00] [ 6.70213904e-02 7.47838976e-04 9.97751259e-01 4.31553316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:7.13, Z:4.32 [[ 9.73036670e-01 -2.21258444e-01 -6.51485923e-02 6.35363425e+01] [ 2.20699141e-01 9.75214747e-01 -1.57507674e-02 7.12517369e+00] [ 6.70188582e-02 9.47835946e-04 9.97751259e-01 4.31709096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.59, Y:7.14, Z:4.32 [[ 9.73137446e-01 -2.20816121e-01 -6.51440813e-02 6.35925413e+01] [ 2.20254580e-01 9.75314947e-01 -1.57694024e-02 7.14151257e+00] [ 6.70181345e-02 9.97513708e-04 9.97751259e-01 4.31817690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67999999999999 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:63.65, Y:7.16, Z:4.32 [[ 9.72879110e-01 -2.21952862e-01 -6.51395712e-02 6.36487747e+01] [ 2.21392620e-01 9.75056945e-01 -1.57880107e-02 7.15619832e+00] [ 6.70189855e-02 9.38405496e-04 9.97751259e-01 4.32063220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:63.71, Y:7.17, Z:4.32 [[ 9.72121720e-01 -2.25248264e-01 -6.51350935e-02 6.37050687e+01] [ 2.24694169e-01 9.74301127e-01 -1.58064625e-02 7.17129029e+00] [ 6.70215732e-02 7.30329801e-04 9.97751259e-01 4.32364902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.76, Y:7.18, Z:4.33 [[ 9.71505137e-01 -2.27893324e-01 -6.51337179e-02 6.37603622e+01] [ 2.27344783e-01 9.73685948e-01 -1.58121287e-02 7.18454149e+00] [ 6.70232645e-02 5.53753242e-04 9.97751259e-01 4.32756677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:63.82, Y:7.20, Z:4.33 [[ 9.70561721e-01 -2.31878827e-01 -6.51318280e-02 6.38173082e+01] [ 2.31338719e-01 9.72744636e-01 -1.58199098e-02 7.19588404e+00] [ 6.70249385e-02 2.86685204e-04 9.97751259e-01 4.33224828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:63.87, Y:7.21, Z:4.34 [[ 9.70060187e-01 -2.33969353e-01 -6.51273762e-02 6.38743086e+01] [ 2.33432720e-01 9.72243959e-01 -1.58382157e-02 7.20810473e+00] [ 6.70253552e-02 1.61161836e-04 9.97751259e-01 4.33635051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:63.93, Y:7.22, Z:4.34 [[ 9.70161338e-01 -2.33550823e-01 -6.51228876e-02 6.39303747e+01] [ 2.33012011e-01 9.72344573e-01 -1.58566503e-02 7.22152717e+00] [ 6.70252201e-02 2.09094013e-04 9.97751260e-01 4.33978726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03999999999999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:63.99, Y:7.23, Z:4.34 [[ 9.70552321e-01 -2.31921951e-01 -6.51183526e-02 6.39866353e+01] [ 2.31378227e-01 9.72734338e-01 -1.58752525e-02 7.23440329e+00] [ 6.70246771e-02 3.40794215e-04 9.97751260e-01 4.34246340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.04, Y:7.25, Z:4.35 [[ 9.71122857e-01 -2.29522515e-01 -6.51138368e-02 6.40437157e+01] [ 2.28972159e-01 9.73303210e-01 -1.58937528e-02 7.24630337e+00] [ 6.70234805e-02 5.25530793e-04 9.97751260e-01 4.34767507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:64.10, Y:7.26, Z:4.34 [[ 9.70546444e-01 -2.31949081e-01 -6.51093264e-02 6.40994890e+01] [ 2.31402939e-01 9.72727856e-01 -1.59122084e-02 7.26402818e+00] [ 6.70244776e-02 3.77047831e-04 9.97751260e-01 4.34382322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.16, Y:7.27, Z:4.36 [[ 9.72180327e-01 -2.25004024e-01 -6.51045352e-02 6.41559010e+01] [ 2.24440988e-01 9.74357440e-01 -1.59317878e-02 7.27316324e+00] [ 6.70198046e-02 8.76444500e-04 9.97751260e-01 4.35624576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:64.21, Y:7.29, Z:4.36 [[ 9.72269003e-01 -2.24620962e-01 -6.51030669e-02 6.42120174e+01] [ 2.24056667e-01 9.74445790e-01 -1.59377854e-02 7.28627040e+00] [ 6.70193701e-02 9.09038572e-04 9.97751260e-01 4.35960033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:64.27, Y:7.30, Z:4.37 [[ 9.71923068e-01 -2.26114444e-01 -6.50984533e-02 6.42687467e+01] [ 2.25552233e-01 9.74100394e-01 -1.59566079e-02 7.29816465e+00] [ 6.70204484e-02 8.25493771e-04 9.97751261e-01 4.36511781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.33, Y:7.31, Z:4.37 [[ 9.71537479e-01 -2.27766805e-01 -6.50938504e-02 6.43253192e+01] [ 2.27207041e-01 9.73715435e-01 -1.59753631e-02 7.31058458e+00] [ 6.70215442e-02 7.30882826e-04 9.97751261e-01 4.37013297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:64.38, Y:7.32, Z:4.37 [[ 9.70929736e-01 -2.30345029e-01 -6.50892876e-02 6.43817504e+01] [ 2.29789804e-01 9.73108853e-01 -1.59939317e-02 7.32422918e+00] [ 6.70230847e-02 5.72129287e-04 9.97751261e-01 4.37123991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:64.44, Y:7.34, Z:4.38 [[ 9.69821166e-01 -2.34969965e-01 -6.50847230e-02 6.44366934e+01] [ 2.34423887e-01 9.72002593e-01 -1.60124853e-02 7.33712897e+00] [ 6.70249726e-02 2.71833402e-04 9.97751261e-01 4.37549085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.49, Y:7.35, Z:4.38 [[ 9.68265052e-01 -2.41303064e-01 -6.50816515e-02 6.44930300e+01] [ 2.40770415e-01 9.70449797e-01 -1.60249595e-02 7.35070181e+00] [ 6.70253473e-02 -1.53327987e-04 9.97751261e-01 4.38082371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:64.55, Y:7.37, Z:4.38 [[ 9.67326576e-01 -2.45039264e-01 -6.50772950e-02 6.45498906e+01] [ 2.44513864e-01 9.69513076e-01 -1.60426317e-02 7.36502943e+00] [ 6.70243631e-02 -3.93836901e-04 9.97751261e-01 4.38204429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.7 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:64.60, Y:7.38, Z:4.38 [[ 9.66972201e-01 -2.46435179e-01 -6.50727685e-02 6.46049932e+01] [ 2.45911701e-01 9.69159161e-01 -1.60609713e-02 7.38059979e+00] [ 6.70238581e-02 -4.71642442e-04 9.97751262e-01 4.38423903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:64.66, Y:7.40, Z:4.39 [[ 9.67433541e-01 -2.44618340e-01 -6.50708194e-02 6.46610423e+01] [ 2.44090225e-01 9.69619386e-01 -1.60688644e-02 7.39650231e+00] [ 6.70246669e-02 -3.37592496e-04 9.97751262e-01 4.38936582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:64.72, Y:7.42, Z:4.38 [[ 9.66330565e-01 -2.48940952e-01 -6.50664360e-02 6.47158772e+01] [ 2.48421420e-01 9.68518466e-01 -1.60865940e-02 7.42258507e+00] [ 6.70226568e-02 -6.18928923e-04 9.97751262e-01 4.38359671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:7.43, Z:4.40 [[ 9.69112776e-01 -2.37880934e-01 -6.50621858e-02 6.47731637e+01] [ 2.37335279e-01 9.71294309e-01 -1.61037658e-02 7.42976423e+00] [ 6.70253096e-02 1.64813121e-04 9.97751262e-01 4.39603061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:7.44, Z:4.40 [[ 9.69391990e-01 -2.36740944e-01 -6.50607108e-02 6.48294471e+01] [ 2.36192323e-01 9.71572778e-01 -1.61097228e-02 7.44442532e+00] [ 6.70250465e-02 2.49795799e-04 9.97751262e-01 4.40334463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.0 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:64.89, Y:7.46, Z:4.40 [[ 9.70092087e-01 -2.33856890e-01 -6.50561057e-02 6.48853325e+01] [ 2.33300541e-01 9.72270917e-01 -1.61282980e-02 7.45884097e+00] [ 6.70238732e-02 4.68309645e-04 9.97751262e-01 4.40480409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:64.94, Y:7.47, Z:4.41 [[ 9.71041849e-01 -2.29882635e-01 -6.50515243e-02 6.49412084e+01] [ 2.29316132e-01 9.73218061e-01 -1.61467556e-02 7.47418624e+00] [ 6.70211771e-02 7.61811429e-04 9.97751262e-01 4.40716350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:65.00, Y:7.49, Z:4.41 [[ 9.71683398e-01 -2.27156947e-01 -6.50468771e-02 6.49975646e+01] [ 2.26583089e-01 9.73857681e-01 -1.61654553e-02 7.48982520e+00] [ 6.70184963e-02 9.69182257e-04 9.97751263e-01 4.41108761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17999999999999 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:65.05, Y:7.50, Z:4.42 [[ 9.72384863e-01 -2.24136538e-01 -6.50422204e-02 6.50531677e+01] [ 2.23554675e-01 9.74557017e-01 -1.61841700e-02 7.50425065e+00] [ 6.70148161e-02 1.19674950e-03 9.97751263e-01 4.41623274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:7.52, Z:4.42 [[ 9.72963338e-01 -2.21613312e-01 -6.50375431e-02 6.51088968e+01] [ 2.21024561e-01 9.75133636e-01 -1.62029442e-02 7.51858156e+00] [ 6.70110840e-02 1.38997624e-03 9.97751263e-01 4.42148980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.3 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:65.16, Y:7.53, Z:4.42 [[ 9.73383043e-01 -2.19763907e-01 -6.50328948e-02 6.51637075e+01] [ 2.19169789e-01 9.75551877e-01 -1.62215795e-02 7.53288724e+00] [ 6.70078803e-02 1.53656464e-03 9.97751263e-01 4.42397116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:65.22, Y:7.55, Z:4.43 [[ 9.74112866e-01 -2.16506941e-01 -6.50297567e-02 6.52207632e+01] [ 2.15904733e-01 9.76279468e-01 -1.62341501e-02 7.54903835e+00] [ 6.70020224e-02 1.77366227e-03 9.97751263e-01 4.42742389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.28, Y:7.56, Z:4.43 [[ 9.74433573e-01 -2.15060124e-01 -6.50257978e-02 6.52775960e+01] [ 2.14453643e-01 9.76598982e-01 -1.62499919e-02 7.56344016e+00] [ 6.69988533e-02 1.88951837e-03 9.97751263e-01 4.43144467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:65.33, Y:7.58, Z:4.43 [[ 9.73335694e-01 -2.19976737e-01 -6.50220037e-02 6.53333731e+01] [ 2.19380183e-01 9.75503859e-01 -1.62651592e-02 7.57629974e+00] [ 6.70071723e-02 1.56692095e-03 9.97751263e-01 4.43054413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.39, Y:7.59, Z:4.43 [[ 9.70065163e-01 -2.33978597e-01 -6.50199622e-02 6.53899949e+01] [ 2.33412799e-01 9.72241557e-01 -1.62733163e-02 7.59236499e+00] [ 6.70227170e-02 6.09685914e-04 9.97751263e-01 4.43398068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.6 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:7.60, Z:4.44 [[ 9.68466367e-01 -2.40511629e-01 -6.50157878e-02 6.54486649e+01] [ 2.39959395e-01 9.70646241e-01 -1.62899770e-02 7.59550093e+00] [ 6.70252589e-02 1.75145749e-04 9.97751264e-01 4.44443317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:65.50, Y:7.61, Z:4.44 [[ 9.63634346e-01 -2.59194876e-01 -6.50143295e-02 6.55048041e+01] [ 2.58684507e-01 9.65824401e-01 -1.62957948e-02 7.61424038e+00] [ 6.70162124e-02 -1.11501217e-03 9.97751264e-01 4.44334486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.56, Y:7.63, Z:4.45 [[ 9.60786464e-01 -2.69560867e-01 -6.50100711e-02 6.55624344e+01] [ 2.69072973e-01 9.62981635e-01 -1.63127658e-02 7.62502814e+00] [ 6.70007878e-02 -1.81936859e-03 9.97751264e-01 4.45046054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:65.62, Y:7.63, Z:4.46 [[ 9.61340046e-01 -2.67580968e-01 -6.50057046e-02 6.56197486e+01] [ 2.67087378e-01 9.63533943e-01 -1.63301474e-02 7.63066469e+00] [ 6.70048395e-02 -1.66337856e-03 9.97751264e-01 4.46180498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:65.68, Y:7.65, Z:4.47 [[ 9.60606684e-01 -2.70202432e-01 -6.50034167e-02 6.56766574e+01] [ 2.69714214e-01 9.62801782e-01 -1.63392497e-02 7.64569659e+00] [ 6.70003105e-02 -1.83675296e-03 9.97751264e-01 4.46656745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.73, Y:7.66, Z:4.47 [[ 9.60758568e-01 -2.69662865e-01 -6.49993273e-02 6.57329273e+01] [ 2.69172314e-01 9.62953147e-01 -1.63555017e-02 7.66173735e+00] [ 6.70017782e-02 -1.78233094e-03 9.97751264e-01 4.46959193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:65.79, Y:7.68, Z:4.47 [[ 9.61702981e-01 -2.66276162e-01 -6.49952394e-02 6.57895825e+01] [ 2.65776787e-01 9.63895568e-01 -1.63717306e-02 7.67886927e+00] [ 6.70080248e-02 -1.52948370e-03 9.97751264e-01 4.47077599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.84, Y:7.71, Z:4.47 [[ 9.61337997e-01 -2.67591859e-01 -6.49911714e-02 6.58444109e+01] [ 2.67094394e-01 9.63531018e-01 -1.63878635e-02 7.70505179e+00] [ 6.70062684e-02 -1.60450165e-03 9.97751264e-01 4.46738152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:65.90, Y:7.72, Z:4.48 [[ 9.64773121e-01 -2.54930451e-01 -6.49868489e-02 6.59005168e+01] [ 2.54403045e-01 9.66959134e-01 -1.64049867e-02 7.71698205e+00] [ 6.70217578e-02 -7.05762029e-04 9.97751265e-01 4.48018348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:65.96, Y:7.73, Z:4.49 [[ 9.65947897e-01 -2.50442742e-01 -6.49853379e-02 6.59561541e+01] [ 2.49904777e-01 9.68131335e-01 -1.64109702e-02 7.73498748e+00] [ 6.70243503e-02 -3.88004160e-04 9.97751265e-01 4.48632260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.2 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:66.01, Y:7.76, Z:4.49 [[ 9.67927858e-01 -2.42678982e-01 -6.49813262e-02 6.60112664e+01] [ 2.42122438e-01 9.70106635e-01 -1.64268398e-02 7.75590603e+00] [ 6.70252644e-02 1.66558716e-04 9.97751265e-01 4.48816904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25999999999999 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:66.07, Y:7.78, Z:4.49 [[ 9.70003670e-01 -2.34245415e-01 -6.49766560e-02 6.60655497e+01] [ 2.33668693e-01 9.72177193e-01 -1.64452919e-02 7.77737585e+00] [ 6.70210573e-02 7.68983195e-04 9.97751265e-01 4.48910483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:66.12, Y:7.80, Z:4.49 [[ 9.71395522e-01 -2.28405253e-01 -6.49752218e-02 6.61206991e+01] [ 2.27815086e-01 9.73565433e-01 -1.64509564e-02 7.79752924e+00] [ 6.70151148e-02 1.17804968e-03 9.97751265e-01 4.49289158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:66.18, Y:7.81, Z:4.49 [[ 9.71610864e-01 -2.27488774e-01 -6.49706584e-02 6.61773063e+01] [ 2.26895356e-01 9.73779888e-01 -1.64689595e-02 7.81493573e+00] [ 6.70136238e-02 1.25987927e-03 9.97751265e-01 4.49475710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:66.23, Y:7.83, Z:4.50 [[ 9.71668701e-01 -2.27242781e-01 -6.49665598e-02 6.62331989e+01] [ 2.26647736e-01 9.73837279e-01 -1.64851117e-02 7.83274833e+00] [ 6.70129804e-02 1.29354342e-03 9.97751265e-01 4.49564868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.5 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:7.85, Z:4.50 [[ 9.71228213e-01 -2.29119257e-01 -6.49624802e-02 6.62887443e+01] [ 2.28527327e-01 9.73397643e-01 -1.65011724e-02 7.84889968e+00] [ 6.70150615e-02 1.18070219e-03 9.97751265e-01 4.49911897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.35, Y:7.86, Z:4.51 [[ 9.70620361e-01 -2.31681198e-01 -6.49610463e-02 6.63452055e+01] [ 2.31094617e-01 9.72791243e-01 -1.65068155e-02 7.86283652e+00] [ 6.70178558e-02 1.00970313e-03 9.97751265e-01 4.50671561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61999999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:7.88, Z:4.51 [[ 9.68828756e-01 -2.39063784e-01 -6.49565114e-02 6.64022607e+01] [ 2.38492552e-01 9.71003727e-01 -1.65246419e-02 7.87720040e+00] [ 6.70234581e-02 5.17904043e-04 9.97751266e-01 4.51263422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67999999999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:66.46, Y:7.89, Z:4.52 [[ 9.66741714e-01 -2.47369457e-01 -6.49523699e-02 6.64580625e+01] [ 2.46815819e-01 9.68921230e-01 -1.65409043e-02 7.89190342e+00] [ 6.70254447e-02 -4.04902160e-05 9.97751266e-01 4.51542497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:7.91, Z:4.52 [[ 9.64880622e-01 -2.54532440e-01 -6.49509178e-02 6.65147301e+01] [ 2.53994598e-01 9.67064090e-01 -1.65466046e-02 7.90691616e+00] [ 6.70233478e-02 -5.31684071e-04 9.97751266e-01 4.52186380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.8 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:7.92, Z:4.53 [[ 9.64199333e-01 -2.57102235e-01 -6.49467989e-02 6.65703273e+01] [ 2.56569123e-01 9.66383961e-01 -1.65627555e-02 7.92219499e+00] [ 6.70218663e-02 -6.93545423e-04 9.97751266e-01 4.52532930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.63, Y:7.94, Z:4.53 [[ 9.62910897e-01 -2.61887617e-01 -6.49421344e-02 6.66259968e+01] [ 2.61364130e-01 9.65097851e-01 -1.65810248e-02 7.93851282e+00] [ 6.70178794e-02 -1.00749498e-03 9.97751266e-01 4.53225599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:66.68, Y:7.96, Z:4.53 [[ 9.61856861e-01 -2.65733921e-01 -6.49373701e-02 6.66818323e+01] [ 2.65217921e-01 9.64045593e-01 -1.65996629e-02 7.95501417e+00] [ 6.70136790e-02 -1.25605465e-03 9.97751266e-01 4.53176809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:66.74, Y:7.97, Z:4.54 [[ 9.61271017e-01 -2.67845775e-01 -6.49359088e-02 6.67376298e+01] [ 2.67334197e-01 9.63460787e-01 -1.66053772e-02 7.97271994e+00] [ 6.70108820e-02 -1.39732122e-03 9.97751266e-01 4.53546160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03999999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:66.79, Y:8.00, Z:4.53 [[ 9.60025048e-01 -2.72278572e-01 -6.49329375e-02 6.67916437e+01] [ 2.71776319e-01 9.62216976e-01 -1.66169880e-02 7.99925551e+00] [ 6.70040245e-02 -1.69451008e-03 9.97751266e-01 4.52815912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.85, Y:8.01, Z:4.54 [[ 9.62800358e-01 -2.62297248e-01 -6.49278345e-02 6.68484959e+01] [ 2.61770924e-01 9.64986630e-01 -1.66369032e-02 8.01361070e+00] [ 6.70183062e-02 -9.78202848e-04 9.97751266e-01 4.53950029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:66.90, Y:8.03, Z:4.54 [[ 9.64880477e-01 -2.54540012e-01 -6.49233911e-02 6.69046495e+01] [ 2.53994945e-01 9.67062152e-01 -1.66542249e-02 8.02741285e+00] [ 6.70241209e-02 -4.20876636e-04 9.97751267e-01 4.54447242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:66.96, Y:8.05, Z:4.55 [[ 9.66543355e-01 -2.48151363e-01 -6.49218279e-02 6.69601129e+01] [ 2.47591465e-01 9.68721271e-01 -1.66603164e-02 8.04531484e+00] [ 6.70254359e-02 2.88276491e-05 9.97751267e-01 4.54796846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:67.02, Y:8.06, Z:4.55 [[ 9.68206061e-01 -2.41583918e-01 -6.49171360e-02 6.70158041e+01] [ 2.41008023e-01 9.70379801e-01 -1.66785787e-02 8.06228343e+00] [ 6.70235539e-02 5.02750376e-04 9.97751267e-01 4.55481328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.07, Y:8.08, Z:4.56 [[ 9.69380302e-01 -2.36829308e-01 -6.49130930e-02 6.70713915e+01] [ 2.36241700e-01 9.71550904e-01 -1.66942991e-02 8.07846787e+00] [ 6.70200735e-02 8.47945221e-04 9.97751267e-01 4.56056202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39999999999999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:67.13, Y:8.10, Z:4.56 [[ 9.70621285e-01 -2.31692113e-01 -6.49082884e-02 6.71269277e+01] [ 2.31091769e-01 9.72788400e-01 -1.67129590e-02 8.09534658e+00] [ 6.70142908e-02 1.22218253e-03 9.97751267e-01 4.55969346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:67.18, Y:8.11, Z:4.56 [[ 9.71248233e-01 -2.29050159e-01 -6.49068118e-02 6.71838129e+01] [ 2.28443538e-01 9.73413599e-01 -1.67186914e-02 8.10948340e+00] [ 6.70105922e-02 1.41045774e-03 9.97751267e-01 4.56161821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.24, Y:8.12, Z:4.57 [[ 9.71430921e-01 -2.28275288e-01 -6.49026866e-02 6.72408510e+01] [ 2.27665872e-01 9.73595502e-01 -1.67346906e-02 8.12086689e+00] [ 6.70090800e-02 1.48046922e-03 9.97751267e-01 4.56896928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:67.30, Y:8.13, Z:4.57 [[ 9.71137311e-01 -2.29522515e-01 -6.48979007e-02 6.72974930e+01] [ 2.28914640e-01 9.73302325e-01 -1.67532299e-02 8.13345001e+00] [ 6.70105211e-02 1.41360706e-03 9.97751267e-01 4.57036068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:67.35, Y:8.14, Z:4.57 [[ 9.70999647e-01 -2.30105546e-01 -6.48931624e-02 6.73545507e+01] [ 2.29497747e-01 9.73164682e-01 -1.67715636e-02 8.14386272e+00] [ 6.70109636e-02 1.39234785e-03 9.97751268e-01 4.57381380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.7 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:8.15, Z:4.58 [[ 9.70571583e-01 -2.31905772e-01 -6.48884791e-02 6.74112182e+01] [ 2.31300779e-01 9.72737404e-01 -1.67896634e-02 8.15462684e+00] [ 6.70130706e-02 1.28681441e-03 9.97751268e-01 4.57757956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75999999999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:67.47, Y:8.17, Z:4.58 [[ 9.69904960e-01 -2.34679506e-01 -6.48837189e-02 6.74682169e+01] [ 2.34079478e-01 9.72072162e-01 -1.68080394e-02 8.16523640e+00] [ 6.70161593e-02 1.11425375e-03 9.97751268e-01 4.58168159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:67.53, Y:8.17, Z:4.58 [[ 9.68126435e-01 -2.41912369e-01 -6.48815148e-02 6.75272182e+01] [ 2.41327964e-01 9.70297902e-01 -1.68165432e-02 8.17329284e+00] [ 6.70225275e-02 6.22816160e-04 9.97751268e-01 4.58464516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:67.58, Y:8.18, Z:4.59 [[ 9.65933841e-01 -2.50524911e-01 -6.48774545e-02 6.75841818e+01] [ 2.49958816e-01 9.68110153e-01 -1.68321930e-02 8.18085233e+00] [ 6.70254060e-02 4.20931155e-05 9.97751268e-01 4.59224182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:67.64, Y:8.19, Z:4.60 [[ 9.62959722e-01 -2.61724426e-01 -6.48760302e-02 6.76418537e+01] [ 2.61183271e-01 9.65142368e-01 -1.68376812e-02 8.19038619e+00] [ 6.70214378e-02 -7.30525034e-04 9.97751268e-01 4.59533336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.0 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:67.70, Y:8.20, Z:4.60 [[ 9.60234929e-01 -2.71552144e-01 -6.48715252e-02 6.76993839e+01] [ 2.71032154e-01 9.62422714e-01 -1.68550200e-02 8.20003438e+00] [ 6.70108461e-02 -1.39749023e-03 9.97751268e-01 4.59794713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:67.76, Y:8.21, Z:4.60 [[ 9.58758872e-01 -2.76718959e-01 -6.48694339e-02 6.77560998e+01] [ 2.76210213e-01 9.60949299e-01 -1.68630648e-02 8.21153983e+00] [ 6.70025668e-02 -1.74998723e-03 9.97751268e-01 4.60219468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11999999999999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:67.81, Y:8.22, Z:4.61 [[ 9.58776928e-01 -2.76657406e-01 -6.48651095e-02 6.78130639e+01] [ 2.76147396e-01 9.60967061e-01 -1.68796825e-02 8.22478417e+00] [ 6.70031228e-02 -1.72848099e-03 9.97751269e-01 4.60753087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.87, Y:8.24, Z:4.61 [[ 9.60052866e-01 -2.72197534e-01 -6.48613609e-02 6.78695050e+01] [ 2.71676377e-01 9.62240374e-01 -1.68940746e-02 8.23782701e+00] [ 6.70107456e-02 -1.40209482e-03 9.97751269e-01 4.61387572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:8.25, Z:4.61 [[ 9.61210900e-01 -2.68079803e-01 -6.48600429e-02 6.79263783e+01] [ 2.67548932e-01 9.63396070e-01 -1.68991332e-02 8.25250943e+00] [ 6.70162267e-02 -1.10960413e-03 9.97751269e-01 4.61429025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.3 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:67.98, Y:8.27, Z:4.62 [[ 9.63907163e-01 -2.58218188e-01 -6.48563713e-02 6.79820504e+01] [ 2.57664011e-01 9.66086539e-01 -1.69132124e-02 8.26777705e+00] [ 6.70241664e-02 -4.08386144e-04 9.97751269e-01 4.61919770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:8.28, Z:4.62 [[ 9.66977349e-01 -2.46473263e-01 -6.48516577e-02 6.80393648e+01] [ 2.45891404e-01 9.69149498e-01 -1.69312671e-02 8.28225610e+00] [ 6.70240561e-02 4.25686609e-04 9.97751269e-01 4.62124571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:8.30, Z:4.63 [[ 9.68723105e-01 -2.39521105e-01 -6.48474087e-02 6.80952188e+01] [ 2.38922571e-01 9.70890718e-01 -1.69475254e-02 8.29625414e+00] [ 6.70190372e-02 9.23949898e-04 9.97751269e-01 4.62572713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:68.15, Y:8.31, Z:4.63 [[ 9.70476653e-01 -2.32315530e-01 -6.48425800e-02 6.81519873e+01] [ 2.31699672e-01 9.72639408e-01 -1.69659803e-02 8.30780860e+00] [ 6.70099093e-02 1.44108326e-03 9.97751269e-01 4.62998522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53999999999999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:8.32, Z:4.63 [[ 9.71579191e-01 -2.27661159e-01 -6.48403590e-02 6.82089906e+01] [ 2.27034375e-01 9.73738805e-01 -1.69744641e-02 8.32002673e+00] [ 6.70019999e-02 1.77104568e-03 9.97751269e-01 4.63355493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:8.34, Z:4.64 [[ 9.71674422e-01 -2.27255741e-01 -6.48355215e-02 6.82650745e+01] [ 2.26626825e-01 9.73833416e-01 -1.69929215e-02 8.33836695e+00] [ 6.70007363e-02 1.81811878e-03 9.97751269e-01 4.63530723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.32, Y:8.34, Z:4.64 [[ 9.73231904e-01 -2.20491757e-01 -6.48309002e-02 6.83227320e+01] [ 2.19846668e-01 9.75386121e-01 -1.70105342e-02 8.34499326e+00] [ 6.69858428e-02 2.30233717e-03 9.97751270e-01 4.64282542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:8.36, Z:4.64 [[ 9.73083840e-01 -2.21144759e-01 -6.48292826e-02 6.83787723e+01] [ 2.20500705e-01 9.75238366e-01 -1.70166970e-02 8.35855251e+00] [ 6.69871570e-02 2.26377034e-03 9.97751270e-01 4.64418858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:68.43, Y:8.38, Z:4.64 [[ 9.71063163e-01 -2.29856020e-01 -6.48270330e-02 6.84349974e+01] [ 2.29230728e-01 9.73223209e-01 -1.70252626e-02 8.37697904e+00] [ 6.70045322e-02 1.67225741e-03 9.97751270e-01 4.63960526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:68.49, Y:8.38, Z:4.65 [[ 9.71084659e-01 -2.29766484e-01 -6.48224325e-02 6.84948843e+01] [ 2.29139825e-01 9.73244309e-01 -1.70427608e-02 8.37869132e+00] [ 6.70039187e-02 1.69656266e-03 9.97751270e-01 4.64791794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89999999999999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:68.55, Y:8.39, Z:4.65 [[ 9.69530286e-01 -2.36239679e-01 -6.48215866e-02 6.85528764e+01] [ 2.35627227e-01 9.71694008e-01 -1.70459776e-02 8.39027632e+00] [ 6.70136835e-02 1.25286088e-03 9.97751270e-01 4.65195931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:68.61, Y:8.41, Z:4.65 [[ 9.67304050e-01 -2.45197042e-01 -6.48173311e-02 6.86086600e+01] [ 2.44603546e-01 9.69473047e-01 -1.70621438e-02 8.41396435e+00] [ 6.70222427e-02 6.49731761e-04 9.97751270e-01 4.65259366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:8.43, Z:4.66 [[ 9.68307153e-01 -2.41205415e-01 -6.48167085e-02 6.86654895e+01] [ 2.40602821e-01 9.70473640e-01 -1.70645087e-02 8.42553638e+00] [ 6.70189589e-02 9.28602983e-04 9.97751270e-01 4.66495075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:68.72, Y:8.44, Z:4.67 [[ 9.68602171e-01 -2.40019150e-01 -6.48123617e-02 6.87199292e+01] [ 2.39412798e-01 9.70767609e-01 -1.70810022e-02 8.44307043e+00] [ 6.70175091e-02 1.02778696e-03 9.97751270e-01 4.67110896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:68.78, Y:8.46, Z:4.67 [[ 9.69328843e-01 -2.37068132e-01 -6.48096762e-02 6.87767480e+01] [ 2.36454508e-01 9.71492232e-01 -1.70911858e-02 8.46045856e+00] [ 6.70138725e-02 1.24243921e-03 9.97751270e-01 4.67280727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.2 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:8.48, Z:4.67 [[ 9.69973983e-01 -2.34415737e-01 -6.48053635e-02 6.88316851e+01] [ 2.33795106e-01 9.72135372e-01 -1.71075227e-02 8.47969526e+00] [ 6.70098587e-02 1.44267513e-03 9.97751270e-01 4.67189754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:8.50, Z:4.68 [[ 9.69882705e-01 -2.34793525e-01 -6.48038535e-02 6.88868398e+01] [ 2.34173354e-01 9.72044226e-01 -1.71132407e-02 8.49564590e+00] [ 6.70102897e-02 1.42250050e-03 9.97751270e-01 4.67926785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:68.94, Y:8.51, Z:4.68 [[ 9.68453670e-01 -2.40621253e-01 -6.47989272e-02 6.89433193e+01] [ 2.40012845e-01 9.70618531e-01 -1.71318739e-02 8.50942100e+00] [ 6.70173325e-02 1.03885131e-03 9.97751271e-01 4.68113928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.00, Y:8.53, Z:4.68 [[ 9.64489748e-01 -2.56049330e-01 -6.47940261e-02 6.89986647e+01] [ 2.55474311e-01 9.66663716e-01 -1.71503902e-02 8.53177322e+00] [ 6.70253800e-02 -1.18336069e-05 9.97751271e-01 4.67890745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:69.06, Y:8.55, Z:4.68 [[ 9.61742784e-01 -2.66182552e-01 -6.47893986e-02 6.90552073e+01] [ 2.65629261e-01 9.63922383e-01 -1.71678538e-02 8.54622987e+00] [ 6.70217347e-02 -6.98900566e-04 9.97751271e-01 4.68031012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.5 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:69.11, Y:8.55, Z:4.70 [[ 9.62117940e-01 -2.64823936e-01 -6.47869773e-02 6.91133978e+01] [ 2.64266952e-01 9.64296598e-01 -1.71769865e-02 8.55003452e+00] [ 6.70227390e-02 -5.94770170e-04 9.97751271e-01 4.69865861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.17, Y:8.57, Z:4.69 [[ 9.58904196e-01 -2.76234855e-01 -6.47846309e-02 6.91693376e+01] [ 2.75703195e-01 9.61089171e-01 -1.71858316e-02 8.57153364e+00] [ 6.70111329e-02 -1.38176371e-03 9.97751271e-01 4.69236139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61999999999999 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:8.59, Z:4.69 [[ 9.58901921e-01 -2.76243801e-01 -6.47801528e-02 6.92264290e+01] [ 2.75711022e-01 9.61086624e-01 -1.72026946e-02 8.58585102e+00] [ 6.70114762e-02 -1.36490530e-03 9.97751271e-01 4.69180844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67999999999999 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:69.28, Y:8.59, Z:4.71 [[ 9.60282929e-01 -2.71405231e-01 -6.47757356e-02 6.92830701e+01] [ 2.70860323e-01 9.62464639e-01 -1.72193116e-02 8.59399037e+00] [ 6.70177662e-02 -1.00976567e-03 9.97751271e-01 4.70537631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:69.34, Y:8.61, Z:4.71 [[ 9.59881389e-01 -2.72822365e-01 -6.47740375e-02 6.93408267e+01] [ 2.72280247e-01 9.62063793e-01 -1.72256970e-02 8.60772379e+00] [ 6.70163116e-02 -1.10206497e-03 9.97751271e-01 4.70887283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.8 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:69.40, Y:8.62, Z:4.71 [[ 9.59880091e-01 -2.72827886e-01 -6.47700242e-02 6.93965687e+01] [ 2.72284763e-01 9.62062245e-01 -1.72407739e-02 8.62232996e+00] [ 6.70165588e-02 -1.08681514e-03 9.97751271e-01 4.71488161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:69.45, Y:8.64, Z:4.72 [[ 9.60390300e-01 -2.71026774e-01 -6.47685066e-02 6.94532222e+01] [ 2.70479174e-01 9.62571335e-01 -1.72464734e-02 8.63743676e+00] [ 6.70185639e-02 -9.55186399e-04 9.97751271e-01 4.72293163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:69.51, Y:8.65, Z:4.73 [[ 9.61342884e-01 -2.67629330e-01 -6.47641932e-02 6.95086850e+01] [ 2.67072932e-01 9.63521691e-01 -1.72626557e-02 8.65325620e+00] [ 6.70216980e-02 -7.01431760e-04 9.97751272e-01 4.72732332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:8.67, Z:4.73 [[ 9.62462191e-01 -2.63576036e-01 -6.47626804e-02 6.95645230e+01] [ 2.63010081e-01 9.64638535e-01 -1.72683296e-02 8.67005827e+00] [ 6.70240949e-02 -4.13123487e-04 9.97751272e-01 4.73117177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:69.62, Y:8.69, Z:4.74 [[ 9.64600374e-01 -2.55641432e-01 -6.47578369e-02 6.96198254e+01] [ 2.55056355e-01 9.66771655e-01 -1.72864741e-02 8.68759525e+00] [ 6.70251801e-02 1.57641493e-04 9.97751272e-01 4.73616544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.67, Y:8.70, Z:4.74 [[ 9.66547795e-01 -2.48178216e-01 -6.47528676e-02 6.96749783e+01] [ 2.47575129e-01 9.68714143e-01 -1.73050685e-02 8.70387415e+00] [ 6.70217596e-02 6.94976236e-04 9.97751272e-01 4.74106217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.73, Y:8.73, Z:4.73 [[ 9.66080219e-01 -2.49992551e-01 -6.47513387e-02 6.97303110e+01] [ 2.49393149e-01 9.68247589e-01 -1.73107872e-02 8.72511390e+00] [ 6.70228955e-02 5.75068809e-04 9.97751272e-01 4.73477628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:69.79, Y:8.74, Z:4.75 [[ 9.67755641e-01 -2.43426577e-01 -6.47496734e-02 6.97871086e+01] [ 2.42812055e-01 9.69918774e-01 -1.73170139e-02 8.73651892e+00] [ 6.70173452e-02 1.03663671e-03 9.97751272e-01 4.74521857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:8.75, Z:4.75 [[ 9.67863209e-01 -2.42999762e-01 -6.47450731e-02 6.98437400e+01] [ 2.42383137e-01 9.70025742e-01 -1.73341967e-02 8.75203753e+00] [ 6.70165932e-02 1.08401728e-03 9.97751272e-01 4.75096056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:8.77, Z:4.75 [[ 9.66240654e-01 -2.49374503e-01 -6.47406821e-02 6.98996201e+01] [ 2.48771049e-01 9.68406899e-01 -1.73505811e-02 8.77223048e+00] [ 6.70221157e-02 6.59229420e-04 9.97751272e-01 4.74716577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39999999999999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:8.78, Z:4.76 [[ 9.66592383e-01 -2.48008903e-01 -6.47359914e-02 6.99567065e+01] [ 2.47401217e-01 9.68757445e-01 -1.73680645e-02 8.78289321e+00] [ 6.70209083e-02 7.72075831e-04 9.97751272e-01 4.75668854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:70.01, Y:8.80, Z:4.75 [[ 9.64410629e-01 -2.56363000e-01 -6.47313820e-02 7.00138634e+01] [ 2.55772918e-01 9.66580554e-01 -1.73852270e-02 8.79970306e+00] [ 6.70250241e-02 2.09963265e-04 9.97751273e-01 4.75409330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:70.07, Y:8.81, Z:4.77 [[ 9.64474379e-01 -2.56124219e-01 -6.47267769e-02 7.00701532e+01] [ 2.55532451e-01 9.66643846e-01 -1.74023554e-02 8.80942786e+00] [ 6.70249052e-02 2.44333991e-04 9.97751273e-01 4.76543070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:70.13, Y:8.82, Z:4.77 [[ 9.63521555e-01 -2.59686091e-01 -6.47251702e-02 7.01276828e+01] [ 2.59101941e-01 9.65693085e-01 -1.74083292e-02 8.82308442e+00] [ 6.70253503e-02 2.88315836e-06 9.97751273e-01 4.76709633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:70.18, Y:8.84, Z:4.77 [[ 9.63230813e-01 -2.60763508e-01 -6.47208941e-02 7.01833852e+01] [ 2.60180720e-01 9.65402709e-01 -1.74242124e-02 8.83752302e+00] [ 6.70253253e-02 -5.55905120e-05 9.97751273e-01 4.77177788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.7 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:70.24, Y:8.86, Z:4.77 [[ 9.61491968e-01 -2.67104933e-01 -6.47159230e-02 7.02396979e+01] [ 2.66535228e-01 9.63667332e-01 -1.74426562e-02 8.85528642e+00] [ 6.70236404e-02 -4.78099414e-04 9.97751273e-01 4.76935154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.30, Y:8.86, Z:4.79 [[ 9.62681278e-01 -2.62787365e-01 -6.47113422e-02 7.02960783e+01] [ 2.62206761e-01 9.64853759e-01 -1.74596343e-02 8.86302338e+00] [ 6.70251531e-02 -1.59688440e-04 9.97751273e-01 4.78679797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:70.35, Y:8.88, Z:4.79 [[ 9.62506745e-01 -2.63426302e-01 -6.47097377e-02 7.03520066e+01] [ 2.62846741e-01 9.64679503e-01 -1.74655789e-02 8.87625375e+00] [ 6.70250505e-02 -1.98006160e-04 9.97751273e-01 4.79043454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:8.89, Z:4.80 [[ 9.62739584e-01 -2.62574448e-01 -6.47082152e-02 7.04083691e+01] [ 2.61992586e-01 9.64911727e-01 -1.74712179e-02 8.89143011e+00] [ 6.70252111e-02 -1.32839594e-04 9.97751273e-01 4.79643405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:70.47, Y:8.91, Z:4.80 [[ 9.62932382e-01 -2.61867584e-01 -6.47039083e-02 7.04652892e+01] [ 2.61283056e-01 9.65103810e-01 -1.74871538e-02 8.90674820e+00] [ 6.70253072e-02 -6.70881985e-05 9.97751273e-01 4.79611378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.0 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:8.92, Z:4.80 [[ 9.62793230e-01 -2.62379806e-01 -6.46995684e-02 7.05210920e+01] [ 2.61795356e-01 9.64964678e-01 -1.75031963e-02 8.92221035e+00] [ 6.70252834e-02 -8.60876729e-05 9.97751274e-01 4.80089174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:8.94, Z:4.81 [[ 9.62021887e-01 -2.65195222e-01 -6.46945381e-02 7.05754762e+01] [ 2.64615877e-01 9.64194703e-01 -1.75217693e-02 8.93807093e+00] [ 6.70248204e-02 -2.62876389e-04 9.97751274e-01 4.80510927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11999999999999 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:70.63, Y:8.95, Z:4.81 [[ 9.61603267e-01 -2.66709976e-01 -6.46911528e-02 7.06307250e+01] [ 2.66133214e-01 9.63776770e-01 -1.75342592e-02 8.95441174e+00] [ 6.70243921e-02 -3.55463455e-04 9.97751274e-01 4.80842237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.69, Y:8.97, Z:4.81 [[ 9.61036302e-01 -2.68746951e-01 -6.46861871e-02 7.06857955e+01] [ 2.68173564e-01 9.63210697e-01 -1.75525591e-02 8.97085813e+00] [ 6.70236241e-02 -4.78478843e-04 9.97751274e-01 4.81408438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:70.74, Y:8.99, Z:4.82 [[ 9.60617877e-01 -2.70239980e-01 -6.46811193e-02 7.07420995e+01] [ 2.69668716e-01 9.62792831e-01 -1.75712142e-02 8.98642846e+00] [ 6.70229625e-02 -5.63251961e-04 9.97751274e-01 4.81639144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.3 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:9.00, Z:4.82 [[ 9.61202764e-01 -2.68153413e-01 -6.46760739e-02 7.07978292e+01] [ 2.67576179e-01 9.63376141e-01 -1.75897658e-02 9.00320515e+00] [ 6.70241422e-02 -3.98445199e-04 9.97751274e-01 4.82074600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:70.85, Y:9.02, Z:4.82 [[ 9.63171932e-01 -2.60993265e-01 -6.46710587e-02 7.08539537e+01] [ 2.60398638e-01 9.65340614e-01 -1.76081856e-02 9.02223394e+00] [ 6.70252174e-02 1.19454518e-04 9.97751275e-01 4.82197000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:70.91, Y:9.04, Z:4.82 [[ 9.65265427e-01 -2.53142017e-01 -6.46666430e-02 7.09090003e+01] [ 2.52528665e-01 9.67428889e-01 -1.76243876e-02 9.03942771e+00] [ 6.70218515e-02 6.82030985e-04 9.97751275e-01 4.82237016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:70.97, Y:9.06, Z:4.83 [[ 9.66438965e-01 -2.48624521e-01 -6.46650888e-02 7.09655451e+01] [ 2.48000676e-01 9.68599424e-01 -1.76300880e-02 9.05579359e+00] [ 6.70178400e-02 1.00141833e-03 9.97751275e-01 4.82725990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53999999999999 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:71.02, Y:9.07, Z:4.83 [[ 9.66803148e-01 -2.47205732e-01 -6.46606454e-02 7.10226287e+01] [ 2.46577628e-01 9.68962372e-01 -1.76463699e-02 9.07146132e+00] [ 6.70160161e-02 1.11669740e-03 9.97751275e-01 4.83224155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.08, Y:9.09, Z:4.84 [[ 9.65160551e-01 -2.53544245e-01 -6.46562161e-02 7.10786477e+01] [ 2.52929237e-01 9.67323542e-01 -1.76625839e-02 9.09033275e+00] [ 6.70217265e-02 6.93781875e-04 9.97751275e-01 4.83517712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:71.14, Y:9.10, Z:4.85 [[ 9.65647134e-01 -2.51685924e-01 -6.46514377e-02 7.11352165e+01] [ 2.51065583e-01 9.67808601e-01 -1.76800573e-02 9.09953748e+00] [ 6.70200390e-02 8.40945792e-04 9.97751275e-01 4.84564350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:9.11, Z:4.85 [[ 9.64639668e-01 -2.55520692e-01 -6.46489491e-02 7.11902383e+01] [ 2.54908335e-01 9.66803411e-01 -1.76891526e-02 9.11293009e+00] [ 6.70227690e-02 5.84102349e-04 9.97751275e-01 4.84885010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:9.13, Z:4.86 [[ 9.64127869e-01 -2.57446366e-01 -6.46437922e-02 7.12464620e+01] [ 2.56837069e-01 9.66292475e-01 -1.77079780e-02 9.12800981e+00] [ 6.70236646e-02 4.69832991e-04 9.97751275e-01 4.85518728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:71.30, Y:9.14, Z:4.85 [[ 9.62421415e-01 -2.63755374e-01 -6.46383941e-02 7.13029623e+01] [ 2.63158944e-01 9.64589602e-01 -1.77276606e-02 9.14189255e+00] [ 6.70252886e-02 5.13087313e-05 9.97751276e-01 4.85304295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.36, Y:9.16, Z:4.85 [[ 9.58664001e-01 -2.77101813e-01 -6.46368216e-02 7.13585893e+01] [ 2.76535180e-01 9.60840164e-01 -1.77333924e-02 9.16167241e+00] [ 6.70196094e-02 -8.73990190e-04 9.97751276e-01 4.85254677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.42, Y:9.17, Z:4.87 [[ 9.57786048e-01 -2.80122443e-01 -6.46320591e-02 7.14156116e+01] [ 2.79561502e-01 9.59963686e-01 -1.77507329e-02 9.16898800e+00] [ 6.70168083e-02 -1.06723118e-03 9.97751276e-01 4.86809572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.47, Y:9.18, Z:4.87 [[ 9.56145217e-01 -2.85673301e-01 -6.46303976e-02 7.14723791e+01] [ 2.85124593e-01 9.58325969e-01 -1.77567804e-02 9.18419932e+00] [ 6.70096265e-02 -1.44965509e-03 9.97751276e-01 4.87267155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.53, Y:9.20, Z:4.88 [[ 9.54701973e-01 -2.90461066e-01 -6.46259345e-02 7.15282566e+01] [ 2.89922194e-01 9.56885177e-01 -1.77730091e-02 9.19961731e+00] [ 6.70019659e-02 -1.76856590e-03 9.97751276e-01 4.87694474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.58, Y:9.22, Z:4.87 [[ 9.53272413e-01 -2.95119294e-01 -6.46243673e-02 7.15837283e+01] [ 2.94590704e-01 9.55458128e-01 -1.77787059e-02 9.22262191e+00] [ 6.69927161e-02 -2.08978794e-03 9.97751276e-01 4.87362372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.2 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:71.64, Y:9.24, Z:4.88 [[ 9.54699960e-01 -2.90469089e-01 -6.46196100e-02 7.16373930e+01] [ 2.89928682e-01 9.56882784e-01 -1.77959801e-02 9.24097211e+00] [ 6.70025745e-02 -1.74525684e-03 9.97751276e-01 4.87525932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25999999999999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:71.69, Y:9.26, Z:4.88 [[ 9.56180791e-01 -2.85557600e-01 -6.46154177e-02 7.16941388e+01] [ 2.85004952e-01 9.58360548e-01 -1.78111890e-02 9.25781142e+00] [ 6.70109875e-02 -1.38499720e-03 9.97751276e-01 4.88092625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:71.75, Y:9.27, Z:4.89 [[ 9.58636656e-01 -2.77202387e-01 -6.46111336e-02 7.17498989e+01] [ 2.76629691e-01 9.60811231e-01 -1.78267164e-02 9.27307321e+00] [ 6.70207112e-02 -7.84014164e-04 9.97751276e-01 4.88731862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:71.80, Y:9.29, Z:4.89 [[ 9.59978623e-01 -2.72519087e-01 -6.46095173e-02 7.18046294e+01] [ 2.71935388e-01 9.62150271e-01 -1.78325724e-02 9.29131738e+00] [ 6.70237809e-02 -4.50725895e-04 9.97751276e-01 4.89355356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.86, Y:9.31, Z:4.89 [[ 9.59761504e-01 -2.73283121e-01 -6.46079860e-02 7.18590295e+01] [ 2.72700778e-01 9.61933515e-01 -1.78381187e-02 9.31383108e+00] [ 6.70234438e-02 -4.98308390e-04 9.97751276e-01 4.89422115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.5 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:9.33, Z:4.90 [[ 9.62769501e-01 -2.62489824e-01 -6.46063515e-02 7.19141128e+01] [ 2.61882733e-01 9.64934726e-01 -1.78440367e-02 9.32924511e+00] [ 6.70247901e-02 2.60406405e-04 9.97751276e-01 4.90263971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:9.35, Z:4.90 [[ 9.63188484e-01 -2.60948785e-01 -6.46039848e-02 7.19706354e+01] [ 2.60337656e-01 9.65352573e-01 -1.78526011e-02 9.34637157e+00] [ 6.70242375e-02 3.76569832e-04 9.97751277e-01 4.90452588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61999999999999 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:9.37, Z:4.90 [[ 9.63942241e-01 -2.58151581e-01 -6.45996746e-02 7.20256928e+01] [ 2.57533127e-01 9.66104247e-01 -1.78681839e-02 9.36912141e+00] [ 6.70227199e-02 5.87341045e-04 9.97751277e-01 4.90308950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67999999999999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:72.08, Y:9.38, Z:4.91 [[ 9.66257584e-01 -2.49346656e-01 -6.45950905e-02 7.20816333e+01] [ 2.48707398e-01 9.68413531e-01 -1.78847406e-02 9.38321621e+00] [ 6.70142599e-02 1.21598941e-03 9.97751277e-01 4.91045015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:72.14, Y:9.40, Z:4.91 [[ 9.65580490e-01 -2.51956342e-01 -6.45934838e-02 7.21375235e+01] [ 2.51322523e-01 9.67738042e-01 -1.78905415e-02 9.40449998e+00] [ 6.70172070e-02 1.04096054e-03 9.97751277e-01 4.90783245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.8 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:72.19, Y:9.41, Z:4.92 [[ 9.66940940e-01 -2.46685057e-01 -6.45887129e-02 7.21945946e+01] [ 2.46038328e-01 9.69094657e-01 -1.79077489e-02 9.41341928e+00] [ 6.70101506e-02 1.42443665e-03 9.97751277e-01 4.91755223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:72.25, Y:9.43, Z:4.92 [[ 9.66871501e-01 -2.46957693e-01 -6.45863643e-02 7.22509965e+01] [ 2.46311006e-01 9.69025231e-01 -1.79162157e-02 9.42702778e+00] [ 6.70103638e-02 1.41434598e-03 9.97751277e-01 4.92066301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:72.31, Y:9.44, Z:4.93 [[ 9.66707309e-01 -2.47600049e-01 -6.45847778e-02 7.23080222e+01] [ 2.46954412e-01 9.68861354e-01 -1.79219327e-02 9.44130723e+00] [ 6.70111667e-02 1.37576751e-03 9.97751277e-01 4.92898992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:72.36, Y:9.46, Z:4.93 [[ 9.65415493e-01 -2.52591171e-01 -6.45803903e-02 7.23638757e+01] [ 2.51955615e-01 9.67572533e-01 -1.79377288e-02 9.46248464e+00] [ 6.70171238e-02 1.04596930e-03 9.97751277e-01 4.92678653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03999999999999 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:72.42, Y:9.47, Z:4.94 [[ 9.67222627e-01 -2.45581655e-01 -6.45758528e-02 7.24209602e+01] [ 2.44929380e-01 9.69374670e-01 -1.79540490e-02 9.47093729e+00] [ 6.70073811e-02 1.54903887e-03 9.97751277e-01 4.93673946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.1 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:72.48, Y:9.49, Z:4.94 [[ 9.67463625e-01 -2.44630983e-01 -6.45741085e-02 7.24773047e+01] [ 2.43976175e-01 9.69614899e-01 -1.79603204e-02 9.48535566e+00] [ 6.70056686e-02 1.62141273e-03 9.97751277e-01 4.94024359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:72.53, Y:9.50, Z:4.94 [[ 9.67170930e-01 -2.45786915e-01 -6.45692225e-02 7.25340378e+01] [ 2.45133507e-01 9.69322629e-01 -1.79778690e-02 9.49929155e+00] [ 6.70071335e-02 1.55959230e-03 9.97751277e-01 4.94489845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:72.59, Y:9.51, Z:4.95 [[ 9.66505558e-01 -2.48391800e-01 -6.45640828e-02 7.25901659e+01] [ 2.47742960e-01 9.68658639e-01 -1.79963083e-02 9.51317175e+00] [ 6.70106920e-02 1.39823501e-03 9.97751278e-01 4.94812157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:9.53, Z:4.95 [[ 9.65295483e-01 -2.53054900e-01 -6.45588754e-02 7.26472593e+01] [ 2.52415214e-01 9.67451301e-01 -1.80149700e-02 9.52546003e+00] [ 6.70163444e-02 1.09412682e-03 9.97751278e-01 4.95476453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:72.71, Y:9.54, Z:4.96 [[ 9.63254282e-01 -2.60718084e-01 -6.45543934e-02 7.27054229e+01] [ 2.60094475e-01 9.65414805e-01 -1.80310162e-02 9.53767940e+00] [ 6.70227792e-02 5.78212466e-04 9.97751278e-01 4.95800782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:72.76, Y:9.55, Z:4.96 [[ 9.61811710e-01 -2.65991644e-01 -6.45498261e-02 7.27615275e+01] [ 2.65378786e-01 9.63975307e-01 -1.80473523e-02 9.55077416e+00] [ 6.70248833e-02 2.28000306e-04 9.97751278e-01 4.96179398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:72.82, Y:9.56, Z:4.97 [[ 9.59493229e-01 -2.74237618e-01 -6.45482172e-02 7.28196862e+01] [ 2.73642967e-01 9.61661901e-01 -1.80531049e-02 9.56244949e+00] [ 6.70244017e-02 -3.41333742e-04 9.97751278e-01 4.96613629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.88, Y:9.58, Z:4.96 [[ 9.54836031e-01 -2.90038393e-01 -6.45436589e-02 7.28761417e+01] [ 2.89478520e-01 9.57013941e-01 -1.80693871e-02 9.58361463e+00] [ 6.70099973e-02 -1.43070095e-03 9.97751278e-01 4.95833382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.93, Y:9.59, Z:4.98 [[ 9.57418925e-01 -2.81395987e-01 -6.45391427e-02 7.29339974e+01] [ 2.80815365e-01 9.59591395e-01 -1.80855033e-02 9.58958274e+00] [ 6.70203940e-02 -8.08179725e-04 9.97751278e-01 4.97509420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.99, Y:9.61, Z:4.98 [[ 9.58594498e-01 -2.77365294e-01 -6.45374474e-02 7.29908047e+01] [ 2.76775130e-01 9.60764395e-01 -1.80915508e-02 9.60703488e+00] [ 6.70232500e-02 -5.19899359e-04 9.97751278e-01 4.97645672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.7 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:73.05, Y:9.62, Z:4.98 [[ 9.58544640e-01 -2.77538579e-01 -6.45330106e-02 7.30479958e+01] [ 2.76947743e-01 9.60714355e-01 -1.81073633e-02 9.62273075e+00] [ 6.70232815e-02 -5.15555570e-04 9.97751279e-01 4.97652282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75999999999999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:73.10, Y:9.64, Z:4.98 [[ 9.58313466e-01 -2.78336801e-01 -6.45284904e-02 7.31036031e+01] [ 2.77746688e-01 9.60483377e-01 -1.81234574e-02 9.63732051e+00] [ 6.70229676e-02 -5.54621229e-04 9.97751279e-01 4.98179165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:73.16, Y:9.65, Z:4.99 [[ 9.58186158e-01 -2.78775934e-01 -6.45233775e-02 7.31600419e+01] [ 2.78185591e-01 9.60356006e-01 -1.81416422e-02 9.65401572e+00] [ 6.70228664e-02 -5.66403459e-04 9.97751279e-01 4.98816704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.21, Y:9.68, Z:4.98 [[ 9.56430079e-01 -2.84743418e-01 -6.45189035e-02 7.32130525e+01] [ 2.84165540e-01 9.58603281e-01 -1.81575396e-02 9.68083506e+00] [ 6.70182725e-02 -9.67631991e-04 9.97751279e-01 4.98290398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.27, Y:9.70, Z:4.99 [[ 9.57238161e-01 -2.82016160e-01 -6.45134760e-02 7.32690919e+01] [ 2.81430792e-01 9.59409356e-01 -1.81768033e-02 9.69685993e+00] [ 6.70209847e-02 -7.56548917e-04 9.97751279e-01 4.98837604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.0 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:73.33, Y:9.71, Z:5.00 [[ 9.59177558e-01 -2.75348947e-01 -6.45086741e-02 7.33259426e+01] [ 2.74747341e-01 9.61344310e-01 -1.81938289e-02 9.70540512e+00] [ 6.70246985e-02 -2.72474330e-04 9.97751279e-01 5.00122052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:73.38, Y:9.72, Z:5.00 [[ 9.59354534e-01 -2.74732100e-01 -6.45069889e-02 7.33827000e+01] [ 2.74128699e-01 9.61520787e-01 -1.81998019e-02 9.72289516e+00] [ 6.70248805e-02 -2.23154475e-04 9.97751279e-01 5.00337737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11999999999999 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:73.44, Y:9.74, Z:5.01 [[ 9.59674408e-01 -2.73613739e-01 -6.45023533e-02 7.34377745e+01] [ 2.73006710e-01 9.61839647e-01 -1.82162165e-02 9.74053546e+00] [ 6.70251278e-02 -1.27938467e-04 9.97751280e-01 5.00641669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17999999999999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:73.49, Y:9.76, Z:5.01 [[ 9.59887196e-01 -2.72867546e-01 -6.44970785e-02 7.34926050e+01] [ 2.72257580e-01 9.62051610e-01 -1.82348736e-02 9.75655675e+00] [ 6.70252234e-02 -5.63968254e-05 9.97751280e-01 5.01045199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:73.55, Y:9.77, Z:5.01 [[ 9.59437266e-01 -2.74445902e-01 -6.44948034e-02 7.35483383e+01] [ 2.73838956e-01 9.61602528e-01 -1.82429167e-02 9.77199681e+00] [ 6.70250597e-02 -1.58255556e-04 9.97751280e-01 5.01398123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.60, Y:9.79, Z:5.02 [[ 9.59129328e-01 -2.75521365e-01 -6.44896131e-02 7.36040943e+01] [ 2.74915615e-01 9.61294924e-01 -1.82612462e-02 9.78676800e+00] [ 6.70249013e-02 -2.14304857e-04 9.97751280e-01 5.02053454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:9.81, Z:5.01 [[ 9.56665589e-01 -2.83958985e-01 -6.44844614e-02 7.36595552e+01] [ 2.83371109e-01 9.58836106e-01 -1.82794200e-02 9.80978413e+00] [ 6.70206354e-02 -7.85741204e-04 9.97751280e-01 5.01492543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:9.82, Z:5.03 [[ 9.57999762e-01 -2.79425917e-01 -6.44795548e-02 7.37175329e+01] [ 2.78826607e-01 9.60167149e-01 -1.82967113e-02 9.81713663e+00] [ 6.70237257e-02 -4.50370391e-04 9.97751280e-01 5.02668623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:73.77, Y:9.84, Z:5.02 [[ 9.56038396e-01 -2.86065714e-01 -6.44747467e-02 7.37734011e+01] [ 2.85480313e-01 9.58209581e-01 -1.83136388e-02 9.83838700e+00] [ 6.70192242e-02 -8.97729060e-04 9.97751280e-01 5.02429212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:73.83, Y:9.85, Z:5.03 [[ 9.56592084e-01 -2.84209795e-01 -6.44699762e-02 7.38291955e+01] [ 2.83619051e-01 9.58761821e-01 -1.83304171e-02 9.85190810e+00] [ 6.70210359e-02 -7.50181633e-04 9.97751281e-01 5.03080948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.6 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:73.89, Y:9.87, Z:5.03 [[ 9.57220061e-01 -2.82088774e-01 -6.44645463e-02 7.38851598e+01] [ 2.81491938e-01 9.59388131e-01 -1.83494933e-02 9.86783044e+00] [ 6.70227066e-02 -5.81746957e-04 9.97751281e-01 5.03324879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:73.94, Y:9.88, Z:5.04 [[ 9.59260869e-01 -2.75070222e-01 -6.44589595e-02 7.39424521e+01] [ 2.74456205e-01 9.61424135e-01 -1.83690981e-02 9.87777203e+00] [ 6.70251913e-02 -7.04043676e-05 9.97751281e-01 5.04332105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:74.00, Y:9.90, Z:5.04 [[ 9.59187469e-01 -2.75327184e-01 -6.44541723e-02 7.39981202e+01] [ 2.74712618e-01 9.61350580e-01 -1.83858802e-02 9.89736154e+00] [ 6.70251885e-02 -7.08685681e-05 9.97751281e-01 5.04485475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.06, Y:9.91, Z:5.05 [[ 9.60901296e-01 -2.69286090e-01 -6.44492143e-02 7.40552476e+01] [ 2.68656761e-01 9.63060157e-01 -1.84032436e-02 9.90716975e+00] [ 6.70242079e-02 3.68983465e-04 9.97751281e-01 5.05316804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.11, Y:9.93, Z:5.05 [[ 9.59836355e-01 -2.73058040e-01 -6.44474835e-02 7.41108183e+01] [ 2.72436788e-01 9.61997554e-01 -1.84093025e-02 9.92706396e+00] [ 6.70251296e-02 1.12052430e-04 9.97751281e-01 5.05117566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.17, Y:9.94, Z:5.06 [[ 9.60757248e-01 -2.69801102e-01 -6.44428075e-02 7.41688742e+01] [ 2.69171426e-01 9.62916008e-01 -1.84256566e-02 9.93625358e+00] [ 6.70242734e-02 3.56420772e-04 9.97751281e-01 5.05925552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:74.23, Y:9.95, Z:5.06 [[ 9.60243954e-01 -2.71623390e-01 -6.44382038e-02 7.42261418e+01] [ 2.70996732e-01 9.62403592e-01 -1.84417429e-02 9.94932525e+00] [ 6.70247675e-02 2.46029471e-04 9.97751282e-01 5.06231533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.28, Y:9.97, Z:5.06 [[ 9.58520126e-01 -2.77646321e-01 -6.44335981e-02 7.42822892e+01] [ 2.77032153e-01 9.60683348e-01 -1.84578207e-02 9.96958612e+00] [ 6.70250308e-02 -1.57985794e-04 9.97751282e-01 5.06116893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:74.34, Y:9.98, Z:5.06 [[ 9.58932743e-01 -2.76219003e-01 -6.44286939e-02 7.43380432e+01] [ 2.75600465e-01 9.61094720e-01 -1.84749235e-02 9.98208067e+00] [ 6.70252025e-02 -4.03689284e-05 9.97751282e-01 5.06337200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:74.40, Y:9.99, Z:5.08 [[ 9.61192280e-01 -2.68251428e-01 -6.44249322e-02 7.43954350e+01] [ 2.67614091e-01 9.63348790e-01 -1.84880317e-02 9.99031951e+00] [ 6.70231214e-02 5.29533617e-04 9.97751282e-01 5.07625209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.45, Y:10.01, Z:5.08 [[ 9.61355474e-01 -2.67666386e-01 -6.44232789e-02 7.44512621e+01] [ 2.67027351e-01 9.63511481e-01 -1.84937912e-02 1.00073272e+01] [ 6.70227351e-02 5.76329888e-04 9.97751282e-01 5.07930756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25999999999999 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:74.51, Y:10.03, Z:5.08 [[ 9.59804279e-01 -2.73177548e-01 -6.44187384e-02 7.45057598e+01] [ 2.72549832e-01 9.61963608e-01 -1.85095933e-02 1.00318755e+01] [ 6.70248874e-02 2.08270507e-04 9.97751282e-01 5.07567518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:74.56, Y:10.05, Z:5.08 [[ 9.59517717e-01 -2.74183552e-01 -6.44137495e-02 7.45610671e+01] [ 2.73556936e-01 9.61677366e-01 -1.85269387e-02 1.00477494e+01] [ 6.70250268e-02 1.56098031e-04 9.97751282e-01 5.08060294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:74.62, Y:10.06, Z:5.09 [[ 9.59012544e-01 -2.75946603e-01 -6.44081704e-02 7.46172686e+01] [ 2.75322656e-01 9.61172965e-01 -1.85463141e-02 1.00646769e+01] [ 6.70251845e-02 5.31192923e-05 9.97751283e-01 5.08668434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:10.08, Z:5.09 [[ 9.57722028e-01 -2.80393894e-01 -6.44032769e-02 7.46728219e+01] [ 2.79778837e-01 9.59884997e-01 -1.85632915e-02 1.00816496e+01] [ 6.70247728e-02 -2.40200676e-04 9.97751283e-01 5.09172192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.5 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:10.10, Z:5.10 [[ 9.56739045e-01 -2.83731131e-01 -6.43975556e-02 7.47272377e+01] [ 2.83122284e-01 9.58903770e-01 -1.85831180e-02 1.00969351e+01] [ 6.70236679e-02 -4.53188436e-04 9.97751283e-01 5.09514929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:74.78, Y:10.11, Z:5.10 [[ 9.57978942e-01 -2.79516759e-01 -6.43950919e-02 7.47839101e+01] [ 2.78897815e-01 9.60140802e-01 -1.85916514e-02 1.01068983e+01] [ 6.70250333e-02 -1.49239899e-04 9.97751283e-01 5.10395174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.84, Y:10.13, Z:5.10 [[ 9.55977045e-01 -2.86288984e-01 -6.43933738e-02 7.48389755e+01] [ 2.85684954e-01 9.58143119e-01 -1.85976003e-02 1.01303911e+01] [ 6.70223561e-02 -6.17338975e-04 9.97751283e-01 5.10126192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:10.15, Z:5.10 [[ 9.55919356e-01 -2.86482662e-01 -6.43884229e-02 7.48931529e+01] [ 2.85877917e-01 9.58085230e-01 -1.86147254e-02 1.01474011e+01] [ 6.70223931e-02 -6.13051838e-04 9.97751283e-01 5.10327224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:10.16, Z:5.12 [[ 9.57995899e-01 -2.79461049e-01 -6.43846182e-02 7.49503560e+01] [ 2.78839545e-01 9.60157024e-01 -1.86278760e-02 1.01575053e+01] [ 6.70251091e-02 -1.07548866e-04 9.97751283e-01 5.11621219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:10.18, Z:5.11 [[ 9.55321252e-01 -2.88472769e-01 -6.43798648e-02 7.50047480e+01] [ 2.87870544e-01 9.57487828e-01 -1.86442896e-02 1.01819997e+01] [ 6.70213068e-02 -7.21780568e-04 9.97751283e-01 5.11084949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:10.20, Z:5.12 [[ 9.54667376e-01 -2.90630493e-01 -6.43748161e-02 7.50609922e+01] [ 2.90031990e-01 9.56834983e-01 -1.86617054e-02 1.01963213e+01] [ 6.70197368e-02 -8.55034666e-04 9.97751284e-01 5.11574541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:10.21, Z:5.13 [[ 9.55717915e-01 -2.87157407e-01 -6.43730535e-02 7.51172021e+01] [ 2.86550618e-01 9.57883217e-01 -1.86677835e-02 1.02062816e+01] [ 6.70224599e-02 -6.05003089e-04 9.97751284e-01 5.12778708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.17, Y:10.23, Z:5.12 [[ 9.53440819e-01 -2.94630170e-01 -6.43713210e-02 7.51722372e+01] [ 2.94039946e-01 9.55610695e-01 -1.86737557e-02 1.02288964e+01] [ 6.70157747e-02 -1.12341888e-03 9.97751284e-01 5.12493694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.23, Y:10.25, Z:5.13 [[ 9.53529237e-01 -2.94344954e-01 -6.43664626e-02 7.52284543e+01] [ 2.93752952e-01 9.55698629e-01 -1.86904873e-02 1.02473536e+01] [ 6.70163907e-02 -1.08591237e-03 9.97751284e-01 5.12621834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:10.26, Z:5.14 [[ 9.56701943e-01 -2.83864366e-01 -6.43615894e-02 7.52855985e+01] [ 2.83247467e-01 9.58864386e-01 -1.87072532e-02 1.02565141e+01] [ 6.70243585e-02 -3.32991684e-04 9.97751284e-01 5.14053240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:10.27, Z:5.14 [[ 9.57378517e-01 -2.81574468e-01 -6.43598799e-02 7.53414723e+01] [ 2.80952002e-01 9.59539364e-01 -1.87131328e-02 1.02733226e+01] [ 6.70249787e-02 -1.66485734e-04 9.97751284e-01 5.14485975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:10.30, Z:5.14 [[ 9.56439509e-01 -2.84748938e-01 -6.43545415e-02 7.53960847e+01] [ 2.84132410e-01 9.58602058e-01 -1.87314736e-02 1.02979959e+01] [ 6.70241632e-02 -3.69689525e-04 9.97751284e-01 5.13665845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.45, Y:10.31, Z:5.15 [[ 9.59844487e-01 -2.73052507e-01 -6.43497404e-02 7.54527889e+01] [ 2.72408522e-01 9.61999018e-01 -1.87479528e-02 1.03064187e+01] [ 6.70235626e-02 4.65701426e-04 9.97751284e-01 5.15430695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:75.51, Y:10.32, Z:5.16 [[ 9.60092706e-01 -2.72178884e-01 -6.43478953e-02 7.55086813e+01] [ 2.71532514e-01 9.62246523e-01 -1.87542837e-02 1.03230869e+01] [ 6.70230585e-02 5.33305136e-04 9.97751284e-01 5.15540647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39999999999999 meters Centerline goodness : 0.998689 with order 1 Centerline is valid? [True, True] Translation: X:75.57, Y:10.34, Z:5.16 [[ 9.61259267e-01 -2.68031077e-01 -6.43425524e-02 7.55650085e+01] [ 2.67374188e-01 9.63409899e-01 -1.87725962e-02 1.03394421e+01] [ 6.70198911e-02 8.41794314e-04 9.97751284e-01 5.15625302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.62, Y:10.36, Z:5.16 [[ 9.60576907e-01 -2.70467529e-01 -6.43375583e-02 7.56210461e+01] [ 2.69814950e-01 9.62728851e-01 -1.87896964e-02 1.03554114e+01] [ 6.70216264e-02 6.89713359e-04 9.97751285e-01 5.16450291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.68, Y:10.37, Z:5.17 [[ 9.59562603e-01 -2.74045603e-01 -6.43320973e-02 7.56772147e+01] [ 2.73399796e-01 9.61716588e-01 -1.88083754e-02 1.03701089e+01] [ 6.70235977e-02 4.59431344e-04 9.97751285e-01 5.16986121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:75.73, Y:10.39, Z:5.17 [[ 9.58936656e-01 -2.76229200e-01 -6.43266565e-02 7.57331202e+01] [ 2.75587051e-01 9.61091735e-01 -1.88269653e-02 1.03858606e+01] [ 6.70243754e-02 3.26273570e-04 9.97751285e-01 5.17199564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:75.79, Y:10.40, Z:5.17 [[ 9.58688452e-01 -2.77090662e-01 -6.43212061e-02 7.57887705e+01] [ 2.76449201e-01 9.60843735e-01 -1.88455677e-02 1.04017741e+01] [ 6.70245588e-02 2.85482046e-04 9.97751285e-01 5.17463257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.84, Y:10.42, Z:5.18 [[ 9.58673990e-01 -2.77141958e-01 -6.43157579e-02 7.58437815e+01] [ 2.76499366e-01 9.60828936e-01 -1.88641429e-02 1.04185633e+01] [ 6.70244868e-02 3.01296809e-04 9.97751285e-01 5.18066633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.90, Y:10.44, Z:5.19 [[ 9.57984001e-01 -2.79518934e-01 -6.43103417e-02 7.59004913e+01] [ 2.78880451e-01 9.60140168e-01 -1.88825896e-02 1.04353610e+01] [ 6.70249836e-02 1.54321646e-04 9.97751286e-01 5.18560159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:75.96, Y:10.45, Z:5.19 [[ 9.57280570e-01 -2.81919658e-01 -6.43056557e-02 7.59564850e+01] [ 2.81285512e-01 9.59438016e-01 -1.88985344e-02 1.04518815e+01] [ 6.70251591e-02 2.95046751e-06 9.97751286e-01 5.18708923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.01, Y:10.47, Z:5.19 [[ 9.57009312e-01 -2.82840292e-01 -6.43004278e-02 7.60120705e+01] [ 2.82207027e-01 9.59167017e-01 -1.89163054e-02 1.04682245e+01] [ 6.70251429e-02 -4.29521157e-05 9.97751286e-01 5.19444477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:76.07, Y:10.49, Z:5.20 [[ 9.56875199e-01 -2.83294074e-01 -6.42986872e-02 7.60672084e+01] [ 2.82661435e-01 9.59033088e-01 -1.89222200e-02 1.04857386e+01] [ 6.70251213e-02 -6.85561315e-05 9.97751286e-01 5.19680152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.12, Y:10.50, Z:5.20 [[ 9.57470348e-01 -2.81277225e-01 -6.42935074e-02 7.61226277e+01] [ 2.80638860e-01 9.59626549e-01 -1.89398033e-02 1.05032514e+01] [ 6.70250920e-02 9.10434597e-05 9.97751286e-01 5.20066605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:76.18, Y:10.52, Z:5.20 [[ 9.57379095e-01 -2.81588028e-01 -6.42919171e-02 7.61788254e+01] [ 2.80950000e-01 9.59535396e-01 -1.89452003e-02 1.05221250e+01] [ 6.70251117e-02 7.49245638e-05 9.97751286e-01 5.20350977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11999999999999 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:76.23, Y:10.54, Z:5.21 [[ 9.57454348e-01 -2.81333143e-01 -6.42871272e-02 7.62344784e+01] [ 2.80693451e-01 9.59610155e-01 -1.89614401e-02 1.05384371e+01] [ 6.70250617e-02 1.09737697e-04 9.97751286e-01 5.20818855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17999999999999 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:10.56, Z:5.20 [[ 9.55955862e-01 -2.86384802e-01 -6.42816810e-02 7.62892115e+01] [ 2.85755261e-01 9.58114656e-01 -1.89798854e-02 1.05596471e+01] [ 6.70247714e-02 -2.24895874e-04 9.97751286e-01 5.20327085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:10.58, Z:5.21 [[ 9.56124405e-01 -2.85822891e-01 -6.42759456e-02 7.63451372e+01] [ 2.85190778e-01 9.58282447e-01 -1.89992888e-02 1.05773657e+01] [ 6.70249421e-02 -1.65223250e-04 9.97751287e-01 5.20852000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.3 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:76.40, Y:10.59, Z:5.21 [[ 9.56674274e-01 -2.83978144e-01 -6.42708879e-02 7.63995626e+01] [ 2.83340720e-01 9.58830753e-01 -1.90163826e-02 1.05945591e+01] [ 6.70251409e-02 -1.80756402e-05 9.97751287e-01 5.20899386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:76.45, Y:10.61, Z:5.21 [[ 9.57851472e-01 -2.79982375e-01 -6.42683959e-02 7.64549566e+01] [ 2.79335391e-01 9.60005102e-01 -1.90248011e-02 1.06119117e+01] [ 6.70245969e-02 2.70496286e-04 9.97751287e-01 5.21335140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:76.51, Y:10.63, Z:5.22 [[ 9.58619612e-01 -2.77342247e-01 -6.42628821e-02 7.65100168e+01] [ 2.76688084e-01 9.60771072e-01 -1.90434076e-02 1.06297877e+01] [ 6.70234596e-02 4.74610247e-04 9.97751287e-01 5.21617866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:76.57, Y:10.64, Z:5.23 [[ 9.61814587e-01 -2.66052081e-01 -6.42572267e-02 7.65658296e+01] [ 2.65371394e-01 9.63957803e-01 -1.90624713e-02 1.06411528e+01] [ 6.70128652e-02 1.28253313e-03 9.97751287e-01 5.22869155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:76.62, Y:10.67, Z:5.22 [[ 9.61313946e-01 -2.67855799e-01 -6.42554912e-02 7.66205153e+01] [ 2.67178743e-01 9.63458312e-01 -1.90683194e-02 1.06662346e+01] [ 6.70150470e-02 1.16294005e-03 9.97751287e-01 5.21980527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.68, Y:10.68, Z:5.22 [[ 9.61567504e-01 -2.66945257e-01 -6.42507973e-02 7.66758303e+01] [ 2.66265115e-01 9.63710893e-01 -1.90841226e-02 1.06824131e+01] [ 6.70136092e-02 1.24292615e-03 9.97751287e-01 5.22465186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:76.73, Y:10.69, Z:5.24 [[ 9.62842050e-01 -2.62312357e-01 -6.42449585e-02 7.67330632e+01] [ 2.61620594e-01 9.64981716e-01 -1.91037581e-02 1.06900878e+01] [ 6.70063621e-02 1.58609736e-03 9.97751288e-01 5.23630538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:76.79, Y:10.70, Z:5.24 [[ 9.61931693e-01 -2.65631966e-01 -6.42423204e-02 7.67905772e+01] [ 2.64946995e-01 9.64073544e-01 -1.91126254e-02 1.07028900e+01] [ 6.70112458e-02 1.36423039e-03 9.97751288e-01 5.24221786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:76.85, Y:10.72, Z:5.25 [[ 9.60955782e-01 -2.69142211e-01 -6.42374971e-02 7.68465593e+01] [ 2.68463982e-01 9.63099776e-01 -1.91288229e-02 1.07164591e+01] [ 6.70154928e-02 1.13649874e-03 9.97751288e-01 5.24838749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:76.90, Y:10.73, Z:5.26 [[ 9.59509937e-01 -2.74252518e-01 -6.42358026e-02 7.69032117e+01] [ 2.73585327e-01 9.61657392e-01 -1.91345114e-02 1.07300398e+01] [ 6.70205223e-02 7.85780749e-04 9.97751288e-01 5.25626379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89999999999999 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:76.96, Y:10.75, Z:5.26 [[ 9.58697418e-01 -2.77080541e-01 -6.42311060e-02 7.69594903e+01] [ 2.76418630e-01 9.60846506e-01 -1.91502640e-02 1.07456866e+01] [ 6.70223993e-02 6.04634332e-04 9.97751288e-01 5.25935632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:10.76, Z:5.26 [[ 9.58721771e-01 -2.76997529e-01 -6.42256491e-02 7.70147545e+01] [ 2.76334207e-01 9.60870424e-01 -1.91685478e-02 1.07630626e+01] [ 6.70221671e-02 6.29560253e-04 9.97751288e-01 5.26346803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:77.07, Y:10.78, Z:5.26 [[ 9.58937352e-01 -2.76251556e-01 -6.42201931e-02 7.70706669e+01] [ 2.75585340e-01 9.61085109e-01 -1.91868098e-02 1.07817043e+01] [ 6.70214573e-02 7.00804839e-04 9.97751288e-01 5.26304193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:10.81, Z:5.26 [[ 9.57200764e-01 -2.82211051e-01 -6.42154167e-02 7.71249313e+01] [ 2.81557136e-01 9.59352298e-01 -1.92027825e-02 1.08059570e+01] [ 6.70244450e-02 3.00609226e-04 9.97751288e-01 5.25706202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:10.81, Z:5.27 [[ 9.59047095e-01 -2.75872684e-01 -6.42100603e-02 7.71819451e+01] [ 2.75203353e-01 9.61193883e-01 -1.92206765e-02 1.08140788e+01] [ 6.70207768e-02 7.62710067e-04 9.97751289e-01 5.27437890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.2 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:10.83, Z:5.28 [[ 9.58533699e-01 -2.77651692e-01 -6.42081495e-02 7.72384030e+01] [ 2.76985917e-01 9.60681592e-01 -1.92270577e-02 1.08311719e+01] [ 6.70220124e-02 6.45029547e-04 9.97751289e-01 5.27710369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:10.86, Z:5.27 [[ 9.56330966e-01 -2.85147373e-01 -6.42032682e-02 7.72933955e+01] [ 2.84497340e-01 9.58483676e-01 -1.92433435e-02 1.08565674e+01] [ 6.70249733e-02 1.37346274e-04 9.97751289e-01 5.27077999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:10.86, Z:5.29 [[ 9.58307071e-01 -2.78435113e-01 -6.41984939e-02 7.73500868e+01] [ 2.77768937e-01 9.60454840e-01 -1.92592582e-02 1.08636061e+01] [ 6.70222078e-02 6.23935898e-04 9.97751289e-01 5.28787155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:10.88, Z:5.29 [[ 9.58377355e-01 -2.78193593e-01 -6.41963337e-02 7.74064813e+01] [ 2.77526394e-01 9.60524807e-01 -1.92664558e-02 1.08801544e+01] [ 6.70219756e-02 6.48357899e-04 9.97751289e-01 5.29405621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:10.90, Z:5.30 [[ 9.58605033e-01 -2.77409161e-01 -6.41914872e-02 7.74613851e+01] [ 2.76739125e-01 9.60751601e-01 -1.92825900e-02 1.08978461e+01] [ 6.70212412e-02 7.20091902e-04 9.97751289e-01 5.29527465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.5 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:10.92, Z:5.29 [[ 9.58401434e-01 -2.78112139e-01 -6.41897898e-02 7.75177300e+01] [ 2.77443298e-01 9.60548375e-01 -1.92882387e-02 1.09151750e+01] [ 6.70216916e-02 6.76848599e-04 9.97751289e-01 5.29492310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:77.57, Y:10.93, Z:5.30 [[ 9.58159795e-01 -2.78944614e-01 -6.41849631e-02 7.75728611e+01] [ 2.78276563e-01 9.60306982e-01 -1.93042871e-02 1.09310803e+01] [ 6.70220951e-02 6.35420808e-04 9.97751289e-01 5.29911051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61999999999999 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:77.63, Y:10.95, Z:5.30 [[ 9.56764678e-01 -2.83693404e-01 -6.41825796e-02 7.76286793e+01] [ 2.83035480e-01 9.58914989e-01 -1.93122085e-02 1.09482101e+01] [ 6.70243838e-02 3.11291722e-04 9.97751289e-01 5.30311120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67999999999999 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:10.96, Z:5.31 [[ 9.55245580e-01 -2.88768384e-01 -6.41771137e-02 7.76847863e+01] [ 2.88120665e-01 9.57398987e-01 -1.93303554e-02 1.09637947e+01] [ 6.70250991e-02 -2.55161048e-05 9.97751289e-01 5.31048141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:10.98, Z:5.32 [[ 9.54977439e-01 -2.89654977e-01 -6.41723016e-02 7.77397631e+01] [ 2.89008185e-01 9.57131124e-01 -1.93463173e-02 1.09803927e+01] [ 6.70250643e-02 -7.10238358e-05 9.97751290e-01 5.31577623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.8 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:77.79, Y:11.00, Z:5.32 [[ 9.54993838e-01 -2.89602138e-01 -6.41667436e-02 7.77948158e+01] [ 2.88953989e-01 9.57147115e-01 -1.93647342e-02 1.09993195e+01] [ 6.70250819e-02 -4.80346512e-05 9.97751290e-01 5.31553712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.85, Y:11.03, Z:5.31 [[ 9.53415715e-01 -2.94757231e-01 -6.41611223e-02 7.78490731e+01] [ 2.94119472e-01 9.55572092e-01 -1.93833416e-02 1.10266800e+01] [ 6.70239579e-02 -3.90652929e-04 9.97751290e-01 5.30795592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:77.90, Y:11.04, Z:5.31 [[ 9.54825203e-01 -2.90160026e-01 -6.41559885e-02 7.79044740e+01] [ 2.89510744e-01 9.56978138e-01 -1.94003189e-02 1.10442981e+01] [ 6.70250754e-02 -4.99345077e-05 9.97751290e-01 5.30811507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.96, Y:11.05, Z:5.33 [[ 9.57507639e-01 -2.81182078e-01 -6.41541983e-02 7.79624498e+01] [ 2.80512213e-01 9.59654259e-01 -1.94062368e-02 1.10535493e+01] [ 6.70225356e-02 5.85583779e-04 9.97751290e-01 5.32771663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03999999999999 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:78.02, Y:11.08, Z:5.32 [[ 9.54698980e-01 -2.90576520e-01 -6.41493880e-02 7.80156076e+01] [ 2.89926711e-01 9.56851756e-01 -1.94221249e-02 1.10798440e+01] [ 6.70250680e-02 -5.63382858e-05 9.97751290e-01 5.31796635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.1 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:78.07, Y:11.09, Z:5.32 [[ 9.53054792e-01 -2.95925949e-01 -6.41435580e-02 7.80723031e+01] [ 2.95286930e-01 9.55210795e-01 -1.94413601e-02 1.10949481e+01] [ 6.70238220e-02 -4.12072847e-04 9.97751290e-01 5.32490873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:78.13, Y:11.11, Z:5.33 [[ 9.51979225e-01 -2.99369061e-01 -6.41382989e-02 7.81278504e+01] [ 2.98736671e-01 9.54137181e-01 -1.94586948e-02 1.11115873e+01] [ 6.70220669e-02 -6.36188651e-04 9.97751291e-01 5.33034359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:11.13, Z:5.33 [[ 9.50263285e-01 -3.04772381e-01 -6.41364584e-02 7.81836452e+01] [ 3.04151851e-01 9.52424682e-01 -1.94647594e-02 1.11285757e+01] [ 6.70174670e-02 -1.01057635e-03 9.97751291e-01 5.33387769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:78.24, Y:11.14, Z:5.35 [[ 9.50610851e-01 -3.03687793e-01 -6.41306118e-02 7.82408778e+01] [ 3.03063499e-01 9.52771163e-01 -1.94840031e-02 1.11373016e+01] [ 6.70188515e-02 -9.13942829e-04 9.97751291e-01 5.34721295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:78.30, Y:11.16, Z:5.34 [[ 9.47137870e-01 -3.14352270e-01 -6.41288205e-02 7.82955725e+01] [ 3.13751896e-01 9.49304952e-01 -1.94898970e-02 1.11631436e+01] [ 6.70045002e-02 -1.66091954e-03 9.97751291e-01 5.33911374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:11.17, Z:5.36 [[ 9.47414525e-01 -3.13518492e-01 -6.41238930e-02 7.83539217e+01] [ 3.12915115e-01 9.49580772e-01 -1.95060956e-02 1.11721719e+01] [ 6.70063375e-02 -1.58497712e-03 9.97751291e-01 5.35596875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:11.19, Z:5.36 [[ 9.45662131e-01 -3.18766121e-01 -6.41193737e-02 7.84099408e+01] [ 3.18173757e-01 9.47831416e-01 -1.95209400e-02 1.11907207e+01] [ 6.69969711e-02 -1.94088837e-03 9.97751291e-01 5.36177579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:11.21, Z:5.37 [[ 9.45050342e-01 -3.20576322e-01 -6.41145306e-02 7.84646571e+01] [ 3.19987036e-01 9.47220465e-01 -1.95368338e-02 1.12084063e+01] [ 6.69936418e-02 -2.05252721e-03 9.97751291e-01 5.36767819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:11.23, Z:5.37 [[ 9.45560171e-01 -3.19070510e-01 -6.41090708e-02 7.85185776e+01] [ 3.18476555e-01 9.47729021e-01 -1.95547336e-02 1.12282470e+01] [ 6.69973656e-02 -1.92705879e-03 9.97751291e-01 5.37057503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:78.57, Y:11.25, Z:5.37 [[ 9.47727655e-01 -3.12574184e-01 -6.41067215e-02 7.85727679e+01] [ 3.11964839e-01 9.49892231e-01 -1.95624323e-02 1.12502411e+01] [ 6.70091880e-02 -1.45918502e-03 9.97751291e-01 5.37213053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.7 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:78.63, Y:11.28, Z:5.36 [[ 9.47974474e-01 -3.11825922e-01 -6.41014101e-02 7.86267730e+01] [ 3.11213693e-01 9.50138236e-01 -1.95798210e-02 1.12788798e+01] [ 6.70106964e-02 -1.38806601e-03 9.97751292e-01 5.36394459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75999999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.68, Y:11.29, Z:5.38 [[ 9.51187806e-01 -3.01883159e-01 -6.40961433e-02 7.86820667e+01] [ 3.01247148e-01 9.53344697e-01 -1.95970472e-02 1.12907750e+01] [ 6.70217368e-02 -6.68308047e-04 9.97751292e-01 5.37835416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:78.74, Y:11.32, Z:5.37 [[ 9.50314508e-01 -3.04621651e-01 -6.40935627e-02 7.87352944e+01] [ 3.03991286e-01 9.52473056e-01 -1.96054835e-02 1.13161323e+01] [ 6.70196463e-02 -8.52509177e-04 9.97751292e-01 5.37302463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:78.79, Y:11.33, Z:5.38 [[ 9.52124351e-01 -2.98918071e-01 -6.40874915e-02 7.87899459e+01] [ 2.98273440e-01 9.54278681e-01 -1.96253095e-02 1.13335196e+01] [ 6.70236865e-02 -4.29861493e-04 9.97751292e-01 5.37789190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.85, Y:11.35, Z:5.38 [[ 9.53962923e-01 -2.92997906e-01 -6.40856389e-02 7.88457114e+01] [ 2.92339500e-01 9.56113083e-01 -1.96313571e-02 1.13518885e+01] [ 6.70250643e-02 -7.17676230e-06 9.97751292e-01 5.38380284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.0 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:78.90, Y:11.36, Z:5.39 [[ 9.57179269e-01 -2.82314631e-01 -6.40803941e-02 7.89017382e+01] [ 2.81631082e-01 9.59321568e-01 -1.96484623e-02 1.13644897e+01] [ 6.70207525e-02 7.60070091e-04 9.97751292e-01 5.39411011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:11.38, Z:5.40 [[ 9.58371567e-01 -2.78240683e-01 -6.40785550e-02 7.89564388e+01] [ 2.77547627e-01 9.60510810e-01 -1.96544582e-02 1.13816031e+01] [ 6.70168147e-02 1.05142301e-03 9.97751292e-01 5.39870431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11999999999999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:79.01, Y:11.40, Z:5.40 [[ 9.59023388e-01 -2.75986221e-01 -6.40760986e-02 7.90115792e+01] [ 2.75287602e-01 9.61160821e-01 -1.96624633e-02 1.13994333e+01] [ 6.70140044e-02 1.21740662e-03 9.97751292e-01 5.39922510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17999999999999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:11.42, Z:5.40 [[ 9.58803895e-01 -2.76749106e-01 -6.40704533e-02 7.90670486e+01] [ 2.76050960e-01 9.60941482e-01 -1.96808412e-02 1.14167330e+01] [ 6.70146116e-02 1.18335706e-03 9.97751292e-01 5.40178199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:79.12, Y:11.43, Z:5.40 [[ 9.58130591e-01 -2.79072502e-01 -6.40648846e-02 7.91235999e+01] [ 2.78378329e-01 9.60269471e-01 -1.96989519e-02 1.14318931e+01] [ 6.70169886e-02 1.03989296e-03 9.97751293e-01 5.40489479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.18, Y:11.45, Z:5.41 [[ 9.56406809e-01 -2.84925296e-01 -6.40592763e-02 7.91793685e+01] [ 2.84242993e-01 9.58549505e-01 -1.97171727e-02 1.14494182e+01] [ 6.70219089e-02 6.49237790e-04 9.97751293e-01 5.40874074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.24, Y:11.46, Z:5.42 [[ 9.55593700e-01 -2.87641734e-01 -6.40539907e-02 7.92350434e+01] [ 2.86964372e-01 9.57737963e-01 -1.97343290e-02 1.14606063e+01] [ 6.70233551e-02 4.76787211e-04 9.97751293e-01 5.41856373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.29, Y:11.48, Z:5.42 [[ 9.54597142e-01 -2.90932495e-01 -6.40513894e-02 7.92910489e+01] [ 2.90261958e-01 9.56743549e-01 -1.97427681e-02 1.14750501e+01] [ 6.70245664e-02 2.54708249e-04 9.97751293e-01 5.42427402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.35, Y:11.49, Z:5.43 [[ 9.53447294e-01 -2.94680169e-01 -6.40457332e-02 7.93467689e+01] [ 2.94016838e-01 9.55595939e-01 -1.97611001e-02 1.14898262e+01] [ 6.70250468e-02 1.06434950e-05 9.97751293e-01 5.42760576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.40, Y:11.51, Z:5.43 [[ 9.51328406e-01 -3.01451678e-01 -6.40402231e-02 7.94022988e+01] [ 3.00802439e-01 9.53481351e-01 -1.97789408e-02 1.15086476e+01] [ 6.70235533e-02 -4.47187070e-04 9.97751293e-01 5.42831924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:11.53, Z:5.43 [[ 9.50236711e-01 -3.04876777e-01 -6.40339276e-02 7.94577520e+01] [ 3.04233926e-01 9.52391572e-01 -1.97993014e-02 1.15250512e+01] [ 6.70217201e-02 -6.67270165e-04 9.97751294e-01 5.43042153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:79.51, Y:11.54, Z:5.44 [[ 9.50677699e-01 -3.03500139e-01 -6.40279550e-02 7.95136907e+01] [ 3.02852869e-01 9.52831235e-01 -1.98185971e-02 1.15388986e+01] [ 6.70227824e-02 -5.49951555e-04 9.97751294e-01 5.43752041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.57, Y:11.56, Z:5.44 [[ 9.50976739e-01 -3.02562221e-01 -6.40261253e-02 7.95690776e+01] [ 3.01912429e-01 9.53129516e-01 -1.98245064e-02 1.15564617e+01] [ 6.70233365e-02 -4.77638621e-04 9.97751294e-01 5.44369549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:11.57, Z:5.45 [[ 9.51492245e-01 -3.00938352e-01 -6.40204272e-02 7.96245371e+01] [ 3.00283649e-01 9.53643534e-01 -1.98428905e-02 1.15742853e+01] [ 6.70241532e-02 -3.43931080e-04 9.97751294e-01 5.44664236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:79.68, Y:11.59, Z:5.45 [[ 9.52716832e-01 -2.97039997e-01 -6.40146651e-02 7.96795173e+01] [ 2.96375243e-01 9.54865036e-01 -1.98614622e-02 1.15923833e+01] [ 6.70250142e-02 -5.00125579e-05 9.97751294e-01 5.44842725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:79.73, Y:11.61, Z:5.45 [[ 9.54722881e-01 -2.90528953e-01 -6.40089628e-02 7.97335391e+01] [ 2.89848318e-01 9.56866106e-01 -1.98798225e-02 1.16113253e+01] [ 6.70236710e-02 4.26831202e-04 9.97751294e-01 5.45359198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.79, Y:11.63, Z:5.46 [[ 9.56208788e-01 -2.85600980e-01 -6.40065093e-02 7.97889939e+01] [ 2.84908772e-01 9.58348303e-01 -1.98877189e-02 1.16292957e+01] [ 6.70204816e-02 7.80795669e-04 9.97751294e-01 5.45879197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.84, Y:11.65, Z:5.46 [[ 9.57758077e-01 -2.80362898e-01 -6.40008703e-02 7.98445252e+01] [ 2.79657778e-01 9.59893371e-01 -1.99058494e-02 1.16468795e+01] [ 6.70148727e-02 1.16664682e-03 9.97751295e-01 5.46303713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:79.90, Y:11.66, Z:5.46 [[ 9.58613384e-01 -2.77425669e-01 -6.39951503e-02 7.99002342e+01] [ 2.76712781e-01 9.60746097e-01 -1.99242216e-02 1.16633006e+01] [ 6.70105813e-02 1.39134951e-03 9.97751295e-01 5.46371600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:79.96, Y:11.68, Z:5.47 [[ 9.58874814e-01 -2.76522055e-01 -6.39894107e-02 7.99556059e+01] [ 2.75805928e-01 9.61006442e-01 -1.99426380e-02 1.16791784e+01] [ 6.70088151e-02 1.47383443e-03 9.97751295e-01 5.46575403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:11.69, Z:5.47 [[ 9.58375457e-01 -2.78249104e-01 -6.39837451e-02 8.00123317e+01] [ 2.77535607e-01 9.60507966e-01 -1.99607991e-02 1.16935311e+01] [ 6.70109713e-02 1.37217242e-03 9.97751295e-01 5.47021322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25999999999999 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:11.71, Z:5.47 [[ 9.57760951e-01 -2.80358106e-01 -6.39788448e-02 8.00697886e+01] [ 2.79648257e-01 9.59894677e-01 -1.99764933e-02 1.17087668e+01] [ 6.70135244e-02 1.24113278e-03 9.97751295e-01 5.46722290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.13, Y:11.72, Z:5.48 [[ 9.57066949e-01 -2.82719423e-01 -6.39733023e-02 8.01261232e+01] [ 2.82013654e-01 9.59202028e-01 -1.99942271e-02 1.17244203e+01] [ 6.70160776e-02 1.09446919e-03 9.97751295e-01 5.47582703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.18, Y:11.74, Z:5.48 [[ 9.56667505e-01 -2.84069443e-01 -6.39674715e-02 8.01814752e+01] [ 2.83365441e-01 9.58803167e-01 -2.00128640e-02 1.17414704e+01] [ 6.70172574e-02 1.01948591e-03 9.97751296e-01 5.47932124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:80.24, Y:11.76, Z:5.48 [[ 9.55780613e-01 -2.87040597e-01 -6.39618214e-02 8.02375046e+01] [ 2.86342027e-01 9.57918058e-01 -2.00309059e-02 1.17579073e+01] [ 6.70198669e-02 8.30193931e-04 9.97751296e-01 5.48174529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.5 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:80.29, Y:11.78, Z:5.49 [[ 9.54766292e-01 -2.90397890e-01 -6.39561861e-02 8.02930899e+01] [ 2.89705632e-01 9.56905789e-01 -2.00488826e-02 1.17758116e+01] [ 6.70221979e-02 6.13529919e-04 9.97751296e-01 5.48818085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.35, Y:11.79, Z:5.50 [[ 9.53812909e-01 -2.93515220e-01 -6.39511498e-02 8.03483551e+01] [ 2.92828878e-01 9.55954312e-01 -2.00649345e-02 1.17946766e+01] [ 6.70237410e-02 4.11450064e-04 9.97751296e-01 5.49662227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.40, Y:11.81, Z:5.50 [[ 9.52635480e-01 -2.97315560e-01 -6.39460770e-02 8.04031759e+01] [ 2.96636677e-01 9.54779258e-01 -2.00810881e-02 1.18120323e+01] [ 6.70248079e-02 1.61205258e-04 9.97751296e-01 5.50133819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:80.46, Y:11.83, Z:5.50 [[ 9.49858839e-01 -3.06071586e-01 -6.39403706e-02 8.04592323e+01] [ 3.05411243e-01 9.52008400e-01 -2.00992415e-02 1.18302324e+01] [ 6.70235766e-02 -4.36665879e-04 9.97751296e-01 5.50165007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:80.51, Y:11.85, Z:5.51 [[ 9.46918382e-01 -3.15052094e-01 -6.39355591e-02 8.05147552e+01] [ 3.14411102e-01 9.49073793e-01 -2.01145352e-02 1.18479473e+01] [ 6.70166900e-02 -1.05522652e-03 9.97751297e-01 5.50846323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:11.87, Z:5.51 [[ 9.44463308e-01 -3.22338302e-01 -6.39302662e-02 8.05696420e+01] [ 3.21712798e-01 9.46623264e-01 -2.01313437e-02 1.18654382e+01] [ 6.70069804e-02 -1.55386936e-03 9.97751297e-01 5.51304999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:11.89, Z:5.51 [[ 9.41653187e-01 -3.30458669e-01 -6.39245144e-02 8.06242549e+01] [ 3.29850549e-01 9.43818102e-01 -2.01495912e-02 1.18912423e+01] [ 6.69917210e-02 -2.11160938e-03 9.97751297e-01 5.50584358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:11.90, Z:5.52 [[ 9.43898804e-01 -3.23989734e-01 -6.39194826e-02 8.06813329e+01] [ 3.23365694e-01 9.46059184e-01 -2.01655408e-02 1.19043179e+01] [ 6.70050417e-02 -1.63513807e-03 9.97751297e-01 5.51884710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:11.93, Z:5.51 [[ 9.43629245e-01 -3.24774966e-01 -6.39145453e-02 8.07347589e+01] [ 3.24151666e-01 9.45789838e-01 -2.01811774e-02 1.19328629e+01] [ 6.70040687e-02 -1.67445712e-03 9.97751297e-01 5.51225421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:11.94, Z:5.53 [[ 9.46772494e-01 -3.15495588e-01 -6.39091367e-02 8.07908339e+01] [ 3.14849952e-01 9.48926518e-01 -2.01982908e-02 1.19439196e+01] [ 6.70175462e-02 -9.98602510e-04 9.97751297e-01 5.52815874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.1 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:80.84, Y:11.97, Z:5.53 [[ 9.49691618e-01 -3.06596961e-01 -6.39072391e-02 8.08437961e+01] [ 3.05930735e-01 9.51839362e-01 -2.02042930e-02 1.19651720e+01] [ 6.70240006e-02 -3.63340936e-04 9.97751297e-01 5.52951248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:11.99, Z:5.53 [[ 9.52375168e-01 -2.98157512e-01 -6.39033359e-02 8.08987542e+01] [ 2.97471427e-01 9.54516652e-01 -2.02166308e-02 1.19861647e+01] [ 6.70245386e-02 2.44400694e-04 9.97751297e-01 5.53267883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:80.95, Y:12.01, Z:5.54 [[ 9.54876471e-01 -2.90048120e-01 -6.38984587e-02 8.09525024e+01] [ 2.89342818e-01 9.57011702e-01 -2.02320345e-02 1.20058809e+01] [ 6.70198363e-02 8.30533572e-04 9.97751298e-01 5.53808173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.01, Y:12.02, Z:5.54 [[ 9.56550278e-01 -2.84479827e-01 -6.38967460e-02 8.10070420e+01] [ 2.83761736e-01 9.58681242e-01 -2.02374419e-02 1.20241111e+01] [ 6.70137558e-02 1.22667912e-03 9.97751298e-01 5.54343317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:81.06, Y:12.04, Z:5.54 [[ 9.56901276e-01 -2.83298223e-01 -6.38910430e-02 8.10621592e+01] [ 2.82576299e-01 9.59030945e-01 -2.02554308e-02 1.20415848e+01] [ 6.70118149e-02 1.32835306e-03 9.97751298e-01 5.54415293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39999999999999 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:81.12, Y:12.06, Z:5.55 [[ 9.57393144e-01 -2.81632828e-01 -6.38851903e-02 8.11186785e+01] [ 2.80905971e-01 9.59521134e-01 -2.02738735e-02 1.20572184e+01] [ 6.70089785e-02 1.46433611e-03 9.97751298e-01 5.54544881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:12.07, Z:5.55 [[ 9.57888152e-01 -2.79945759e-01 -6.38800411e-02 8.11757291e+01] [ 2.79214073e-01 9.60014486e-01 -2.02900848e-02 1.20733292e+01] [ 6.70058880e-02 1.59942537e-03 9.97751298e-01 5.54813747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.23, Y:12.09, Z:5.55 [[ 9.58429056e-01 -2.78089436e-01 -6.38749535e-02 8.12318635e+01] [ 2.77352566e-01 9.60553599e-01 -2.03060884e-02 1.20877435e+01] [ 6.70022252e-02 1.74606291e-03 9.97751298e-01 5.55418078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:81.29, Y:12.10, Z:5.56 [[ 9.57793111e-01 -2.80273223e-01 -6.38692143e-02 8.12885632e+01] [ 2.79539996e-01 9.59918914e-01 -2.03241240e-02 1.21008133e+01] [ 6.70055746e-02 1.61230603e-03 9.97751298e-01 5.55695412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.34, Y:12.12, Z:5.55 [[ 9.55236468e-01 -2.88868076e-01 -6.38633325e-02 8.13435237e+01] [ 2.88152745e-01 9.57368359e-01 -2.03425893e-02 1.21198220e+01] [ 6.70170585e-02 1.02958853e-03 9.97751299e-01 5.55289969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.40, Y:12.13, Z:5.57 [[ 9.55942575e-01 -2.86523120e-01 -6.38615306e-02 8.13996128e+01] [ 2.85802182e-01 9.58072576e-01 -2.03482446e-02 1.21317417e+01] [ 6.70142237e-02 1.19998857e-03 9.97751299e-01 5.56606653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.45, Y:12.15, Z:5.57 [[ 9.55919910e-01 -2.86599113e-01 -6.38597999e-02 8.14546542e+01] [ 2.85877982e-01 9.58049846e-01 -2.03536748e-02 1.21503068e+01] [ 6.70142166e-02 1.20037230e-03 9.97751299e-01 5.56893648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:81.51, Y:12.17, Z:5.57 [[ 9.56328227e-01 -2.85234904e-01 -6.38542952e-02 8.15106483e+01] [ 2.84509583e-01 9.58456740e-01 -2.03709296e-02 1.21685182e+01] [ 6.70120798e-02 1.31413613e-03 9.97751299e-01 5.57229837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.57, Y:12.19, Z:5.58 [[ 9.56782791e-01 -2.83707554e-01 -6.38491569e-02 8.15660975e+01] [ 2.82977761e-01 9.58909775e-01 -2.03870219e-02 1.21856183e+01] [ 6.70095328e-02 1.43806025e-03 9.97751299e-01 5.57711008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:12.20, Z:5.58 [[ 9.57077200e-01 -2.82714104e-01 -6.38433177e-02 8.16203709e+01] [ 2.81980885e-01 9.59203005e-01 -2.04052914e-02 1.22041314e+01] [ 6.70075659e-02 1.52684393e-03 9.97751299e-01 5.58209387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.0 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:12.22, Z:5.58 [[ 9.56841724e-01 -2.83510449e-01 -6.38415240e-02 8.16753223e+01] [ 2.82778626e-01 9.58968010e-01 -2.04109019e-02 1.22232694e+01] [ 6.70086832e-02 1.47698411e-03 9.97751299e-01 5.58390939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:12.24, Z:5.59 [[ 9.57039937e-01 -2.82841965e-01 -6.38355889e-02 8.17308065e+01] [ 2.82107420e-01 9.59165284e-01 -2.04294473e-02 1.22413289e+01] [ 6.70071857e-02 1.54330367e-03 9.97751299e-01 5.59204690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:12.26, Z:5.60 [[ 9.56721343e-01 -2.83918903e-01 -6.38304734e-02 8.17863574e+01] [ 2.83185686e-01 9.58847148e-01 -2.04454180e-02 1.22593186e+01] [ 6.70085080e-02 1.48469143e-03 9.97751299e-01 5.59772083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17999999999999 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:81.84, Y:12.28, Z:5.60 [[ 9.56006008e-01 -2.86319468e-01 -6.38253422e-02 8.18412307e+01] [ 2.85590520e-01 9.58133281e-01 -2.04614237e-02 1.22778585e+01] [ 6.70116885e-02 1.33333132e-03 9.97751300e-01 5.59752685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:81.89, Y:12.30, Z:5.60 [[ 9.55484400e-01 -2.88056658e-01 -6.38194532e-02 8.18949492e+01] [ 2.87330354e-01 9.57612577e-01 -2.04797752e-02 1.22950503e+01] [ 6.70136466e-02 1.23083970e-03 9.97751300e-01 5.60222910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.3 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:81.95, Y:12.31, Z:5.61 [[ 9.54819501e-01 -2.90253546e-01 -6.38169246e-02 8.19504144e+01] [ 2.89531612e-01 9.56949164e-01 -2.04876515e-02 1.23121789e+01] [ 6.70161661e-02 1.08499211e-03 9.97751300e-01 5.60631244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.01, Y:12.34, Z:5.60 [[ 9.51977488e-01 -2.99444456e-01 -6.38112800e-02 8.20051786e+01] [ 2.98741908e-01 9.54113624e-01 -2.05052173e-02 1.23357160e+01] [ 6.70233853e-02 4.57401777e-04 9.97751300e-01 5.60078007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.06, Y:12.35, Z:5.60 [[ 9.50920330e-01 -3.02785964e-01 -6.38058519e-02 8.20611105e+01] [ 3.02089789e-01 9.53058552e-01 -2.05220938e-02 1.23511497e+01] [ 6.70245148e-02 2.39779821e-04 9.97751300e-01 5.60484522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.12, Y:12.36, Z:5.62 [[ 9.51900077e-01 -2.99692936e-01 -6.37995920e-02 8.21176040e+01] [ 2.98988511e-01 9.54035594e-01 -2.05415365e-02 1.23608379e+01] [ 6.70232351e-02 4.78145187e-04 9.97751300e-01 5.61518324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:82.17, Y:12.38, Z:5.61 [[ 9.49646764e-01 -3.06758828e-01 -6.37969078e-02 8.21727990e+01] [ 3.06069733e-01 9.51787277e-01 -2.05498695e-02 1.23838791e+01] [ 6.70249391e-02 -1.11854380e-05 9.97751300e-01 5.60706466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.6 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:82.23, Y:12.40, Z:5.61 [[ 9.49509649e-01 -3.07184093e-01 -6.37915351e-02 8.22291347e+01] [ 3.06494837e-01 9.51650110e-01 -2.05665343e-02 1.23992418e+01] [ 6.70249336e-02 -2.36534100e-05 9.97751301e-01 5.61161955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.29, Y:12.41, Z:5.63 [[ 9.51864033e-01 -2.99810456e-01 -6.37852190e-02 8.22852343e+01] [ 2.99103308e-01 9.53998650e-01 -2.05861043e-02 1.24099426e+01] [ 6.70229421e-02 5.16802248e-04 9.97751301e-01 5.62879660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:82.34, Y:12.44, Z:5.62 [[ 9.49799955e-01 -3.06287022e-01 -6.37832728e-02 8.23395917e+01] [ 3.05594026e-01 9.51939208e-01 -2.05921327e-02 1.24355174e+01] [ 6.70249012e-02 6.66196256e-05 9.97751301e-01 5.62174157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:82.39, Y:12.45, Z:5.63 [[ 9.49784194e-01 -3.06337047e-01 -6.37777312e-02 8.23947386e+01] [ 3.05643012e-01 9.51923110e-01 -2.06092817e-02 1.24544077e+01] [ 6.70248828e-02 8.11522082e-05 9.97751301e-01 5.62600894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.45, Y:12.47, Z:5.64 [[ 9.52144620e-01 -2.98920928e-01 -6.37722612e-02 8.24507944e+01] [ 2.98209101e-01 9.54277681e-01 -2.06261940e-02 1.24652586e+01] [ 6.70220466e-02 6.21650935e-04 9.97751301e-01 5.64158018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89999999999999 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:82.51, Y:12.48, Z:5.64 [[ 9.51664984e-01 -3.00444836e-01 -6.37703535e-02 8.25063595e+01] [ 2.99736030e-01 9.53799051e-01 -2.06320905e-02 1.24835761e+01] [ 6.70229077e-02 5.20565511e-04 9.97751301e-01 5.63985012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.56, Y:12.51, Z:5.64 [[ 9.50146130e-01 -3.05214520e-01 -6.37685512e-02 8.25597925e+01] [ 3.04516053e-01 9.52283603e-01 -2.06376595e-02 1.25082259e+01] [ 6.70246590e-02 1.90244817e-04 9.97751301e-01 5.63655623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:82.62, Y:12.52, Z:5.65 [[ 9.51314513e-01 -3.01554402e-01 -6.37623727e-02 8.26165285e+01] [ 3.00846433e-01 9.53448857e-01 -2.06567310e-02 1.25191104e+01] [ 6.70232895e-02 4.68365609e-04 9.97751301e-01 5.64705476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.67, Y:12.54, Z:5.65 [[ 9.50897836e-01 -3.02866152e-01 -6.37604824e-02 8.26706056e+01] [ 3.02160736e-01 9.53033026e-01 -2.06625639e-02 1.25357312e+01] [ 6.70238367e-02 3.82073021e-04 9.97751301e-01 5.65253465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:82.73, Y:12.55, Z:5.66 [[ 9.49392287e-01 -3.07553893e-01 -6.37564761e-02 8.27259634e+01] [ 3.06858190e-01 9.51530661e-01 -2.06749185e-02 1.25520276e+01] [ 6.70248935e-02 6.44112616e-05 9.97751301e-01 5.65545995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.78, Y:12.58, Z:5.65 [[ 9.47303645e-01 -3.13929383e-01 -6.37506641e-02 8.27804885e+01] [ 3.13246867e-01 9.49446264e-01 -2.06928242e-02 1.25758283e+01] [ 6.70239154e-02 -3.67308029e-04 9.97751302e-01 5.65323670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25999999999999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:82.84, Y:12.59, Z:5.66 [[ 9.47234618e-01 -3.14138740e-01 -6.37450461e-02 8.28352604e+01] [ 3.13455533e-01 9.49377017e-01 -2.07101163e-02 1.25939291e+01] [ 6.70239315e-02 -3.63898298e-04 9.97751302e-01 5.65767916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:82.89, Y:12.61, Z:5.67 [[ 9.48666673e-01 -3.09787611e-01 -6.37430788e-02 8.28913908e+01] [ 3.09094171e-01 9.50805781e-01 -2.07161698e-02 1.26065893e+01] [ 6.70249005e-02 -4.98742138e-05 9.97751302e-01 5.66790229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:82.95, Y:12.63, Z:5.66 [[ 9.47377155e-01 -3.13709388e-01 -6.37412445e-02 8.29455995e+01] [ 3.13024424e-01 9.49518992e-01 -2.07218121e-02 1.26305106e+01] [ 6.70241492e-02 -3.21194922e-04 9.97751302e-01 5.66287094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:12.65, Z:5.67 [[ 9.47576333e-01 -3.13108298e-01 -6.37360816e-02 8.30008463e+01] [ 3.12420907e-01 9.49717392e-01 -2.07376799e-02 1.26495055e+01] [ 6.70244049e-02 -2.61949749e-04 9.97751302e-01 5.66766752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.5 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:12.66, Z:5.68 [[ 9.49047797e-01 -3.08620801e-01 -6.37297409e-02 8.30572591e+01] [ 3.07921979e-01 9.51185153e-01 -2.07571476e-02 1.26613375e+01] [ 6.70248709e-02 7.57371980e-05 9.97751302e-01 5.68056446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:12.69, Z:5.68 [[ 9.46629249e-01 -3.15961757e-01 -6.37278047e-02 8.31108422e+01] [ 3.15279109e-01 9.48771826e-01 -2.07630904e-02 1.26874941e+01] [ 6.70234881e-02 -4.37096841e-04 9.97751302e-01 5.67583008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:12.71, Z:5.68 [[ 9.46251594e-01 -3.17092168e-01 -6.37218882e-02 8.31656493e+01] [ 3.16410858e-01 9.48394596e-01 -2.07812322e-02 1.27060099e+01] [ 6.70230604e-02 -4.98023302e-04 9.97751302e-01 5.68026675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.22, Y:12.72, Z:5.68 [[ 9.45631231e-01 -3.18938717e-01 -6.37155401e-02 8.32204974e+01] [ 3.18260282e-01 9.47775145e-01 -2.08006775e-02 1.27248622e+01] [ 6.70221466e-02 -6.08355461e-04 9.97751303e-01 5.68224850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.28, Y:12.73, Z:5.70 [[ 9.48250097e-01 -3.11067338e-01 -6.37092170e-02 8.32773288e+01] [ 3.10369806e-01 9.50387874e-01 -2.08200262e-02 1.27347757e+01] [ 6.70248974e-02 -3.08253832e-05 9.97751303e-01 5.69725691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.8 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:83.33, Y:12.75, Z:5.70 [[ 9.48167617e-01 -3.11319052e-01 -6.37072812e-02 8.33317520e+01] [ 3.10621689e-01 9.50305449e-01 -2.08259477e-02 1.27533863e+01] [ 6.70248908e-02 -4.23740581e-05 9.97751303e-01 5.69796866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.38, Y:12.78, Z:5.69 [[ 9.46459370e-01 -3.16474761e-01 -6.37054659e-02 8.33842810e+01] [ 3.15788670e-01 9.48600846e-01 -2.08314993e-02 1.27806939e+01] [ 6.70237026e-02 -4.01296647e-04 9.97751303e-01 5.69435267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:83.44, Y:12.80, Z:5.70 [[ 9.46382005e-01 -3.16707334e-01 -6.36990249e-02 8.34397354e+01] [ 3.16020445e-01 9.48523224e-01 -2.08511761e-02 1.27994551e+01] [ 6.70237249e-02 -3.97016328e-04 9.97751303e-01 5.69748984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.50, Y:12.81, Z:5.71 [[ 9.49074988e-01 -3.08544660e-01 -6.36934841e-02 8.34951648e+01] [ 3.07838219e-01 9.51209837e-01 -2.08680879e-02 1.28102400e+01] [ 6.70246057e-02 1.98091516e-04 9.97751303e-01 5.71212708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.55, Y:12.83, Z:5.72 [[ 9.49834956e-01 -3.06197717e-01 -6.36907712e-02 8.35495223e+01] [ 3.05485447e-01 9.51967867e-01 -2.08763644e-02 1.28301744e+01] [ 6.70238627e-02 3.72496976e-04 9.97751303e-01 5.71561465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.1 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:83.60, Y:12.86, Z:5.71 [[ 9.49373455e-01 -3.07626860e-01 -6.36848325e-02 8.36029380e+01] [ 3.06916587e-01 9.51507031e-01 -2.08944652e-02 1.28574187e+01] [ 6.70242646e-02 2.90719182e-04 9.97751303e-01 5.71084827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.66, Y:12.88, Z:5.71 [[ 9.50338103e-01 -3.04634940e-01 -6.36792220e-02 8.36577293e+01] [ 3.03916804e-01 9.52469046e-01 -2.09115501e-02 1.28761643e+01] [ 6.70228767e-02 5.19857195e-04 9.97751304e-01 5.71419860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:83.71, Y:12.90, Z:5.72 [[ 9.51440707e-01 -3.01174945e-01 -6.36728619e-02 8.37127894e+01] [ 3.00447766e-01 9.53568580e-01 -2.09308980e-02 1.28952218e+01] [ 6.70203026e-02 7.84139360e-04 9.97751304e-01 5.71883247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:83.77, Y:12.91, Z:5.72 [[ 9.51505164e-01 -3.00972581e-01 -6.36665433e-02 8.37682916e+01] [ 3.00243664e-01 9.53632442e-01 -2.09501000e-02 1.29122300e+01] [ 6.70198869e-02 8.18652053e-04 9.97751304e-01 5.72384223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:83.82, Y:12.93, Z:5.73 [[ 9.52391506e-01 -2.98157324e-01 -6.36602601e-02 8.38241443e+01] [ 2.97420845e-01 9.54516178e-01 -2.09691753e-02 1.29251780e+01] [ 6.70168614e-02 1.03697616e-03 9.97751304e-01 5.73349197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.88, Y:12.94, Z:5.74 [[ 9.51132984e-01 -3.02148414e-01 -6.36583279e-02 8.38795372e+01] [ 3.01420458e-01 9.53260591e-01 -2.09750392e-02 1.29445020e+01] [ 6.70205502e-02 7.62129259e-04 9.97751304e-01 5.73843696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:83.94, Y:12.96, Z:5.74 [[ 9.50762630e-01 -3.03312888e-01 -6.36530640e-02 8.39350265e+01] [ 3.02586470e-01 9.52890763e-01 -2.09910017e-02 1.29612813e+01] [ 6.70212581e-02 6.96904071e-04 9.97751304e-01 5.74159066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.99, Y:12.98, Z:5.75 [[ 9.51394061e-01 -3.01327736e-01 -6.36469626e-02 8.39902952e+01] [ 3.00595640e-01 9.53520248e-01 -2.10094855e-02 1.29771547e+01] [ 6.70194082e-02 8.56300258e-04 9.97751305e-01 5.74566534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.05, Y:12.99, Z:5.75 [[ 9.51485106e-01 -3.01040523e-01 -6.36450889e-02 8.40466744e+01] [ 3.00307407e-01 9.53610940e-01 -2.10151600e-02 1.29947884e+01] [ 6.70190678e-02 8.82520101e-04 9.97751305e-01 5.74735015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.10, Y:13.01, Z:5.75 [[ 9.51673698e-01 -3.00444864e-01 -6.36400468e-02 8.41025821e+01] [ 2.99709397e-01 9.53798720e-01 -2.10304179e-02 1.30128038e+01] [ 6.70182763e-02 9.40575496e-04 9.97751305e-01 5.75117396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:13.03, Z:5.75 [[ 9.51981130e-01 -2.99470439e-01 -6.36347714e-02 8.41582880e+01] [ 2.98731731e-01 9.54105028e-01 -2.10463686e-02 1.30305590e+01] [ 6.70170205e-02 1.02602037e-03 9.97751305e-01 5.75394210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:13.05, Z:5.76 [[ 9.52004137e-01 -2.99398561e-01 -6.36288071e-02 8.42144071e+01] [ 2.98658488e-01 9.54127559e-01 -2.10643847e-02 1.30485355e+01] [ 6.70166449e-02 1.05009804e-03 9.97751305e-01 5.75847274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:13.07, Z:5.76 [[ 9.52387410e-01 -2.98178219e-01 -6.36236716e-02 8.42694083e+01] [ 2.97434391e-01 9.54509519e-01 -2.10798849e-02 1.30668431e+01] [ 6.70149627e-02 1.15234893e-03 9.97751305e-01 5.76445405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:13.08, Z:5.77 [[ 9.52118567e-01 -2.99035939e-01 -6.36218686e-02 8.43240732e+01] [ 2.98293659e-01 9.54241218e-01 -2.10853252e-02 1.30849879e+01] [ 6.70158794e-02 1.09772963e-03 9.97751305e-01 5.76741447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:84.38, Y:13.10, Z:5.77 [[ 9.51741743e-01 -3.00234377e-01 -6.36158265e-02 8.43795861e+01] [ 2.99493552e-01 9.53864903e-01 -2.11035387e-02 1.31044343e+01] [ 6.70169120e-02 1.03258884e-03 9.97751305e-01 5.77186427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:13.12, Z:5.78 [[ 9.52343292e-01 -2.98321896e-01 -6.36105303e-02 8.44341466e+01] [ 2.97575743e-01 9.54464585e-01 -2.11194905e-02 1.31233418e+01] [ 6.70144049e-02 1.18405431e-03 9.97751305e-01 5.77750286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:13.14, Z:5.78 [[ 9.52754893e-01 -2.97006044e-01 -6.36044369e-02 8.44886494e+01] [ 2.96255738e-01 9.54874720e-01 -2.11378258e-02 1.31429203e+01] [ 6.70123309e-02 1.29598760e-03 9.97751306e-01 5.77893805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:84.54, Y:13.16, Z:5.78 [[ 9.52883954e-01 -2.96593011e-01 -6.35983972e-02 8.45439084e+01] [ 2.95840574e-01 9.55003026e-01 -2.11559823e-02 1.31627661e+01] [ 6.70113783e-02 1.34420967e-03 9.97751306e-01 5.78073117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17999999999999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:84.60, Y:13.18, Z:5.78 [[ 9.52533817e-01 -2.97716722e-01 -6.35930842e-02 8.45979535e+01] [ 2.96965720e-01 9.54653398e-01 -2.11719407e-02 1.31805647e+01] [ 6.70125947e-02 1.28202340e-03 9.97751306e-01 5.78387544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:84.65, Y:13.20, Z:5.79 [[ 9.51025885e-01 -3.02499932e-01 -6.35889742e-02 8.46542167e+01] [ 3.01758767e-01 9.53148925e-01 -2.11842778e-02 1.31965874e+01] [ 6.70180050e-02 9.58266129e-04 9.97751306e-01 5.78747222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.3 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:84.71, Y:13.21, Z:5.79 [[ 9.49967711e-01 -3.05807902e-01 -6.35836039e-02 8.47091332e+01] [ 3.05073052e-01 9.52092945e-01 -2.12003842e-02 1.32125736e+01] [ 6.70207457e-02 7.42036391e-04 9.97751306e-01 5.79284918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.77, Y:13.23, Z:5.80 [[ 9.47912102e-01 -3.12122034e-01 -6.35805225e-02 8.47661453e+01] [ 3.11400722e-01 9.50041969e-01 -2.12096214e-02 1.32276688e+01] [ 6.70241550e-02 3.05836259e-04 9.97751306e-01 5.79983512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.82, Y:13.24, Z:5.81 [[ 9.45480741e-01 -3.19412536e-01 -6.35751495e-02 8.48231550e+01] [ 3.18706565e-01 9.47615742e-01 -2.12257146e-02 1.32424933e+01] [ 6.70245718e-02 -1.93313175e-04 9.97751306e-01 5.80639495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.88, Y:13.26, Z:5.80 [[ 9.42320096e-01 -3.28620927e-01 -6.35698263e-02 8.48780751e+01] [ 3.27934743e-01 9.44461538e-01 -2.12416454e-02 1.32640872e+01] [ 6.70197051e-02 -8.30325324e-04 9.97751307e-01 5.80325855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53999999999999 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:84.93, Y:13.28, Z:5.81 [[ 9.41918502e-01 -3.29771312e-01 -6.35642782e-02 8.49339487e+01] [ 3.29086624e-01 9.44060423e-01 -2.12582350e-02 1.32786380e+01] [ 6.70188753e-02 -8.94628826e-04 9.97751307e-01 5.81240075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.6 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:84.99, Y:13.30, Z:5.82 [[ 9.40754523e-01 -3.33077704e-01 -6.35623285e-02 8.49885249e+01] [ 3.32400150e-01 9.42898711e-01 -2.12640630e-02 1.32973842e+01] [ 6.70154229e-02 -1.12386411e-03 9.97751307e-01 5.81641690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.04, Y:13.32, Z:5.82 [[ 9.39424647e-01 -3.36811415e-01 -6.35562959e-02 8.50419252e+01] [ 3.36141164e-01 9.41571129e-01 -2.12820784e-02 1.33163972e+01] [ 6.70108203e-02 -1.37097828e-03 9.97751307e-01 5.82128072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:85.10, Y:13.34, Z:5.82 [[ 9.35654433e-01 -3.47147963e-01 -6.35537053e-02 8.50959760e+01] [ 3.46500893e-01 9.37808016e-01 -2.12898118e-02 1.33430430e+01] [ 6.69918891e-02 -2.10150879e-03 9.97751307e-01 5.81702612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:13.36, Z:5.82 [[ 9.35072150e-01 -3.48714386e-01 -6.35480261e-02 8.51505252e+01] [ 3.48069773e-01 9.37226470e-01 -2.13067503e-02 1.33622258e+01] [ 6.69888625e-02 -2.19579819e-03 9.97751307e-01 5.82435469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:13.38, Z:5.83 [[ 9.36792127e-01 -3.44068274e-01 -6.35415832e-02 8.52062190e+01] [ 3.43411674e-01 9.38942824e-01 -2.13259472e-02 1.33777157e+01] [ 6.69994954e-02 -1.84294200e-03 9.97751307e-01 5.83439476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.26, Y:13.40, Z:5.84 [[ 9.38580386e-01 -3.39160105e-01 -6.35396172e-02 8.52595946e+01] [ 3.38491860e-01 9.40727492e-01 -2.13318033e-02 1.34006344e+01] [ 6.70083614e-02 -1.48603101e-03 9.97751307e-01 5.83772251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.31, Y:13.42, Z:5.84 [[ 9.40460508e-01 -3.33912448e-01 -6.35335310e-02 8.53137026e+01] [ 3.33230997e-01 9.42603460e-01 -2.13499146e-02 1.34231824e+01] [ 6.70159285e-02 -1.09259036e-03 9.97751307e-01 5.84112482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.37, Y:13.45, Z:5.84 [[ 9.43520386e-01 -3.25166949e-01 -6.35274532e-02 8.53670368e+01] [ 3.24464416e-01 9.45656519e-01 -2.13679841e-02 1.34458818e+01] [ 6.70233125e-02 -4.51269405e-04 9.97751308e-01 5.84461889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.42, Y:13.47, Z:5.85 [[ 9.46140653e-01 -3.17462568e-01 -6.35246563e-02 8.54211014e+01] [ 3.16742082e-01 9.48270799e-01 -2.13762958e-02 1.34666289e+01] [ 6.70247503e-02 1.04050578e-04 9.97751308e-01 5.85046255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.47, Y:13.49, Z:5.85 [[ 9.47356796e-01 -3.13816020e-01 -6.35185477e-02 8.54743803e+01] [ 3.13086120e-01 9.49483733e-01 -2.13944320e-02 1.34859911e+01] [ 6.70237433e-02 3.81384959e-04 9.97751308e-01 5.85191056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.2 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:13.51, Z:5.85 [[ 9.48570786e-01 -3.10128452e-01 -6.35122659e-02 8.55289072e+01] [ 3.09389036e-01 9.50694433e-01 -2.14130640e-02 1.35059382e+01] [ 6.70215580e-02 6.61808268e-04 9.97751308e-01 5.85488139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:13.52, Z:5.86 [[ 9.49804583e-01 -3.06329382e-01 -6.35103495e-02 8.55835758e+01] [ 3.05581092e-01 9.51925120e-01 -2.14187467e-02 1.35241810e+01] [ 6.70182884e-02 9.36061839e-04 9.97751308e-01 5.86119303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:13.54, Z:5.86 [[ 9.50342225e-01 -3.04658590e-01 -6.35043205e-02 8.56388759e+01] [ 3.03905379e-01 9.52461019e-01 -2.14366071e-02 1.35414335e+01] [ 6.70162363e-02 1.07280834e-03 9.97751308e-01 5.86272083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.69, Y:13.56, Z:5.86 [[ 9.50613926e-01 -3.03811057e-01 -6.34980740e-02 8.56946856e+01] [ 3.03054722e-01 9.52731607e-01 -2.14550942e-02 1.35575769e+01] [ 6.70149169e-02 1.15212012e-03 9.97751308e-01 5.86294443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.75, Y:13.57, Z:5.87 [[ 9.50478505e-01 -3.04234859e-01 -6.34961538e-02 8.57507894e+01] [ 3.03479089e-01 9.52596388e-01 -2.14607756e-02 1.35740627e+01] [ 6.70153227e-02 1.12825098e-03 9.97751308e-01 5.86584775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.81, Y:13.59, Z:5.87 [[ 9.49619858e-01 -3.06905610e-01 -6.34907197e-02 8.58071541e+01] [ 3.06154723e-01 9.51739477e-01 -2.14768400e-02 1.35883516e+01] [ 6.70179870e-02 9.56850059e-04 9.97751309e-01 5.87005023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.86, Y:13.60, Z:5.88 [[ 9.47727355e-01 -3.12702044e-01 -6.34845892e-02 8.58646606e+01] [ 3.11962909e-01 9.49851099e-01 -2.14949464e-02 1.36014266e+01] [ 6.70224205e-02 5.66511539e-04 9.97751309e-01 5.87691037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.92, Y:13.62, Z:5.88 [[ 9.45940760e-01 -3.18066771e-01 -6.34791960e-02 8.59199929e+01] [ 3.17338613e-01 9.48068293e-01 -2.15108616e-02 1.36168804e+01] [ 6.70245033e-02 2.03600794e-04 9.97751309e-01 5.88112301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.98, Y:13.63, Z:5.88 [[ 9.43646421e-01 -3.24810812e-01 -6.34773026e-02 8.59762608e+01] [ 3.24097482e-01 9.45778972e-01 -2.15164476e-02 1.36330929e+01] [ 6.70242728e-02 -2.68915218e-04 9.97751309e-01 5.88367710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.03, Y:13.65, Z:5.89 [[ 9.41971767e-01 -3.29636985e-01 -6.34716316e-02 8.60314388e+01] [ 3.28933455e-01 9.44107571e-01 -2.15331637e-02 1.36530285e+01] [ 6.70221750e-02 -5.94310764e-04 9.97751309e-01 5.89222971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.09, Y:13.67, Z:5.90 [[ 9.41401596e-01 -3.31262871e-01 -6.34661030e-02 8.60858159e+01] [ 3.30561932e-01 9.43538251e-01 -2.15494462e-02 1.36716290e+01] [ 6.70212272e-02 -6.92794555e-04 9.97751309e-01 5.89666192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:86.14, Y:13.69, Z:5.90 [[ 9.38804743e-01 -3.38553499e-01 -6.34600857e-02 8.61408914e+01] [ 3.37867954e-01 9.40946387e-01 -2.15671519e-02 1.36915789e+01] [ 6.70141730e-02 -1.19378485e-03 9.97751309e-01 5.89875708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.20, Y:13.71, Z:5.90 [[ 9.36214062e-01 -3.45654202e-01 -6.34539392e-02 8.61952181e+01] [ 3.44983674e-01 9.38360455e-01 -2.15852205e-02 1.37113674e+01] [ 6.70036894e-02 -1.68218617e-03 9.97751310e-01 5.90293142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97999999999999 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:13.73, Z:5.91 [[ 9.34288677e-01 -3.50826216e-01 -6.34478848e-02 8.62493485e+01] [ 3.50166362e-01 9.36438375e-01 -2.16030023e-02 1.37330228e+01] [ 6.69939337e-02 -2.03387460e-03 9.97751310e-01 5.90547478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03999999999999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:86.30, Y:13.76, Z:5.90 [[ 9.31277156e-01 -3.58745040e-01 -6.34417464e-02 8.63032469e+01] [ 3.58102234e-01 9.33432012e-01 -2.16210140e-02 1.37590886e+01] [ 6.69749886e-02 -2.58347467e-03 9.97751310e-01 5.90473638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.36, Y:13.78, Z:5.92 [[ 9.31353254e-01 -3.58548444e-01 -6.34360247e-02 8.63566043e+01] [ 3.57904042e-01 9.33507634e-01 -2.16377887e-02 1.37781413e+01] [ 6.69762088e-02 -2.55158473e-03 9.97751310e-01 5.91808916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:86.41, Y:13.80, Z:5.92 [[ 9.30271264e-01 -3.61346788e-01 -6.34340197e-02 8.64096367e+01] [ 3.60708465e-01 9.32427453e-01 -2.16436649e-02 1.38040956e+01] [ 6.69684902e-02 -2.74670840e-03 9.97751310e-01 5.91962849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:86.46, Y:13.83, Z:5.92 [[ 9.30478677e-01 -3.60813445e-01 -6.34278332e-02 8.64611895e+01] [ 3.60172654e-01 9.32634133e-01 -2.16617797e-02 1.38304981e+01] [ 6.69708236e-02 -2.68914690e-03 9.97751310e-01 5.92281762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:86.51, Y:13.85, Z:5.92 [[ 9.31661990e-01 -3.57747374e-01 -6.34251717e-02 8.65149113e+01] [ 3.57098959e-01 9.33815165e-01 -2.16695698e-02 1.38522320e+01] [ 6.69796188e-02 -2.46034831e-03 9.97751310e-01 5.92476205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:86.56, Y:13.88, Z:5.93 [[ 9.32810203e-01 -3.54743904e-01 -6.34183485e-02 8.65643694e+01] [ 3.54087201e-01 9.34960865e-01 -2.16895200e-02 1.38818702e+01] [ 6.69878990e-02 -2.22341990e-03 9.97751311e-01 5.92916873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39999999999999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:86.62, Y:13.91, Z:5.93 [[ 9.33894570e-01 -3.51879877e-01 -6.34151704e-02 8.66174969e+01] [ 3.51215947e-01 9.36043012e-01 -2.16988082e-02 1.39063823e+01] [ 6.69947011e-02 -2.00801998e-03 9.97751311e-01 5.93137235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:86.67, Y:13.93, Z:5.93 [[ 9.35452066e-01 -3.47719286e-01 -6.34092314e-02 8.66700778e+01] [ 3.47044625e-01 9.37597162e-01 -2.17161497e-02 1.39330942e+01] [ 6.70034394e-02 -1.69141583e-03 9.97751311e-01 5.93448110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.72, Y:13.96, Z:5.94 [[ 9.36154366e-01 -3.45825123e-01 -6.34033675e-02 8.67233061e+01] [ 3.45144963e-01 9.38297725e-01 -2.17332566e-02 1.39579802e+01] [ 6.70071416e-02 -1.53766987e-03 9.97751311e-01 5.93758404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.78, Y:13.98, Z:5.94 [[ 9.37077695e-01 -3.43316548e-01 -6.33966997e-02 8.67768062e+01] [ 3.42629336e-01 9.39218802e-01 -2.17526894e-02 1.39792830e+01] [ 6.70114306e-02 -1.33760909e-03 9.97751311e-01 5.94289034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:86.83, Y:14.00, Z:5.95 [[ 9.38766436e-01 -3.38672829e-01 -6.33900136e-02 8.68284741e+01] [ 3.37973710e-01 9.40903685e-01 -2.17721562e-02 1.40042688e+01] [ 6.70175351e-02 -9.85188587e-04 9.97751311e-01 5.94634250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.7 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:86.88, Y:14.03, Z:5.95 [[ 9.40349311e-01 -3.34253261e-01 -6.33871442e-02 8.68825944e+01] [ 3.33543534e-01 9.42483061e-01 -2.17805070e-02 1.40264626e+01] [ 6.70215152e-02 -6.61087359e-04 9.97751311e-01 5.94839652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75999999999999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:86.94, Y:14.05, Z:5.95 [[ 9.41609542e-01 -3.30687677e-01 -6.33808398e-02 8.69370006e+01] [ 3.29968636e-01 9.43740171e-01 -2.17988374e-02 1.40473064e+01] [ 6.70236514e-02 -3.87695952e-04 9.97751312e-01 5.95251419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:14.07, Z:5.95 [[ 9.43606741e-01 -3.24946114e-01 -6.33746074e-02 8.69909324e+01] [ 3.24212892e-01 9.45732532e-01 -2.18169415e-02 1.40682541e+01] [ 6.70247582e-02 3.97483381e-05 9.97751312e-01 5.95494188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:87.05, Y:14.09, Z:5.96 [[ 9.44735234e-01 -3.21651652e-01 -6.33683867e-02 8.70456473e+01] [ 3.20909806e-01 9.46858030e-01 -2.18349947e-02 1.40874054e+01] [ 6.70241280e-02 2.92752107e-04 9.97751312e-01 5.96010529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:14.10, Z:5.96 [[ 9.45818587e-01 -3.18453179e-01 -6.33622392e-02 8.71012131e+01] [ 3.17702961e-01 9.47938438e-01 -2.18528195e-02 1.41039391e+01] [ 6.70226019e-02 5.38431905e-04 9.97751312e-01 5.96394586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.0 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:14.12, Z:5.97 [[ 9.46490819e-01 -3.16450867e-01 -6.33559689e-02 8.71572463e+01] [ 3.15694949e-01 9.48608644e-01 -2.18709834e-02 1.41198558e+01] [ 6.70211114e-02 6.99525687e-04 9.97751312e-01 5.96805066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:87.21, Y:14.14, Z:5.97 [[ 9.46193451e-01 -3.17340156e-01 -6.33496486e-02 8.72128066e+01] [ 3.16585004e-01 9.48311550e-01 -2.18892750e-02 1.41371064e+01] [ 6.70215494e-02 6.55939967e-04 9.97751313e-01 5.96771439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11999999999999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:14.15, Z:5.98 [[ 9.47801386e-01 -3.12506293e-01 -6.33431027e-02 8.72688114e+01] [ 3.11739074e-01 9.49915144e-01 -2.19082013e-02 1.41495527e+01] [ 6.70170232e-02 1.01810336e-03 9.97751313e-01 5.97599094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17999999999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:14.16, Z:5.98 [[ 9.49155705e-01 -3.08369351e-01 -6.33386990e-02 8.73259964e+01] [ 3.07592072e-01 9.51265783e-01 -2.19209254e-02 1.41628111e+01] [ 6.70116786e-02 1.32388973e-03 9.97751313e-01 5.97834462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:87.38, Y:14.18, Z:5.98 [[ 9.49561887e-01 -3.07117426e-01 -6.33333191e-02 8.73829720e+01] [ 3.06336329e-01 9.51670555e-01 -2.19364578e-02 1.41788147e+01] [ 6.70095234e-02 1.42872774e-03 9.97751313e-01 5.98016425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.3 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:87.44, Y:14.19, Z:5.98 [[ 9.49756738e-01 -3.06515434e-01 -6.33279354e-02 8.74403183e+01] [ 3.05731965e-01 9.51864526e-01 -2.19519889e-02 1.41913070e+01] [ 6.70082386e-02 1.48767520e-03 9.97751313e-01 5.98495522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:87.50, Y:14.20, Z:5.99 [[ 9.48940864e-01 -3.09033311e-01 -6.33217961e-02 8.74981966e+01] [ 3.08254255e-01 9.51050286e-01 -2.19696838e-02 1.42032444e+01] [ 6.70115765e-02 1.32871758e-03 9.97751313e-01 5.99098137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:87.55, Y:14.22, Z:6.00 [[ 9.47904775e-01 -3.12197959e-01 -6.33164448e-02 8.75543829e+01] [ 3.11424917e-01 9.50016409e-01 -2.19850954e-02 1.42168195e+01] [ 6.70153634e-02 1.12145835e-03 9.97751313e-01 5.99562678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47999999999999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:87.61, Y:14.23, Z:6.00 [[ 9.46401239e-01 -3.16727854e-01 -6.33100403e-02 8.76116242e+01] [ 3.15963687e-01 9.48516101e-01 -2.20035230e-02 1.42280659e+01] [ 6.70197212e-02 8.20487644e-04 9.97751314e-01 6.00297121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.67, Y:14.24, Z:6.01 [[ 9.45376733e-01 -3.19773233e-01 -6.33080780e-02 8.76678682e+01] [ 3.19015501e-01 9.47493908e-01 -2.20091674e-02 1.42423589e+01] [ 6.70219609e-02 6.10696552e-04 9.97751314e-01 6.00884133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.6 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:87.73, Y:14.26, Z:6.01 [[ 9.43283416e-01 -3.25897668e-01 -6.33017210e-02 8.77252966e+01] [ 3.25152457e-01 9.45405031e-01 -2.20274360e-02 1.42553572e+01] [ 6.70244555e-02 1.95404931e-04 9.97751314e-01 6.00853138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:87.78, Y:14.27, Z:6.01 [[ 9.42334363e-01 -3.28632978e-01 -6.32954523e-02 8.77809004e+01] [ 3.27892716e-01 9.44457710e-01 -2.20454344e-02 1.42723043e+01] [ 6.70247347e-02 2.00526413e-05 9.97751314e-01 6.00867730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:87.84, Y:14.29, Z:6.01 [[ 9.39522392e-01 -3.36588995e-01 -6.32892036e-02 8.78387838e+01] [ 3.35865506e-01 9.41651512e-01 -2.20633588e-02 1.42851597e+01] [ 6.70226581e-02 -5.27640724e-04 9.97751314e-01 6.01146563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:87.89, Y:14.30, Z:6.02 [[ 9.37145136e-01 -3.43153260e-01 -6.32837561e-02 8.78946403e+01] [ 3.42443629e-01 9.39278915e-01 -2.20789729e-02 1.42999047e+01] [ 6.70175693e-02 -9.79917039e-04 9.97751314e-01 6.01585979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:87.95, Y:14.32, Z:6.03 [[ 9.35759620e-01 -3.46914837e-01 -6.32774020e-02 8.79500303e+01] [ 3.46212552e-01 9.37895828e-01 -2.20971685e-02 1.43186025e+01] [ 6.70134469e-02 -1.22979285e-03 9.97751314e-01 6.02510005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:14.34, Z:6.03 [[ 9.35529767e-01 -3.47535208e-01 -6.32719054e-02 8.80048520e+01] [ 3.46833277e-01 9.37666091e-01 -2.21128959e-02 1.43382328e+01] [ 6.70129301e-02 -1.25752995e-03 9.97751315e-01 6.03195271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:14.36, Z:6.03 [[ 9.35737407e-01 -3.46976905e-01 -6.32655708e-02 8.80592419e+01] [ 3.46272476e-01 9.37872908e-01 -2.21310046e-02 1.43580020e+01] [ 6.70140123e-02 -1.19831698e-03 9.97751315e-01 6.03428566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:88.11, Y:14.38, Z:6.03 [[ 9.36380231e-01 -3.45239534e-01 -6.32592105e-02 8.81142352e+01] [ 3.44529915e-01 9.38514013e-01 -2.21491701e-02 1.43816810e+01] [ 6.70164246e-02 -1.05464541e-03 9.97751315e-01 6.03084228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:88.17, Y:14.40, Z:6.03 [[ 9.37427692e-01 -3.42386102e-01 -6.32540943e-02 8.81683621e+01] [ 3.41669002e-01 9.39558971e-01 -2.21637715e-02 1.44046416e+01] [ 6.70195190e-02 -8.35030162e-04 9.97751315e-01 6.03378590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:14.43, Z:6.03 [[ 9.37836532e-01 -3.41265669e-01 -6.32485812e-02 8.82232467e+01] [ 3.40544963e-01 9.39966594e-01 -2.21794931e-02 1.44261061e+01] [ 6.70206530e-02 -7.38246893e-04 9.97751315e-01 6.03469896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:14.45, Z:6.04 [[ 9.38343689e-01 -3.39869725e-01 -6.32431147e-02 8.82779922e+01] [ 3.39144800e-01 9.40472319e-01 -2.21950692e-02 1.44468042e+01] [ 6.70218309e-02 -6.21970401e-04 9.97751315e-01 6.04464139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.33, Y:14.47, Z:6.05 [[ 9.38407197e-01 -3.39695343e-01 -6.32377050e-02 8.83325675e+01] [ 3.38968985e-01 9.40535338e-01 -2.22104719e-02 1.44674403e+01] [ 6.70220901e-02 -5.93153938e-04 9.97751316e-01 6.05001298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:14.49, Z:6.06 [[ 9.39345000e-01 -3.37094438e-01 -6.32321964e-02 8.83879189e+01] [ 3.36361133e-01 9.41470757e-01 -2.22261435e-02 1.44878318e+01] [ 6.70235732e-02 -3.90836426e-04 9.97751316e-01 6.05562597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:88.44, Y:14.51, Z:6.06 [[ 9.40920855e-01 -3.32671451e-01 -6.32269787e-02 8.84413911e+01] [ 3.31927156e-01 9.43042789e-01 -2.22409764e-02 1.45077511e+01] [ 6.70246843e-02 -5.97526495e-05 9.97751316e-01 6.05737995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:88.50, Y:14.53, Z:6.06 [[ 9.42205163e-01 -3.29016921e-01 -6.32241710e-02 8.84958216e+01] [ 3.28263861e-01 9.44324003e-01 -2.22489552e-02 1.45276604e+01] [ 6.70243849e-02 2.08870057e-04 9.97751316e-01 6.05949916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.55, Y:14.55, Z:6.06 [[ 9.44422497e-01 -3.22598278e-01 -6.32178616e-02 8.85502465e+01] [ 3.21829619e-01 9.46535727e-01 -2.22668683e-02 1.45464255e+01] [ 6.70212179e-02 6.83951091e-04 9.97751316e-01 6.06214989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:88.61, Y:14.57, Z:6.06 [[ 9.45041233e-01 -3.20781568e-01 -6.32159216e-02 8.86061852e+01] [ 3.20008478e-01 9.47152847e-01 -2.22723744e-02 1.45658736e+01] [ 6.70197073e-02 8.18681324e-04 9.97751316e-01 6.06009655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61999999999999 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:88.66, Y:14.58, Z:6.06 [[ 9.45696955e-01 -3.18844321e-01 -6.32105050e-02 8.86609677e+01] [ 3.18065879e-01 9.47806601e-01 -2.22877365e-02 1.45835515e+01] [ 6.70176522e-02 9.72339735e-04 9.97751316e-01 6.06057383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67999999999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:14.60, Z:6.07 [[ 9.45202455e-01 -3.20307832e-01 -6.32076831e-02 8.87181263e+01] [ 3.19532121e-01 9.47313108e-01 -2.22957366e-02 1.45977671e+01] [ 6.70189657e-02 8.77099945e-04 9.97751316e-01 6.06995172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.77, Y:14.62, Z:6.07 [[ 9.43305210e-01 -3.25853928e-01 -6.32020456e-02 8.87744706e+01] [ 3.25089558e-01 9.45419995e-01 -2.23117060e-02 1.46174074e+01] [ 6.70228347e-02 5.00423424e-04 9.97751316e-01 6.07451077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.8 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:88.83, Y:14.63, Z:6.08 [[ 9.42909023e-01 -3.26999443e-01 -6.31976196e-02 8.88317260e+01] [ 3.26236802e-01 9.45024432e-01 -2.23242355e-02 1.46277141e+01] [ 6.70233071e-02 4.32333748e-04 9.97751316e-01 6.08131416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:88.89, Y:14.65, Z:6.09 [[ 9.42514486e-01 -3.28135292e-01 -6.31955163e-02 8.88870762e+01] [ 3.27374801e-01 9.44630670e-01 -2.23301879e-02 1.46460522e+01] [ 6.70237456e-02 3.57906009e-04 9.97751316e-01 6.08672635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:88.94, Y:14.67, Z:6.09 [[ 9.41204062e-01 -3.31876400e-01 -6.31899392e-02 8.89404253e+01] [ 3.31123262e-01 9.43322873e-01 -2.23459590e-02 1.46725253e+01] [ 6.70246114e-02 1.08448557e-04 9.97751317e-01 6.08519937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.99, Y:14.70, Z:6.09 [[ 9.41498558e-01 -3.31041168e-01 -6.31839407e-02 8.89931389e+01] [ 3.30285013e-01 9.43616294e-01 -2.23629069e-02 1.46953020e+01] [ 6.70244388e-02 1.85935940e-04 9.97751317e-01 6.08800490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.05, Y:14.71, Z:6.10 [[ 9.43349365e-01 -3.25730161e-01 -6.31809893e-02 8.90493755e+01] [ 3.24961526e-01 9.45462603e-01 -2.23712424e-02 1.47098965e+01] [ 6.70222510e-02 5.72506683e-04 9.97751317e-01 6.09905988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.1 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:14.74, Z:6.09 [[ 9.41458914e-01 -3.31155551e-01 -6.31752684e-02 8.91037021e+01] [ 3.30398011e-01 9.43576154e-01 -2.23873864e-02 1.47354813e+01] [ 6.70243841e-02 2.03821488e-04 9.97751317e-01 6.09453852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:89.16, Y:14.75, Z:6.11 [[ 9.42545914e-01 -3.28050012e-01 -6.31695300e-02 8.91597550e+01] [ 3.27284411e-01 9.44660253e-01 -2.24035665e-02 1.47507245e+01] [ 6.70232344e-02 4.41987619e-04 9.97751317e-01 6.10568861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.21, Y:14.78, Z:6.10 [[ 9.40040007e-01 -3.35164306e-01 -6.31638548e-02 8.92130950e+01] [ 3.34413633e-01 9.42159692e-01 -2.24195555e-02 1.47759157e+01] [ 6.70246728e-02 -4.75750415e-05 9.97751317e-01 6.10212124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:89.27, Y:14.79, Z:6.11 [[ 9.38763418e-01 -3.38723848e-01 -6.31617011e-02 8.92672576e+01] [ 3.37980804e-01 9.40885789e-01 -2.24256213e-02 1.47927281e+01] [ 6.70240397e-02 -2.95089632e-04 9.97751317e-01 6.10540842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:89.32, Y:14.81, Z:6.12 [[ 9.39612401e-01 -3.36362484e-01 -6.31570644e-02 8.93230702e+01] [ 3.35613229e-01 9.41732588e-01 -2.24386723e-02 1.48053600e+01] [ 6.70245932e-02 -1.12691578e-04 9.97751317e-01 6.11896338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39999999999999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:14.83, Z:6.12 [[ 9.39404577e-01 -3.36942854e-01 -6.31550007e-02 8.93771695e+01] [ 3.36194518e-01 9.41525088e-01 -2.24444791e-02 1.48250885e+01] [ 6.70245244e-02 -1.47918595e-04 9.97751317e-01 6.12366366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:89.43, Y:14.85, Z:6.12 [[ 9.39037180e-01 -3.37966614e-01 -6.31485663e-02 8.94316298e+01] [ 3.37219374e-01 9.41158078e-01 -2.24625679e-02 1.48455738e+01] [ 6.70243813e-02 -2.01733564e-04 9.97751318e-01 6.12494394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:89.49, Y:14.87, Z:6.13 [[ 9.38500271e-01 -3.39455079e-01 -6.31465803e-02 8.94861089e+01] [ 3.38710827e-01 9.40622219e-01 -2.24681495e-02 1.48654044e+01] [ 6.70240040e-02 -3.02066046e-04 9.97751318e-01 6.12964312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:89.54, Y:14.89, Z:6.13 [[ 9.36365435e-01 -3.45301456e-01 -6.31401392e-02 8.95394629e+01] [ 3.44569232e-01 9.38491563e-01 -2.24862359e-02 1.48906850e+01] [ 6.70210179e-02 -7.00815238e-04 9.97751318e-01 6.12577736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:89.60, Y:14.91, Z:6.14 [[ 9.37396493e-01 -3.42493815e-01 -6.31331974e-02 8.95956417e+01] [ 3.41753912e-01 9.39519961e-01 -2.25057093e-02 1.49050375e+01] [ 6.70229653e-02 -4.79244198e-04 9.97751318e-01 6.13545956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.65, Y:14.93, Z:6.13 [[ 9.35094874e-01 -3.48729186e-01 -6.31310718e-02 8.96501039e+01] [ 3.48003038e-01 9.37223084e-01 -2.25116701e-02 1.49299459e+01] [ 6.70183742e-02 -9.19257480e-04 9.97751318e-01 6.13340165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75999999999999 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:89.70, Y:14.95, Z:6.13 [[ 9.34772215e-01 -3.49594251e-01 -6.31249949e-02 8.97037648e+01] [ 3.48868923e-01 9.36900706e-01 -2.25286976e-02 1.49493302e+01] [ 6.70177554e-02 -9.63148422e-04 9.97751318e-01 6.13467268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.76, Y:14.96, Z:6.15 [[ 9.36886092e-01 -3.43889607e-01 -6.31220199e-02 8.97586201e+01] [ 3.43150757e-01 9.39009926e-01 -2.25370299e-02 1.49644223e+01] [ 6.70224536e-02 -5.45739004e-04 9.97751318e-01 6.14906967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.81, Y:14.99, Z:6.15 [[ 9.36910381e-01 -3.43823810e-01 -6.31199266e-02 8.98128493e+01] [ 3.43084416e-01 9.39034026e-01 -2.25428911e-02 1.49856344e+01] [ 6.70225415e-02 -5.34794458e-04 9.97751318e-01 6.15320658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:89.87, Y:15.01, Z:6.16 [[ 9.37335244e-01 -3.42665023e-01 -6.31135699e-02 8.98669210e+01] [ 3.41921806e-01 9.39457553e-01 -2.25606742e-02 1.50063780e+01] [ 6.70232739e-02 -4.32990767e-04 9.97751318e-01 6.15622256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.0 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:89.92, Y:15.03, Z:6.16 [[ 9.37760164e-01 -3.41501634e-01 -6.31071247e-02 8.99212052e+01] [ 3.40754572e-01 9.39881123e-01 -2.25786884e-02 1.50264362e+01] [ 6.70238542e-02 -3.30646700e-04 9.97751319e-01 6.15792908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:89.98, Y:15.05, Z:6.16 [[ 9.39073593e-01 -3.37874355e-01 -6.31007679e-02 8.99757515e+01] [ 3.37117908e-01 9.41191222e-01 -2.25964397e-02 1.50470414e+01] [ 6.70246464e-02 -5.26790472e-05 9.97751319e-01 6.16215660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11999999999999 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:90.03, Y:15.07, Z:6.17 [[ 9.40590456e-01 -3.33629578e-01 -6.30943617e-02 9.00304885e+01] [ 3.32862375e-01 9.42704212e-01 -2.26143134e-02 1.50669957e+01] [ 6.70241244e-02 2.69068215e-04 9.97751319e-01 6.16689217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17999999999999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:90.09, Y:15.09, Z:6.17 [[ 9.41167586e-01 -3.31999228e-01 -6.30879330e-02 9.00863987e+01] [ 3.31227162e-01 9.43279571e-01 -2.26322336e-02 1.50865216e+01] [ 6.70234424e-02 4.04287625e-04 9.97751319e-01 6.17046841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:15.11, Z:6.18 [[ 9.41385928e-01 -3.31380776e-01 -6.30818145e-02 9.01416670e+01] [ 3.30606180e-01 9.43496987e-01 -2.26492744e-02 1.51057228e+01] [ 6.70230361e-02 4.66470488e-04 9.97751319e-01 6.17505496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.20, Y:15.12, Z:6.18 [[ 9.41613177e-01 -3.30735672e-01 -6.30756734e-02 9.01965225e+01] [ 3.29958485e-01 9.43723283e-01 -2.26663639e-02 1.51249509e+01] [ 6.70225566e-02 5.30593277e-04 9.97751319e-01 6.18141659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:15.15, Z:6.18 [[ 9.39980738e-01 -3.35348234e-01 -6.30695920e-02 9.02510255e+01] [ 3.34580268e-01 9.42094217e-01 -2.26832730e-02 1.51479916e+01] [ 6.70242934e-02 2.19998692e-04 9.97751320e-01 6.17878891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:90.31, Y:15.17, Z:6.18 [[ 9.39226650e-01 -3.37455627e-01 -6.30634507e-02 9.03053629e+01] [ 3.36691257e-01 9.41341432e-01 -2.27003340e-02 1.51688598e+01] [ 6.70245945e-02 8.78461487e-05 9.97751320e-01 6.17844305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:15.19, Z:6.18 [[ 9.39567927e-01 -3.36505561e-01 -6.30564596e-02 9.03595281e+01] [ 3.35737751e-01 9.41681462e-01 -2.27197371e-02 1.51890869e+01] [ 6.70244170e-02 1.76302415e-04 9.97751320e-01 6.18427163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53999999999999 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:90.41, Y:15.21, Z:6.19 [[ 9.41309107e-01 -3.31605090e-01 -6.30494147e-02 9.04147233e+01] [ 3.30824968e-01 9.43418129e-01 -2.27392708e-02 1.52067051e+01] [ 6.70224188e-02 5.46362113e-04 9.97751320e-01 6.19008820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.47, Y:15.23, Z:6.19 [[ 9.40425074e-01 -3.34104359e-01 -6.30472652e-02 9.04691300e+01] [ 3.33329443e-01 9.42536014e-01 -2.27452290e-02 1.52317842e+01] [ 6.70235981e-02 3.74673912e-04 9.97751320e-01 6.18657531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:90.52, Y:15.25, Z:6.20 [[ 9.41855362e-01 -3.30051948e-01 -6.30411626e-02 9.05249371e+01] [ 3.29266819e-01 9.43962524e-01 -2.27621305e-02 1.52469771e+01] [ 6.70211805e-02 6.81271601e-04 9.97751320e-01 6.19956307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:90.58, Y:15.27, Z:6.20 [[ 9.41607751e-01 -3.30758832e-01 -6.30352148e-02 9.05799060e+01] [ 3.29974183e-01 9.43715092e-01 -2.27785898e-02 1.52664574e+01] [ 6.70215033e-02 6.48503206e-04 9.97751320e-01 6.20438041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.64, Y:15.29, Z:6.21 [[ 9.42203659e-01 -3.29058578e-01 -6.30294855e-02 9.06354791e+01] [ 3.28269067e-01 9.44309183e-01 -2.27944320e-02 1.52863651e+01] [ 6.70200254e-02 7.86366845e-04 9.97751321e-01 6.21126515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:90.69, Y:15.31, Z:6.21 [[ 9.42248085e-01 -3.28932436e-01 -6.30237938e-02 9.06894791e+01] [ 3.28141590e-01 9.44353108e-01 -2.28101580e-02 1.53054659e+01] [ 6.70197165e-02 8.12099797e-04 9.97751321e-01 6.21282496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:15.33, Z:6.22 [[ 9.42554067e-01 -3.28055154e-01 -6.30210025e-02 9.07434132e+01] [ 3.27261834e-01 9.44658159e-01 -2.28178675e-02 1.53254151e+01] [ 6.70188232e-02 8.82704977e-04 9.97751321e-01 6.21755599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:15.35, Z:6.22 [[ 9.42865141e-01 -3.27161242e-01 -6.30146620e-02 9.07982176e+01] [ 3.26364758e-01 9.44968037e-01 -2.28353644e-02 1.53458085e+01] [ 6.70176876e-02 9.64904145e-04 9.97751321e-01 6.22160216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.85, Y:15.36, Z:6.23 [[ 9.42545974e-01 -3.28080813e-01 -6.30084694e-02 9.08529955e+01] [ 3.27285240e-01 9.44649214e-01 -2.28524384e-02 1.53646862e+01] [ 6.70183477e-02 9.17731817e-04 9.97751321e-01 6.22536644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:90.91, Y:15.38, Z:6.23 [[ 9.41727881e-01 -3.30423007e-01 -6.30018617e-02 9.09077490e+01] [ 3.29631447e-01 9.43832635e-01 -2.28706409e-02 1.53835555e+01] [ 6.70201990e-02 7.70525322e-04 9.97751321e-01 6.22980881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.96, Y:15.40, Z:6.23 [[ 9.41297213e-01 -3.31649160e-01 -6.29951681e-02 9.09623798e+01] [ 3.30859109e-01 9.43402534e-01 -2.28890628e-02 1.54030092e+01] [ 6.70209397e-02 7.02885825e-04 9.97751322e-01 6.23417523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.02, Y:15.43, Z:6.23 [[ 9.37974685e-01 -3.40933071e-01 -6.29931112e-02 9.10152533e+01] [ 3.40163479e-01 9.40087570e-01 -2.28947224e-02 1.54311442e+01] [ 6.70246088e-02 4.67141527e-05 9.97751322e-01 6.22834387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.07, Y:15.44, Z:6.24 [[ 9.40003779e-01 -3.35299155e-01 -6.29870830e-02 9.10711692e+01] [ 3.34515790e-01 9.42111596e-01 -2.29112948e-02 1.54427332e+01] [ 6.70229991e-02 4.66529908e-04 9.97751322e-01 6.24274668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.13, Y:15.46, Z:6.25 [[ 9.39152910e-01 -3.37675522e-01 -6.29845577e-02 9.11254581e+01] [ 3.36897025e-01 9.41262529e-01 -2.29182349e-02 1.54631578e+01] [ 6.70239311e-02 3.04416892e-04 9.97751322e-01 6.24525137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:91.18, Y:15.48, Z:6.24 [[ 9.38610382e-01 -3.39181847e-01 -6.29779804e-02 9.11797301e+01] [ 3.38405523e-01 9.40720802e-01 -2.29362950e-02 1.54845116e+01] [ 6.70242711e-02 2.16148160e-04 9.97751322e-01 6.24476657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.23, Y:15.51, Z:6.25 [[ 9.38602650e-01 -3.39203617e-01 -6.29759605e-02 9.12344452e+01] [ 3.38426971e-01 9.40712952e-01 -2.29418396e-02 1.55052200e+01] [ 6.70242566e-02 2.20507928e-04 9.97751322e-01 6.24814898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.29, Y:15.52, Z:6.25 [[ 9.38404289e-01 -3.39753133e-01 -6.29698251e-02 9.12881204e+01] [ 3.38976593e-01 9.40514630e-01 -2.29586674e-02 1.55249990e+01] [ 6.70243209e-02 1.99215159e-04 9.97751322e-01 6.25050722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.34, Y:15.55, Z:6.25 [[ 9.35125427e-01 -3.48676915e-01 -6.29670133e-02 9.13400843e+01] [ 3.47919995e-01 9.37242884e-01 -2.29663766e-02 1.55521610e+01] [ 6.70232304e-02 -4.31040175e-04 9.97751322e-01 6.24539350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61999999999999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:15.57, Z:6.25 [[ 9.34350633e-01 -3.50749114e-01 -6.29599422e-02 9.13948165e+01] [ 3.49995584e-01 9.36469298e-01 -2.29857449e-02 1.55705069e+01] [ 6.70222826e-02 -5.58956484e-04 9.97751322e-01 6.24938610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:15.58, Z:6.27 [[ 9.36077455e-01 -3.46115488e-01 -6.29528878e-02 9.14516289e+01] [ 3.45350172e-01 9.38191892e-01 -2.30050492e-02 1.55819373e+01] [ 6.70242928e-02 -2.06282768e-04 9.97751323e-01 6.26583450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.50, Y:15.60, Z:6.27 [[ 9.35570075e-01 -3.47485020e-01 -6.29507349e-02 9.15049161e+01] [ 3.46722403e-01 9.37685487e-01 -2.30109389e-02 1.56008532e+01] [ 6.70239470e-02 -2.98084285e-04 9.97751323e-01 6.27047044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.56, Y:15.63, Z:6.27 [[ 9.33206043e-01 -3.53785305e-01 -6.29479152e-02 9.15577565e+01] [ 3.53036448e-01 9.35326364e-01 -2.30186497e-02 1.56257286e+01] [ 6.70205047e-02 -7.41765440e-04 9.97751323e-01 6.27054960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.61, Y:15.64, Z:6.28 [[ 9.34625225e-01 -3.50020197e-01 -6.29408432e-02 9.16140597e+01] [ 3.49261497e-01 9.36742045e-01 -2.30379710e-02 1.56404976e+01] [ 6.70230893e-02 -4.50944294e-04 9.97751323e-01 6.27655471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:15.66, Z:6.29 [[ 9.34360663e-01 -3.50726210e-01 -6.29386819e-02 9.16678637e+01] [ 3.49968712e-01 9.36477913e-01 -2.30438738e-02 1.56632071e+01] [ 6.70227760e-02 -4.95280245e-04 9.97751323e-01 6.28532136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.72, Y:15.68, Z:6.28 [[ 9.36259515e-01 -3.45626420e-01 -6.29324843e-02 9.17227868e+01] [ 3.44856253e-01 9.38372189e-01 -2.30607872e-02 1.56830329e+01] [ 6.70245103e-02 -1.11779258e-04 9.97751323e-01 6.28359175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.78, Y:15.71, Z:6.29 [[ 9.36470839e-01 -3.45053824e-01 -6.29303219e-02 9.17762028e+01] [ 3.44281968e-01 9.38582897e-01 -2.30666866e-02 1.57060189e+01] [ 6.70245722e-02 -6.44957076e-05 9.97751323e-01 6.29369912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.83, Y:15.73, Z:6.30 [[ 9.36087624e-01 -3.46092410e-01 -6.29285641e-02 9.18301822e+01] [ 3.45322575e-01 9.38200419e-01 -2.30714810e-02 1.57278261e+01] [ 6.70244697e-02 -1.33725978e-04 9.97751323e-01 6.29676617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.89, Y:15.75, Z:6.30 [[ 9.36108170e-01 -3.46037236e-01 -6.29263587e-02 9.18851342e+01] [ 3.45266872e-01 9.38220772e-01 -2.30774944e-02 1.57483602e+01] [ 6.70244892e-02 -1.23355959e-04 9.97751323e-01 6.29991380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.94, Y:15.77, Z:6.30 [[ 9.36124840e-01 -3.45993239e-01 -6.29202854e-02 9.19395298e+01] [ 3.45221664e-01 9.38237000e-01 -2.30940414e-02 1.57692741e+01] [ 6.70245220e-02 -1.02539873e-04 9.97751323e-01 6.30350021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.00, Y:15.79, Z:6.31 [[ 9.37235948e-01 -3.42972438e-01 -6.29180779e-02 9.19953321e+01] [ 3.42193651e-01 9.39345460e-01 -2.31000540e-02 1.57853615e+01] [ 6.70244927e-02 1.20034187e-04 9.97751323e-01 6.30827610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:92.05, Y:15.81, Z:6.30 [[ 9.34428198e-01 -3.50550326e-01 -6.29159037e-02 9.20499146e+01] [ 3.49788248e-01 9.36543803e-01 -2.31059742e-02 1.58118509e+01] [ 6.70233066e-02 -4.16369876e-04 9.97751323e-01 6.30364348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39999999999999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:92.10, Y:15.83, Z:6.30 [[ 9.33034701e-01 -3.54243439e-01 -6.29113133e-02 9.21039753e+01] [ 3.53488892e-01 9.35153003e-01 -2.31184660e-02 1.58312801e+01] [ 6.70212685e-02 -6.68119385e-04 9.97751323e-01 6.30489545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.16, Y:15.85, Z:6.31 [[ 9.29809334e-01 -3.62625359e-01 -6.29082793e-02 9.21582662e+01] [ 3.61889347e-01 9.31934147e-01 -2.31267190e-02 1.58511587e+01] [ 6.70127084e-02 -1.26239690e-03 9.97751323e-01 6.30883486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.22, Y:15.86, Z:6.33 [[ 9.31403168e-01 -3.58513007e-01 -6.29012126e-02 9.22154669e+01] [ 3.57766316e-01 9.33524252e-01 -2.31459233e-02 1.58599377e+01] [ 6.70179220e-02 -9.45748775e-04 9.97751324e-01 6.32821660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:15.88, Z:6.33 [[ 9.29134691e-01 -3.64352076e-01 -6.28990515e-02 9.22704416e+01] [ 3.63618316e-01 9.31260283e-01 -2.31517947e-02 1.58791441e+01] [ 6.70107930e-02 -1.36011158e-03 9.97751324e-01 6.33191049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.32, Y:15.90, Z:6.34 [[ 9.28047713e-01 -3.67113048e-01 -6.28923940e-02 9.23244382e+01] [ 3.66384387e-01 9.30175058e-01 -2.31698660e-02 1.58992621e+01] [ 6.70068963e-02 -1.54005007e-03 9.97751324e-01 6.33509940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:15.92, Z:6.34 [[ 9.28330108e-01 -3.66399492e-01 -6.28857879e-02 9.23793278e+01] [ 3.65667983e-01 9.30456476e-01 -2.31877817e-02 1.59208692e+01] [ 6.70084800e-02 -1.46940334e-03 9.97751324e-01 6.34012290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.43, Y:15.94, Z:6.34 [[ 9.29150099e-01 -3.64316054e-01 -6.28800986e-02 9.24332446e+01] [ 3.63578733e-01 9.31274458e-01 -2.32031996e-02 1.59424201e+01] [ 6.70119279e-02 -1.30261146e-03 9.97751324e-01 6.34369293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.49, Y:15.97, Z:6.35 [[ 9.31128977e-01 -3.59229359e-01 -6.28736527e-02 9.24867261e+01] [ 3.58479254e-01 9.33248855e-01 -2.32206530e-02 1.59657068e+01] [ 6.70183047e-02 -9.17477213e-04 9.97751324e-01 6.34738512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:15.99, Z:6.35 [[ 9.32825084e-01 -3.54802899e-01 -6.28670428e-02 9.25388447e+01] [ 3.54041529e-01 9.34940943e-01 -2.32385347e-02 1.59886592e+01] [ 6.70220718e-02 -5.80055865e-04 9.97751324e-01 6.34906089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.59, Y:16.01, Z:6.35 [[ 9.34888553e-01 -3.49330053e-01 -6.28641979e-02 9.25911838e+01] [ 3.48555779e-01 9.36999724e-01 -2.32462281e-02 1.60125910e+01] [ 6.70243422e-02 -1.79046865e-04 9.97751324e-01 6.35030296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:16.03, Z:6.35 [[ 9.35795519e-01 -3.46893625e-01 -6.28614284e-02 9.26456017e+01] [ 3.46113351e-01 9.37904480e-01 -2.32537148e-02 1.60343771e+01] [ 6.70245808e-02 3.54245595e-06 9.97751325e-01 6.35280988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.70, Y:16.06, Z:6.36 [[ 9.35711207e-01 -3.47121965e-01 -6.28560159e-02 9.27003311e+01] [ 3.46341223e-01 9.37819994e-01 -2.32683361e-02 1.60563291e+01] [ 6.70245790e-02 2.81345932e-06 9.97751325e-01 6.35948149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.76, Y:16.08, Z:6.36 [[ 9.35508843e-01 -3.47668034e-01 -6.28501568e-02 9.27553915e+01] [ 3.46887461e-01 9.37617693e-01 -2.32841513e-02 1.60777713e+01] [ 6.70245741e-02 -1.94018645e-05 9.97751325e-01 6.36387422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.81, Y:16.10, Z:6.37 [[ 9.34773377e-01 -3.49641702e-01 -6.28443692e-02 9.28091162e+01] [ 3.48864532e-01 9.36883482e-01 -2.32997618e-02 1.60977965e+01] [ 6.70244198e-02 -1.44174391e-04 9.97751325e-01 6.36849982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.86, Y:16.12, Z:6.37 [[ 9.33929839e-01 -3.51889041e-01 -6.28423356e-02 9.28635888e+01] [ 3.51116579e-01 9.36041673e-01 -2.33052455e-02 1.61182478e+01] [ 6.70239054e-02 -2.99521746e-04 9.97751325e-01 6.37284644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.3 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:92.92, Y:16.14, Z:6.37 [[ 9.32613831e-01 -3.55363344e-01 -6.28357848e-02 9.29174523e+01] [ 3.54597560e-01 9.34728096e-01 -2.33228942e-02 1.61393372e+01] [ 6.70224752e-02 -5.30162288e-04 9.97751325e-01 6.37489565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.97, Y:16.17, Z:6.37 [[ 9.29517871e-01 -3.63385491e-01 -6.28292363e-02 9.29696999e+01] [ 3.62636761e-01 9.31638234e-01 -2.33405219e-02 1.61659014e+01] [ 6.70157258e-02 -1.08875859e-03 9.97751325e-01 6.37082182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.02, Y:16.19, Z:6.37 [[ 9.29084460e-01 -3.64493375e-01 -6.28223355e-02 9.30240323e+01] [ 3.63745919e-01 9.31205273e-01 -2.33590812e-02 1.61862436e+01] [ 6.70147204e-02 -1.14880881e-03 9.97751325e-01 6.37387636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.08, Y:16.21, Z:6.38 [[ 9.28040785e-01 -3.67143745e-01 -6.28153846e-02 9.30777644e+01] [ 3.66401082e-01 9.30163280e-01 -2.33777580e-02 1.62073636e+01] [ 6.70115618e-02 -1.32011196e-03 9.97751326e-01 6.37707005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:16.23, Z:6.39 [[ 9.26075904e-01 -3.72072460e-01 -6.28132486e-02 9.31333964e+01] [ 3.71340702e-01 9.28202184e-01 -2.33834957e-02 1.62259929e+01] [ 6.70037494e-02 -1.67022391e-03 9.97751326e-01 6.38623506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.19, Y:16.24, Z:6.39 [[ 9.25835034e-01 -3.72672448e-01 -6.28071270e-02 9.31881128e+01] [ 3.71940955e-01 9.27961405e-01 -2.33999267e-02 1.62404322e+01] [ 6.70030978e-02 -1.69607084e-03 9.97751326e-01 6.39467348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:16.26, Z:6.40 [[ 9.23065129e-01 -3.79481764e-01 -6.28041305e-02 9.32421350e+01] [ 3.78765406e-01 9.25196646e-01 -2.34079664e-02 1.62606802e+01] [ 6.69890673e-02 -2.18095449e-03 9.97751326e-01 6.39889819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:93.30, Y:16.28, Z:6.40 [[ 9.20887032e-01 -3.84738249e-01 -6.27977294e-02 9.32959721e+01] [ 3.84032887e-01 9.23022213e-01 -2.34251265e-02 1.62811955e+01] [ 6.69762412e-02 -2.54449812e-03 9.97751326e-01 6.40257699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:16.30, Z:6.41 [[ 9.20435436e-01 -3.85818467e-01 -6.27910720e-02 9.33492590e+01] [ 3.85114396e-01 9.22571043e-01 -2.34429579e-02 1.63028070e+01] [ 6.69739509e-02 -2.60401659e-03 9.97751326e-01 6.40694776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.40, Y:16.33, Z:6.41 [[ 9.21173014e-01 -3.84055200e-01 -6.27844080e-02 9.34020430e+01] [ 3.83345827e-01 9.23306866e-01 -2.34607919e-02 1.63289066e+01] [ 6.69795141e-02 -2.45669242e-03 9.97751326e-01 6.41246756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.45, Y:16.36, Z:6.41 [[ 9.23677147e-01 -3.77993919e-01 -6.27783905e-02 9.34541376e+01] [ 3.77269447e-01 9.25805919e-01 -2.34768829e-02 1.63553350e+01] [ 6.69947245e-02 -1.99930844e-03 9.97751327e-01 6.41227233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.51, Y:16.38, Z:6.41 [[ 9.26368761e-01 -3.71349815e-01 -6.27712753e-02 9.35075123e+01] [ 3.70608785e-01 9.28491826e-01 -2.34958918e-02 1.63761770e+01] [ 6.70078111e-02 -1.49772591e-03 9.97751327e-01 6.41362724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:93.56, Y:16.40, Z:6.42 [[ 9.29041332e-01 -3.64612609e-01 -6.27682149e-02 9.35595613e+01] [ 3.63855628e-01 9.31158762e-01 -2.35040647e-02 1.64011695e+01] [ 6.70170517e-02 -1.00232072e-03 9.97751327e-01 6.41798041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:16.43, Z:6.42 [[ 9.32320775e-01 -3.56144600e-01 -6.27614231e-02 9.36116566e+01] [ 3.55367165e-01 9.34430781e-01 -2.35221864e-02 1.64264129e+01] [ 6.70235053e-02 -3.73125926e-04 9.97751327e-01 6.42350766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:93.66, Y:16.45, Z:6.43 [[ 9.33993352e-01 -3.51735248e-01 -6.27593331e-02 9.36641409e+01] [ 3.50947477e-01 9.36099521e-01 -2.35277615e-02 1.64501484e+01] [ 6.70245247e-02 -5.04567431e-05 9.97751327e-01 6.42919546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.2 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:93.72, Y:16.47, Z:6.43 [[ 9.36200631e-01 -3.45818662e-01 -6.27521507e-02 9.37174367e+01] [ 3.45016298e-01 9.38301283e-01 -2.35469027e-02 1.64742413e+01] [ 6.70233818e-02 3.94110449e-04 9.97751327e-01 6.43224331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25999999999999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:93.77, Y:16.50, Z:6.43 [[ 9.37527629e-01 -3.42206076e-01 -6.27450958e-02 9.37707953e+01] [ 3.41394360e-01 9.39624685e-01 -2.35656868e-02 1.64961775e+01] [ 6.70211621e-02 6.72660643e-04 9.97751327e-01 6.43234625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:16.52, Z:6.43 [[ 9.38212624e-01 -3.40323959e-01 -6.27429202e-02 9.38247346e+01] [ 3.39507650e-01 9.40307897e-01 -2.35714776e-02 1.65179331e+01] [ 6.70196020e-02 8.13356478e-04 9.97751327e-01 6.43344740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:16.55, Z:6.43 [[ 9.35540936e-01 -3.47601423e-01 -6.27408058e-02 9.38780030e+01] [ 3.46801036e-01 9.37642342e-01 -2.35771044e-02 1.65458550e+01] [ 6.70238711e-02 2.98769911e-04 9.97751327e-01 6.42683170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.93, Y:16.57, Z:6.43 [[ 9.33831931e-01 -3.52168017e-01 -6.27344524e-02 9.39325090e+01] [ 3.51376772e-01 9.35936797e-01 -2.35939977e-02 1.65684909e+01] [ 6.70245338e-02 -1.06009431e-05 9.97751328e-01 6.42597237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.5 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:93.99, Y:16.58, Z:6.44 [[ 9.37082938e-01 -3.43424202e-01 -6.27326423e-02 9.39899189e+01] [ 3.42612995e-01 9.39180191e-01 -2.35988094e-02 1.65762547e+01] [ 6.70216573e-02 6.21023147e-04 9.97751328e-01 6.44492641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.05, Y:16.59, Z:6.45 [[ 9.37908259e-01 -3.41164173e-01 -6.27304125e-02 9.40452557e+01] [ 3.40347516e-01 9.40003396e-01 -2.36047350e-02 1.65945567e+01] [ 6.70198907e-02 7.88935837e-04 9.97751328e-01 6.44904701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61999999999999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:94.10, Y:16.61, Z:6.45 [[ 9.38110403e-01 -3.40608324e-01 -6.27283103e-02 9.41013892e+01] [ 3.39790053e-01 9.40204910e-01 -2.36103202e-02 1.66117295e+01] [ 6.70193370e-02 8.34631096e-04 9.97751328e-01 6.45148664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67999999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.15, Y:16.64, Z:6.44 [[ 9.36067500e-01 -3.46184248e-01 -6.27224258e-02 9.41549857e+01] [ 3.45377407e-01 9.38166436e-01 -2.36259426e-02 1.66386139e+01] [ 6.70230038e-02 4.52568288e-04 9.97751328e-01 6.44280525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:94.21, Y:16.66, Z:6.44 [[ 9.35883701e-01 -3.46681973e-01 -6.27160856e-02 9.42108538e+01] [ 3.45875121e-01 9.37982633e-01 -2.36427610e-02 1.66569047e+01] [ 6.70231181e-02 4.34940971e-04 9.97751328e-01 6.44241597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.27, Y:16.66, Z:6.46 [[ 9.39555031e-01 -3.36606346e-01 -6.27097363e-02 9.42686870e+01] [ 3.35775866e-01 9.41644727e-01 -2.36595899e-02 1.66631575e+01] [ 6.70142606e-02 1.17307073e-03 9.97751328e-01 6.46338334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.32, Y:16.69, Z:6.45 [[ 9.35301568e-01 -3.48250981e-01 -6.27075082e-02 9.43233261e+01] [ 3.47446126e-01 9.37401266e-01 -2.36654938e-02 1.66878955e+01] [ 6.70236290e-02 3.46892603e-04 9.97751328e-01 6.45441446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.38, Y:16.70, Z:6.46 [[ 9.32602883e-01 -3.55415854e-01 -6.27011388e-02 9.43809690e+01] [ 3.54625997e-01 9.34708269e-01 -2.36823574e-02 1.67024046e+01] [ 6.70243582e-02 -1.49219043e-04 9.97751328e-01 6.46093591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.44, Y:16.72, Z:6.46 [[ 9.30007812e-01 -3.62152977e-01 -6.26952211e-02 9.44359587e+01] [ 3.61377315e-01 9.32118469e-01 -2.36980131e-02 1.67196499e+01] [ 6.70216795e-02 -6.17293320e-04 9.97751328e-01 6.46402739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.49, Y:16.73, Z:6.47 [[ 9.27008350e-01 -3.69763585e-01 -6.26929797e-02 9.44942218e+01] [ 3.69004849e-01 9.29125150e-01 -2.37039412e-02 1.67330367e+01] [ 6.70144785e-02 -1.16026211e-03 9.97751328e-01 6.46836861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.1 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:94.55, Y:16.75, Z:6.47 [[ 9.26596839e-01 -3.70794672e-01 -6.26865953e-02 9.45513391e+01] [ 3.70037150e-01 9.28714074e-01 -2.37208131e-02 1.67478202e+01] [ 6.70134744e-02 -1.21673859e-03 9.97751329e-01 6.47328108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:16.77, Z:6.48 [[ 9.27160267e-01 -3.69384623e-01 -6.26804506e-02 9.46048971e+01] [ 3.68622784e-01 9.29275953e-01 -2.37370391e-02 1.67699578e+01] [ 6.70155327e-02 -1.09740267e-03 9.97751329e-01 6.47575134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:94.66, Y:16.79, Z:6.49 [[ 9.31360472e-01 -3.58662974e-01 -6.26780887e-02 9.46593233e+01] [ 3.57876356e-01 9.33467070e-01 -2.37432741e-02 1.67867241e+01] [ 6.70237651e-02 -3.17459046e-04 9.97751329e-01 6.49195174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.71, Y:16.82, Z:6.49 [[ 9.29273934e-01 -3.64035275e-01 -6.26759471e-02 9.47116823e+01] [ 3.63260455e-01 9.31384899e-01 -2.37489260e-02 1.68152624e+01] [ 6.70208775e-02 -6.98435166e-04 9.97751329e-01 6.48504200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.77, Y:16.83, Z:6.50 [[ 9.32031377e-01 -3.56916688e-01 -6.26736859e-02 9.47685221e+01] [ 3.56125342e-01 9.34136203e-01 -2.37548919e-02 1.68263173e+01] [ 6.70242763e-02 -1.79383242e-04 9.97751329e-01 6.50047793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39999999999999 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:94.82, Y:16.85, Z:6.50 [[ 9.32099955e-01 -3.56738131e-01 -6.26704055e-02 9.48230307e+01] [ 3.55945800e-01 9.34204411e-01 -2.37635430e-02 1.68467630e+01] [ 6.70243312e-02 -1.57270299e-04 9.97751329e-01 6.50381777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:94.88, Y:16.87, Z:6.51 [[ 9.33920390e-01 -3.51946000e-01 -6.26635311e-02 9.48771144e+01] [ 3.51141655e-01 9.36020283e-01 -2.37816568e-02 1.68671554e+01] [ 6.70241951e-02 2.06398175e-04 9.97751329e-01 6.50699175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:94.93, Y:16.89, Z:6.51 [[ 9.34243303e-01 -3.51088304e-01 -6.26614266e-02 9.49304169e+01] [ 3.50281660e-01 9.36342313e-01 -2.37872007e-02 1.68924960e+01] [ 6.70239530e-02 2.73884408e-04 9.97751329e-01 6.50805441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:94.98, Y:16.92, Z:6.51 [[ 9.37393977e-01 -3.42588462e-01 -6.26552302e-02 9.49834172e+01] [ 3.41761696e-01 9.39485144e-01 -2.38035105e-02 1.69162978e+01] [ 6.70184661e-02 9.00109635e-04 9.97751329e-01 6.51329506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:95.04, Y:16.94, Z:6.52 [[ 9.39565767e-01 -3.36587892e-01 -6.26479065e-02 9.50361741e+01] [ 3.35746490e-01 9.41651087e-01 -2.38227701e-02 1.69405017e+01] [ 6.70109253e-02 1.34924454e-03 9.97751329e-01 6.51646300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:16.96, Z:6.52 [[ 9.39524452e-01 -3.36704564e-01 -6.26405681e-02 9.50902560e+01] [ 3.35862136e-01 9.41609358e-01 -2.38420504e-02 1.69627873e+01] [ 6.70106723e-02 1.36159438e-03 9.97751330e-01 6.52006834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75999999999999 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:95.14, Y:16.98, Z:6.52 [[ 9.38518280e-01 -3.39500393e-01 -6.26332277e-02 9.51449321e+01] [ 3.38662891e-01 9.40605169e-01 -2.38613182e-02 1.69808362e+01] [ 6.70140647e-02 1.18273334e-03 9.97751330e-01 6.52412627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:95.20, Y:17.00, Z:6.53 [[ 9.37838086e-01 -3.41376218e-01 -6.26258902e-02 9.51987553e+01] [ 3.40541604e-01 9.39926132e-01 -2.38805606e-02 1.70007203e+01] [ 6.70159662e-02 1.06937815e-03 9.97751330e-01 6.52715013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.26, Y:17.01, Z:6.53 [[ 9.38906972e-01 -3.38425902e-01 -6.26227340e-02 9.52553755e+01] [ 3.37584176e-01 9.40992161e-01 -2.38888344e-02 1.70139761e+01] [ 6.70121021e-02 1.28894909e-03 9.97751330e-01 6.53386003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:95.31, Y:17.04, Z:6.53 [[ 9.34939831e-01 -3.49236571e-01 -6.26205224e-02 9.53088863e+01] [ 3.48418573e-01 9.37034442e-01 -2.38946302e-02 1.70387511e+01] [ 6.70224650e-02 5.21888508e-04 9.97751330e-01 6.52964199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.36, Y:17.06, Z:6.54 [[ 9.33283074e-01 -3.53640782e-01 -6.26170939e-02 9.53636646e+01] [ 3.52832066e-01 9.35381286e-01 -2.39036115e-02 1.70566824e+01] [ 6.70241497e-02 2.15517378e-04 9.97751330e-01 6.53531982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:17.07, Z:6.55 [[ 9.33799238e-01 -3.52276873e-01 -6.26098113e-02 9.54191541e+01] [ 3.51463814e-01 9.35895771e-01 -2.39226713e-02 1.70710077e+01] [ 6.70236615e-02 3.33889188e-04 9.97751330e-01 6.54596325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11999999999999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:17.10, Z:6.55 [[ 9.29449966e-01 -3.63597375e-01 -6.26075767e-02 9.54717627e+01] [ 3.62809457e-01 9.31556076e-01 -2.39285180e-02 1.70989135e+01] [ 6.70228149e-02 -4.74260666e-04 9.97751330e-01 6.54571699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17999999999999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:17.12, Z:6.55 [[ 9.26979445e-01 -3.69851596e-01 -6.26011601e-02 9.55261227e+01] [ 3.69076753e-01 9.29090401e-01 -2.39452933e-02 1.71189203e+01] [ 6.70183419e-02 -9.07838251e-04 9.97751331e-01 6.55133424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:95.58, Y:17.14, Z:6.55 [[ 9.26176091e-01 -3.71859998e-01 -6.25938484e-02 9.55786152e+01] [ 3.71088443e-01 9.28288250e-01 -2.39643912e-02 1.71406473e+01] [ 6.70165325e-02 -1.03260753e-03 9.97751331e-01 6.55480660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.3 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:95.63, Y:17.16, Z:6.56 [[ 9.25517221e-01 -3.73497656e-01 -6.25889321e-02 9.56313398e+01] [ 3.72728970e-01 9.27630426e-01 -2.39772245e-02 1.71649707e+01] [ 6.70148349e-02 -1.13737404e-03 9.97751331e-01 6.55711191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.68, Y:17.19, Z:6.56 [[ 9.26675686e-01 -3.70615312e-01 -6.25816510e-02 9.56838622e+01] [ 3.69838771e-01 9.28786017e-01 -2.39962134e-02 1.71864235e+01] [ 6.70183265e-02 -9.08413424e-04 9.97751331e-01 6.56016821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.74, Y:17.21, Z:6.56 [[ 9.28135508e-01 -3.66944691e-01 -6.25785286e-02 9.57381825e+01] [ 3.66159255e-01 9.30242544e-01 -2.40043533e-02 1.72077589e+01] [ 6.70214797e-02 -6.34414720e-04 9.97751331e-01 6.56458404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.79, Y:17.23, Z:6.57 [[ 9.29466591e-01 -3.63561129e-01 -6.25712576e-02 9.57921019e+01] [ 3.62766747e-01 9.31570271e-01 -2.40232916e-02 1.72295006e+01] [ 6.70234584e-02 -3.69924607e-04 9.97751331e-01 6.56857620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.85, Y:17.24, Z:6.58 [[ 9.32669117e-01 -3.55266204e-01 -6.25639026e-02 9.58477862e+01] [ 3.54451828e-01 9.34765138e-01 -2.40424310e-02 1.72431839e+01] [ 6.70240182e-02 2.47743197e-04 9.97751332e-01 6.58350425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.6 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:95.90, Y:17.27, Z:6.58 [[ 9.31657019e-01 -3.57912335e-01 -6.25616492e-02 9.59009174e+01] [ 3.57103518e-01 9.33755191e-01 -2.40482932e-02 1.72690060e+01] [ 6.70244455e-02 6.37761352e-05 9.97751332e-01 6.58070670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:95.96, Y:17.28, Z:6.59 [[ 9.35103689e-01 -3.48809322e-01 -6.25551498e-02 9.59554569e+01] [ 3.47978952e-01 9.37193425e-01 -2.40651877e-02 1.72834791e+01] [ 6.70204369e-02 7.35570331e-04 9.97751332e-01 6.59194528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:96.01, Y:17.31, Z:6.59 [[ 9.34052342e-01 -3.51615520e-01 -6.25519692e-02 9.60080214e+01] [ 3.50790875e-01 9.36144343e-01 -2.40734521e-02 1.73099805e+01] [ 6.70222715e-02 5.43204327e-04 9.97751332e-01 6.58843845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.06, Y:17.32, Z:6.60 [[ 9.37344948e-01 -3.42742808e-01 -6.25445139e-02 9.60642261e+01] [ 3.41897072e-01 9.39428512e-01 -2.40928060e-02 1.73244578e+01] [ 6.70137356e-02 1.19948383e-03 9.97751332e-01 6.59881077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.12, Y:17.35, Z:6.59 [[ 9.36013592e-01 -3.46362770e-01 -6.25410803e-02 9.61182799e+01] [ 3.45524498e-01 9.38100170e-01 -2.41017158e-02 1.73489357e+01] [ 6.70177351e-02 9.50058187e-04 9.97751332e-01 6.59359595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:17.37, Z:6.60 [[ 9.35302084e-01 -3.48280696e-01 -6.25345457e-02 9.61735873e+01] [ 3.47445569e-01 9.37389922e-01 -2.41186586e-02 1.73682556e+01] [ 6.70193162e-02 8.30880837e-04 9.97751332e-01 6.59602087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:17.38, Z:6.61 [[ 9.35188721e-01 -3.48586312e-01 -6.25271114e-02 9.62301010e+01] [ 3.47750581e-01 9.37276317e-01 -2.41379168e-02 1.73800044e+01] [ 6.70193280e-02 8.29668244e-04 9.97751332e-01 6.60696896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.28, Y:17.40, Z:6.61 [[ 9.33513251e-01 -3.53049084e-01 -6.25248231e-02 9.62848172e+01] [ 3.52222936e-01 9.35604659e-01 -2.41438427e-02 1.73979087e+01] [ 6.70224773e-02 5.15920327e-04 9.97751332e-01 6.61262012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:17.42, Z:6.62 [[ 9.31163615e-01 -3.59201663e-01 -6.25178960e-02 9.63405155e+01] [ 3.58388131e-01 9.33259962e-01 -2.41617663e-02 1.74170135e+01] [ 6.70243959e-02 9.28858149e-05 9.97751333e-01 6.61913223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.39, Y:17.44, Z:6.62 [[ 9.27269489e-01 -3.69138956e-01 -6.25118108e-02 9.63937414e+01] [ 3.68346829e-01 9.29374016e-01 -2.41775000e-02 1.74441302e+01] [ 6.70217098e-02 -6.06969224e-04 9.97751333e-01 6.61569462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.45, Y:17.46, Z:6.63 [[ 9.29212953e-01 -3.64220227e-01 -6.25053132e-02 9.64489679e+01] [ 3.63415829e-01 9.31312822e-01 -2.41942863e-02 1.74595344e+01] [ 6.70240480e-02 -2.33775975e-04 9.97751333e-01 6.62914169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.50, Y:17.49, Z:6.62 [[ 9.26544651e-01 -3.70956035e-01 -6.25030393e-02 9.65013037e+01] [ 3.70166506e-01 9.28650155e-01 -2.42001593e-02 1.74892456e+01] [ 6.70206522e-02 -7.14003537e-04 9.97751333e-01 6.62237487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.56, Y:17.51, Z:6.64 [[ 9.29171965e-01 -3.64326263e-01 -6.24966708e-02 9.65561692e+01] [ 3.63520604e-01 9.31271350e-01 -2.42165948e-02 1.75057987e+01] [ 6.70241004e-02 -2.17446576e-04 9.97751333e-01 6.63553800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.61, Y:17.54, Z:6.63 [[ 9.26801660e-01 -3.70314905e-01 -6.24944267e-02 9.66085461e+01] [ 3.69522421e-01 9.28906054e-01 -2.42223846e-02 1.75356172e+01] [ 6.70213613e-02 -6.43745562e-04 9.97751333e-01 6.62734507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.66, Y:17.56, Z:6.63 [[ 9.26936586e-01 -3.69978136e-01 -6.24879471e-02 9.66627234e+01] [ 3.69183761e-01 9.29040267e-01 -2.42390890e-02 1.75578169e+01] [ 6.70217520e-02 -6.01436917e-04 9.97751333e-01 6.63256371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.72, Y:17.57, Z:6.65 [[ 9.28818160e-01 -3.65229919e-01 -6.24814583e-02 9.67179618e+01] [ 3.64423665e-01 9.30917316e-01 -2.42558037e-02 1.75731694e+01] [ 6.70240166e-02 -2.40491061e-04 9.97751333e-01 6.64670102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.77, Y:17.59, Z:6.65 [[ 9.27120329e-01 -3.69518940e-01 -6.24791828e-02 9.67718209e+01] [ 3.68722002e-01 9.29223039e-01 -2.42616634e-02 1.75947220e+01] [ 6.70222403e-02 -5.43968010e-04 9.97751333e-01 6.65281520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.82, Y:17.63, Z:6.65 [[ 9.21508114e-01 -3.83300689e-01 -6.24770222e-02 9.68229580e+01] [ 3.82534812e-01 9.23622336e-01 -2.42672262e-02 1.76250581e+01] [ 6.70068177e-02 -1.53719011e-03 9.97751333e-01 6.64526115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:96.88, Y:17.64, Z:6.66 [[ 9.22566943e-01 -3.80746340e-01 -6.24696763e-02 9.68788676e+01] [ 3.79973331e-01 9.24678567e-01 -2.42861215e-02 1.76382294e+01] [ 6.70112227e-02 -1.33123817e-03 9.97751334e-01 6.66006256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:17.66, Z:6.66 [[ 9.21070334e-01 -3.84353222e-01 -6.24663190e-02 9.69322004e+01] [ 3.83587896e-01 9.23184755e-01 -2.42947539e-02 1.76605764e+01] [ 6.70057203e-02 -1.58414680e-03 9.97751334e-01 6.66485720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.8 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:17.68, Z:6.67 [[ 9.20762637e-01 -3.85090890e-01 -6.24593694e-02 9.69852819e+01] [ 3.84326047e-01 9.22877233e-01 -2.43126075e-02 1.76834295e+01] [ 6.70048936e-02 -1.61862197e-03 9.97751334e-01 6.66740705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.04, Y:17.71, Z:6.67 [[ 9.22466210e-01 -3.80993143e-01 -6.24525065e-02 9.70389678e+01] [ 3.80217714e-01 9.24576947e-01 -2.43302236e-02 1.77078082e+01] [ 6.70117962e-02 -1.30174010e-03 9.97751334e-01 6.67197045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:97.09, Y:17.73, Z:6.67 [[ 9.23425122e-01 -3.78664077e-01 -6.24464631e-02 9.70929591e+01] [ 3.77882276e-01 9.25533506e-01 -2.43457248e-02 1.77311298e+01] [ 6.70151454e-02 -1.11595767e-03 9.97751334e-01 6.67458323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.15, Y:17.75, Z:6.68 [[ 9.25249946e-01 -3.74184095e-01 -6.24403816e-02 9.71463640e+01] [ 3.73391032e-01 9.27354120e-01 -2.43613123e-02 1.77546168e+01] [ 6.70199607e-02 -7.74375679e-04 9.97751334e-01 6.67922846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03999999999999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:97.20, Y:17.78, Z:6.68 [[ 9.26826653e-01 -3.70262646e-01 -6.24333922e-02 9.71999612e+01] [ 3.69459474e-01 9.28926989e-01 -2.43792117e-02 1.77770229e+01] [ 6.70227745e-02 -4.71305107e-04 9.97751335e-01 6.68333006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.1 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:97.25, Y:17.80, Z:6.69 [[ 9.28404158e-01 -3.66289768e-01 -6.24301613e-02 9.72545036e+01] [ 3.65477052e-01 9.30500819e-01 -2.43874826e-02 1.77995984e+01] [ 6.70242016e-02 -1.75351073e-04 9.97751335e-01 6.68813880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.31, Y:17.82, Z:6.69 [[ 9.31205956e-01 -3.59108176e-01 -6.24242373e-02 9.73084311e+01] [ 3.58278274e-01 9.33295875e-01 -2.44026369e-02 1.78231348e+01] [ 6.70234695e-02 3.58632820e-04 9.97751335e-01 6.69434080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.36, Y:17.84, Z:6.70 [[ 9.33071198e-01 -3.54234554e-01 -6.24181082e-02 9.73617725e+01] [ 3.53392689e-01 9.35156326e-01 -2.44183040e-02 1.78448121e+01] [ 6.70204958e-02 7.25913051e-04 9.97751335e-01 6.69723940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:97.42, Y:17.87, Z:6.70 [[ 9.35088011e-01 -3.48876283e-01 -6.24159503e-02 9.74162936e+01] [ 3.48022103e-01 9.37168124e-01 -2.44238187e-02 1.78681438e+01] [ 6.70151301e-02 1.11628982e-03 9.97751335e-01 6.69935245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:97.47, Y:17.89, Z:6.70 [[ 9.36215230e-01 -3.45841086e-01 -6.24098340e-02 9.74697276e+01] [ 3.44979122e-01 9.38292129e-01 -2.44394375e-02 1.78900676e+01] [ 6.70108177e-02 1.35048389e-03 9.97751335e-01 6.70356994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39999999999999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:97.52, Y:17.91, Z:6.71 [[ 9.37061049e-01 -3.43544001e-01 -6.24028091e-02 9.75234602e+01] [ 3.42675753e-01 9.39135329e-01 -2.44573616e-02 1.79110579e+01] [ 6.70068625e-02 1.53411133e-03 9.97751335e-01 6.70639798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:17.93, Z:6.71 [[ 9.37585763e-01 -3.42110644e-01 -6.23958681e-02 9.75783202e+01] [ 3.41238048e-01 9.39658218e-01 -2.44750569e-02 1.79308839e+01] [ 6.70039677e-02 1.65562066e-03 9.97751335e-01 6.71164177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:97.63, Y:17.95, Z:6.72 [[ 9.37636565e-01 -3.41972642e-01 -6.23889703e-02 9.76335635e+01] [ 3.41098572e-01 9.39708399e-01 -2.44926272e-02 1.79498516e+01] [ 6.70032479e-02 1.68439410e-03 9.97751336e-01 6.71596352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:97.69, Y:17.97, Z:6.71 [[ 9.35920652e-01 -3.46642519e-01 -6.23818656e-02 9.76872844e+01] [ 3.45777584e-01 9.37996315e-01 -2.45107094e-02 1.79746296e+01] [ 6.70104141e-02 1.36982831e-03 9.97751336e-01 6.71083781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:97.74, Y:17.99, Z:6.72 [[ 9.37500248e-01 -3.42348680e-01 -6.23752055e-02 9.77429056e+01] [ 3.41473113e-01 9.39571449e-01 -2.45276465e-02 1.79884553e+01] [ 6.70029696e-02 1.69521905e-03 9.97751336e-01 6.72299132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.7 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:97.80, Y:18.01, Z:6.73 [[ 9.36411486e-01 -3.45316017e-01 -6.23728867e-02 9.77990285e+01] [ 3.44446622e-01 9.38485285e-01 -2.45335416e-02 1.80057917e+01] [ 6.70078612e-02 1.48936003e-03 9.97751336e-01 6.72803860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75999999999999 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:97.85, Y:18.02, Z:6.73 [[ 9.35257309e-01 -3.48431004e-01 -6.23666738e-02 9.78531466e+01] [ 3.47567464e-01 9.37333553e-01 -2.45493252e-02 1.80241564e+01] [ 6.70121220e-02 1.28330919e-03 9.97751336e-01 6.73054954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.91, Y:18.04, Z:6.74 [[ 9.33445689e-01 -3.53256172e-01 -6.23636263e-02 9.79080063e+01] [ 3.52402848e-01 9.35526153e-01 -2.45570645e-02 1.80421399e+01] [ 6.70177380e-02 9.45566449e-04 9.97751336e-01 6.73646926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.96, Y:18.06, Z:6.74 [[ 9.28879978e-01 -3.65093999e-01 -6.23567072e-02 9.79631517e+01] [ 3.64266014e-01 9.30970654e-01 -2.45746214e-02 1.80638709e+01] [ 6.70243113e-02 1.12444562e-04 9.97751336e-01 6.73516879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.02, Y:18.08, Z:6.74 [[ 9.26476234e-01 -3.71152576e-01 -6.23502464e-02 9.80188278e+01] [ 3.70337160e-01 9.28571845e-01 -2.45910028e-02 1.80814246e+01] [ 6.70236973e-02 -3.07633470e-04 9.97751336e-01 6.74010025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.07, Y:18.10, Z:6.74 [[ 9.23549959e-01 -3.78376609e-01 -6.23427218e-02 9.80743820e+01] [ 3.77576297e-01 9.25651384e-01 -2.46100643e-02 1.80981442e+01] [ 6.70194994e-02 -8.10510124e-04 9.97751337e-01 6.74396085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:98.13, Y:18.12, Z:6.75 [[ 9.23211865e-01 -3.79202032e-01 -6.23351562e-02 9.81280370e+01] [ 3.78402306e-01 9.25313513e-01 -2.46292123e-02 1.81203956e+01] [ 6.70190097e-02 -8.49785843e-04 9.97751337e-01 6.74730475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.18, Y:18.14, Z:6.76 [[ 9.25116318e-01 -3.74533130e-01 -6.23276229e-02 9.81832936e+01] [ 3.73721514e-01 9.27213402e-01 -2.46482618e-02 1.81375892e+01] [ 6.70225979e-02 -4.90664373e-04 9.97751337e-01 6.75751537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17999999999999 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:98.24, Y:18.16, Z:6.76 [[ 9.25274074e-01 -3.74143800e-01 -6.23241966e-02 9.82365378e+01] [ 3.73330717e-01 9.27370590e-01 -2.46569223e-02 1.81610207e+01] [ 6.70228616e-02 -4.53126096e-04 9.97751337e-01 6.76067523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:98.29, Y:18.18, Z:6.77 [[ 9.25394398e-01 -3.73847269e-01 -6.23171574e-02 9.82890122e+01] [ 3.73032317e-01 9.27490188e-01 -2.46747001e-02 1.81831464e+01] [ 6.70231213e-02 -4.12484369e-04 9.97751337e-01 6.76528463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.3 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:18.21, Z:6.76 [[ 9.23555686e-01 -3.78367339e-01 -6.23141327e-02 9.83416599e+01] [ 3.77562129e-01 9.25655239e-01 -2.46823364e-02 1.82109728e+01] [ 6.70203933e-02 -7.31944448e-04 9.97751337e-01 6.76439856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:18.23, Z:6.77 [[ 9.24964208e-01 -3.74911979e-01 -6.23074850e-02 9.83963165e+01] [ 3.74097795e-01 9.27060297e-01 -2.46991064e-02 1.82298766e+01] [ 6.70227864e-02 -4.63303394e-04 9.97751337e-01 6.77421261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:18.25, Z:6.78 [[ 9.25175274e-01 -3.74391213e-01 -6.23051567e-02 9.84497658e+01] [ 3.73575455e-01 9.27270750e-01 -2.47049782e-02 1.82533362e+01] [ 6.70230762e-02 -4.19242312e-04 9.97751338e-01 6.77876875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:18.28, Z:6.78 [[ 9.25753917e-01 -3.72959302e-01 -6.22980316e-02 9.85023577e+01] [ 3.72139094e-01 9.27847655e-01 -2.47229324e-02 1.82769353e+01] [ 6.70237302e-02 -2.96181545e-04 9.97751338e-01 6.78101175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.56, Y:18.30, Z:6.79 [[ 9.26410516e-01 -3.71325709e-01 -6.22958488e-02 9.85557077e+01] [ 3.70501439e-01 9.28502659e-01 -2.47284314e-02 1.83000274e+01] [ 6.70241636e-02 -1.72022764e-04 9.97751338e-01 6.78672653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.6 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:98.61, Y:18.32, Z:6.79 [[ 9.26438032e-01 -3.71258238e-01 -6.22887927e-02 9.86103223e+01] [ 3.70432621e-01 9.28529644e-01 -2.47461923e-02 1.83236799e+01] [ 6.70242183e-02 -1.47987091e-04 9.97751338e-01 6.78731678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.66, Y:18.34, Z:6.79 [[ 9.27299019e-01 -3.69103043e-01 -6.22854123e-02 9.86626334e+01] [ 3.68271994e-01 9.29388478e-01 -2.47546979e-02 1.83446253e+01] [ 6.70243789e-02 1.70340708e-05 9.97751338e-01 6.79383674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:98.72, Y:18.37, Z:6.80 [[ 9.27914533e-01 -3.67553431e-01 -6.22823737e-02 9.87165535e+01] [ 3.66718380e-01 9.30002396e-01 -2.47623405e-02 1.83670549e+01] [ 6.70242400e-02 1.37244437e-04 9.97751338e-01 6.79664996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:98.77, Y:18.39, Z:6.80 [[ 9.29760008e-01 -3.62861028e-01 -6.22752106e-02 9.87702714e+01] [ 3.62014234e-01 9.31843135e-01 -2.47803421e-02 1.83904048e+01] [ 6.70225479e-02 4.95258369e-04 9.97751338e-01 6.79996632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83999999999999 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:18.41, Z:6.80 [[ 9.30859895e-01 -3.60031154e-01 -6.22689711e-02 9.88236160e+01] [ 3.59176979e-01 9.32940006e-01 -2.47960110e-02 1.84129128e+01] [ 6.70205508e-02 7.16031280e-04 9.97751338e-01 6.80349527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89999999999999 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:18.43, Z:6.81 [[ 9.31723589e-01 -3.57791297e-01 -6.22618765e-02 9.88775045e+01] [ 3.56930932e-01 9.33801148e-01 -2.48138126e-02 1.84344098e+01] [ 6.70183780e-02 8.96424926e-04 9.97751338e-01 6.80793146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.93, Y:18.46, Z:6.81 [[ 9.30769181e-01 -3.60268058e-01 -6.22547829e-02 9.89300343e+01] [ 3.59412032e-01 9.32848532e-01 -2.48315968e-02 1.84597591e+01] [ 6.70203140e-02 7.37367004e-04 9.97751339e-01 6.81167443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:18.48, Z:6.82 [[ 9.32330334e-01 -3.56208911e-01 -6.22523884e-02 9.89854560e+01] [ 3.55343433e-01 9.34405768e-01 -2.48375983e-02 1.84762263e+01] [ 6.70163646e-02 1.03586894e-03 9.97751339e-01 6.81603194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.04, Y:18.50, Z:6.82 [[ 9.31772418e-01 -3.57666177e-01 -6.22500315e-02 9.90401258e+01] [ 3.56803550e-01 9.33849039e-01 -2.48435041e-02 1.84954963e+01] [ 6.70178132e-02 9.37459714e-04 9.97751339e-01 6.82044793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:99.09, Y:18.51, Z:6.82 [[ 9.30503393e-01 -3.60956037e-01 -6.22428709e-02 9.90949403e+01] [ 3.60099553e-01 9.32582555e-01 -2.48614313e-02 1.85146229e+01] [ 6.70204992e-02 7.20016216e-04 9.97751339e-01 6.82428530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.2 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:99.15, Y:18.53, Z:6.83 [[ 9.29291742e-01 -3.64065334e-01 -6.22357708e-02 9.91500110e+01] [ 3.63214618e-01 9.31373269e-01 -2.48791924e-02 1.85328759e+01] [ 6.70223848e-02 5.15086333e-04 9.97751339e-01 6.82866051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.20, Y:18.56, Z:6.82 [[ 9.27134629e-01 -3.69525333e-01 -6.22286717e-02 9.92024301e+01] [ 3.68685684e-01 9.29220646e-01 -2.48969362e-02 1.85611500e+01] [ 6.70242152e-02 1.39991273e-04 9.97751339e-01 6.82488695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.26, Y:18.57, Z:6.84 [[ 9.29312471e-01 -3.64013856e-01 -6.22273581e-02 9.92606067e+01] [ 3.63161616e-01 9.31393375e-01 -2.49002189e-02 1.85724544e+01] [ 6.70221738e-02 5.41495980e-04 9.97751339e-01 6.84022723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:99.31, Y:18.60, Z:6.84 [[ 9.28366152e-01 -3.66421631e-01 -6.22211942e-02 9.93146520e+01] [ 3.65573757e-01 9.30448838e-01 -2.49156121e-02 1.85953818e+01] [ 6.70232570e-02 3.84375231e-04 9.97751339e-01 6.84318680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:99.37, Y:18.61, Z:6.85 [[ 9.30682045e-01 -3.60500061e-01 -6.22144441e-02 9.93693653e+01] [ 3.59637810e-01 9.32758821e-01 -2.49324558e-02 1.86133281e+01] [ 6.70192233e-02 8.29522477e-04 9.97751340e-01 6.84738438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.5 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:99.42, Y:18.64, Z:6.85 [[ 9.31173375e-01 -3.59229651e-01 -6.22109556e-02 9.94225343e+01] [ 3.58363986e-01 9.33248730e-01 -2.49411571e-02 1.86357673e+01] [ 6.70178985e-02 9.30375449e-04 9.97751340e-01 6.84951729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.48, Y:18.66, Z:6.85 [[ 9.30765710e-01 -3.60284975e-01 -6.22087653e-02 9.94762679e+01] [ 3.59421299e-01 9.32841892e-01 -2.49466191e-02 1.86569842e+01] [ 6.70188344e-02 8.60302389e-04 9.97751340e-01 6.85334996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61999999999999 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:99.53, Y:18.68, Z:6.86 [[ 9.29545308e-01 -3.63423258e-01 -6.22017296e-02 9.95304126e+01] [ 3.62565418e-01 9.31623910e-01 -2.49641495e-02 1.86763762e+01] [ 6.70211710e-02 6.53111995e-04 9.97751340e-01 6.85676869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67999999999999 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:99.59, Y:18.70, Z:6.86 [[ 9.28587502e-01 -3.65863998e-01 -6.21995671e-02 9.95857014e+01] [ 3.65011260e-01 9.30668202e-01 -2.49695363e-02 1.86968986e+01] [ 6.70226136e-02 4.82856971e-04 9.97751340e-01 6.86260380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:99.64, Y:18.72, Z:6.86 [[ 9.24904178e-01 -3.75078984e-01 -6.21933790e-02 9.96376229e+01] [ 3.74245942e-01 9.26992841e-01 -2.49849400e-02 1.87231434e+01] [ 6.70241430e-02 -1.66944329e-04 9.97751340e-01 6.85806286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.69, Y:18.74, Z:6.87 [[ 9.25808586e-01 -3.72841480e-01 -6.21907748e-02 9.96938956e+01] [ 3.72002955e-01 9.27895054e-01 -2.49914206e-02 1.87378372e+01] [ 6.70243505e-02 2.11979195e-06 9.97751340e-01 6.87393021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:99.75, Y:18.77, Z:6.86 [[ 9.20971701e-01 -3.84635131e-01 -6.21847453e-02 9.97452568e+01] [ 3.83822309e-01 9.23068315e-01 -2.50064144e-02 1.87703552e+01] [ 6.70191135e-02 -8.37692568e-04 9.97751340e-01 6.86382488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:99.80, Y:18.79, Z:6.86 [[ 9.18993114e-01 -3.89339865e-01 -6.21781773e-02 9.97981237e+01] [ 3.88536671e-01 9.21093436e-01 -2.50227350e-02 1.87938156e+01] [ 6.70142592e-02 -1.16278088e-03 9.97751340e-01 6.86430972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.85, Y:18.82, Z:6.87 [[ 9.15762827e-01 -3.96879385e-01 -6.21707165e-02 9.98518970e+01] [ 3.96092224e-01 9.17869209e-01 -2.50412582e-02 1.88177929e+01] [ 6.70029456e-02 -1.69348391e-03 9.97751340e-01 6.86618817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.91, Y:18.83, Z:6.89 [[ 9.18712144e-01 -3.90004653e-01 -6.21640326e-02 9.99090256e+01] [ 3.89200605e-01 9.20812138e-01 -2.50578398e-02 1.88285942e+01] [ 6.70140699e-02 -1.17333742e-03 9.97751341e-01 6.88516231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.96, Y:18.86, Z:6.87 [[ 9.10049110e-01 -4.09812812e-01 -6.21616920e-02 9.99589355e+01] [ 4.09054044e-01 9.12165886e-01 -2.50636448e-02 1.88648305e+01] [ 6.69731776e-02 -2.61834384e-03 9.97751341e-01 6.87062135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.01, Y:18.89, Z:6.88 [[ 9.08231671e-01 -4.13826038e-01 -6.21549859e-02 1.00011219e+02] [ 4.13075486e-01 9.10351374e-01 -2.50802642e-02 1.88878145e+01] [ 6.69617432e-02 -2.89601076e-03 9.97751341e-01 6.87770334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:100.06, Y:18.91, Z:6.88 [[ 9.07740738e-01 -4.14902157e-01 -6.21526522e-02 1.00063746e+02] [ 4.14153723e-01 9.09861189e-01 -2.50860462e-02 1.89124525e+01] [ 6.69585407e-02 -2.96912617e-03 9.97751341e-01 6.88088574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:100.12, Y:18.93, Z:6.90 [[ 9.13326830e-01 -4.02457552e-01 -6.21451619e-02 1.00118805e+02] [ 4.01678947e-01 9.15436389e-01 -2.51045882e-02 1.89286590e+01] [ 6.69934737e-02 -2.03370928e-03 9.97751341e-01 6.90045858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:100.17, Y:18.96, Z:6.91 [[ 9.16235083e-01 -3.95792290e-01 -6.21428681e-02 1.00170619e+02] [ 3.94997951e-01 9.18338768e-01 -2.51102646e-02 1.89562792e+01] [ 6.70066541e-02 -1.53940020e-03 9.97751341e-01 6.90667112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39999999999999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:100.22, Y:18.98, Z:6.91 [[ 9.18630720e-01 -3.90200795e-01 -6.21364563e-02 1.00222298e+02] [ 3.89392577e-01 9.20729113e-01 -2.51261211e-02 1.89821588e+01] [ 6.70150767e-02 -1.11384813e-03 9.97751341e-01 6.91125731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.27, Y:19.01, Z:6.91 [[ 9.20429006e-01 -3.85940133e-01 -6.21342033e-02 1.00272439e+02] [ 3.85121825e-01 9.22523484e-01 -2.51316911e-02 1.90149707e+01] [ 6.70195899e-02 -7.97300289e-04 9.97751341e-01 6.90734690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.33, Y:19.04, Z:6.92 [[ 9.24527119e-01 -3.76017609e-01 -6.21318346e-02 1.00325734e+02] [ 3.75176426e-01 9.26612515e-01 -2.51375460e-02 1.90350850e+01] [ 6.70242954e-02 -7.00567183e-05 9.97751341e-01 6.91764736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.38, Y:19.06, Z:6.92 [[ 9.27866090e-01 -3.67701570e-01 -6.21295031e-02 1.00377676e+02] [ 3.66841312e-01 9.29943690e-01 -2.51433070e-02 1.90618542e+01] [ 6.70221728e-02 5.37953509e-04 9.97751341e-01 6.92035248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:100.43, Y:19.09, Z:6.92 [[ 9.29415437e-01 -3.63768848e-01 -6.21222180e-02 1.00430394e+02] [ 3.62898597e-01 9.31488871e-01 -2.51612937e-02 1.90861979e+01] [ 6.70190496e-02 8.41228963e-04 9.97751341e-01 6.92310197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.48, Y:19.11, Z:6.93 [[ 9.29255704e-01 -3.64177078e-01 -6.21199782e-02 1.00484358e+02] [ 3.63307369e-01 9.31329365e-01 -2.51668223e-02 1.91088609e+01] [ 6.70193397e-02 8.17767396e-04 9.97751341e-01 6.92873377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.54, Y:19.13, Z:6.93 [[ 9.28933648e-01 -3.64998952e-01 -6.21131466e-02 1.00538450e+02] [ 3.64129951e-01 9.31007606e-01 -2.51836718e-02 1.91305171e+01] [ 6.70198257e-02 7.76703045e-04 9.97751342e-01 6.93068988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.59, Y:19.15, Z:6.94 [[ 9.29942711e-01 -3.62420762e-01 -6.21107590e-02 1.00593369e+02] [ 3.61545617e-01 9.32014084e-01 -2.51895591e-02 1.91489516e+01] [ 6.70173213e-02 9.68974159e-04 9.97751342e-01 6.93694388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.65, Y:19.17, Z:6.94 [[ 9.29961279e-01 -3.62373709e-01 -6.21072833e-02 1.00648406e+02] [ 3.61497888e-01 9.32032366e-01 -2.51981257e-02 1.91683957e+01] [ 6.70171365e-02 9.81629442e-04 9.97751342e-01 6.94059634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.70, Y:19.19, Z:6.94 [[ 9.29259911e-01 -3.64169743e-01 -6.21000522e-02 1.00703384e+02] [ 3.63296735e-01 9.31332185e-01 -2.52159340e-02 1.91880578e+01] [ 6.70186575e-02 8.71410353e-04 9.97751342e-01 6.94398142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.76, Y:19.21, Z:6.95 [[ 9.26897599e-01 -3.70142305e-01 -6.20927998e-02 1.00759202e+02] [ 3.69281455e-01 9.28974953e-01 -2.52337800e-02 1.92057831e+01] [ 6.70227453e-02 4.59410666e-04 9.97751342e-01 6.94762128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.82, Y:19.22, Z:6.95 [[ 9.22908111e-01 -3.79981590e-01 -6.20855086e-02 1.00815205e+02] [ 3.79141681e-01 9.24994020e-01 -2.52517066e-02 1.92207629e+01] [ 6.70239078e-02 -2.34199281e-04 9.97751342e-01 6.95296902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.87, Y:19.24, Z:6.95 [[ 9.18223090e-01 -3.91168301e-01 -6.20783150e-02 1.00870089e+02] [ 3.90352608e-01 9.20318586e-01 -2.52693791e-02 1.92434188e+01] [ 6.70164072e-02 -1.02950475e-03 9.97751342e-01 6.95077249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.93, Y:19.26, Z:6.96 [[ 9.14859021e-01 -3.98973813e-01 -6.20714741e-02 1.00925726e+02] [ 3.98174856e-01 9.16960955e-01 -2.52861717e-02 1.92596604e+01] [ 6.70056386e-02 -1.58201796e-03 9.97751343e-01 6.95641884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:19.28, Z:6.97 [[ 9.15109338e-01 -3.98400548e-01 -6.20636968e-02 1.00981062e+02] [ 3.97598981e-01 9.17210278e-01 -2.53052466e-02 1.92760572e+01] [ 6.70070847e-02 -1.51939514e-03 9.97751343e-01 6.96657210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:19.30, Z:6.96 [[ 9.13451742e-01 -4.02186907e-01 -6.20613182e-02 1.01033629e+02] [ 4.01393652e-01 9.15555834e-01 -2.53110786e-02 1.93026818e+01] [ 6.70003864e-02 -1.79057029e-03 9.97751343e-01 6.96399975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:19.32, Z:6.97 [[ 9.16743381e-01 -3.94627590e-01 -6.20535124e-02 1.01087061e+02] [ 3.93815686e-01 9.18840348e-01 -2.53302012e-02 1.93226716e+01] [ 6.70132672e-02 -1.21635230e-03 9.97751343e-01 6.97362213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:101.14, Y:19.35, Z:6.98 [[ 9.17825727e-01 -3.92104511e-01 -6.20482686e-02 1.01140458e+02] [ 3.91285975e-01 9.19920114e-01 -2.53430397e-02 1.93471681e+01] [ 6.70165705e-02 -1.01812347e-03 9.97751343e-01 6.97501969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:19.37, Z:6.98 [[ 9.19194075e-01 -3.88886934e-01 -6.20419653e-02 1.01192602e+02] [ 3.88060025e-01 9.21285170e-01 -2.53584614e-02 1.93712221e+01] [ 6.70199169e-02 -7.66659203e-04 9.97751343e-01 6.98077329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53999999999999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:101.25, Y:19.39, Z:6.98 [[ 9.19199847e-01 -3.88874455e-01 -6.20346583e-02 1.01245294e+02] [ 3.88046313e-01 9.21290454e-01 -2.53763241e-02 1.93924467e+01] [ 6.70201427e-02 -7.46407198e-04 9.97751343e-01 6.98449931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.6 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:101.30, Y:19.41, Z:6.99 [[ 9.18864690e-01 -3.89666232e-01 -6.20315140e-02 1.01299693e+02] [ 3.88839373e-01 9.20955805e-01 -2.53840078e-02 1.94146540e+01] [ 6.70195736e-02 -7.95826518e-04 9.97751343e-01 6.98715919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:101.35, Y:19.44, Z:6.99 [[ 9.19507975e-01 -3.88146805e-01 -6.20253317e-02 1.01353256e+02] [ 3.87315472e-01 9.21597315e-01 -2.53991053e-02 1.94388553e+01] [ 6.70209607e-02 -6.68690765e-04 9.97751344e-01 6.99486264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.41, Y:19.46, Z:7.00 [[ 9.20699785e-01 -3.85312427e-01 -6.20180554e-02 1.01405008e+02] [ 3.84473465e-01 9.22786074e-01 -2.54168598e-02 1.94620116e+01] [ 6.70228298e-02 -4.42999360e-04 9.97751344e-01 6.99950329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.46, Y:19.49, Z:7.00 [[ 9.21857053e-01 -3.82535965e-01 -6.20145880e-02 1.01457907e+02] [ 3.81690151e-01 9.23940573e-01 -2.54253171e-02 1.94860637e+01] [ 6.70238922e-02 -2.31849529e-04 9.97751344e-01 7.00230287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.51, Y:19.51, Z:7.01 [[ 9.22618055e-01 -3.80698057e-01 -6.20073725e-02 1.01510645e+02] [ 3.79846910e-01 9.24699402e-01 -2.54429022e-02 1.95093552e+01] [ 6.70242436e-02 -7.92278899e-05 9.97751344e-01 7.00507936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89999999999999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:101.56, Y:19.53, Z:7.00 [[ 9.22705033e-01 -3.80488366e-01 -6.20002083e-02 1.01564735e+02] [ 3.79635574e-01 9.24785706e-01 -2.54603482e-02 1.95333789e+01] [ 6.70242727e-02 -4.50932665e-05 9.97751344e-01 7.00369803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:101.62, Y:19.56, Z:7.01 [[ 9.23369704e-01 -3.78873612e-01 -6.19933512e-02 1.01619465e+02] [ 3.78016061e-01 9.25448420e-01 -2.54770336e-02 1.95558160e+01] [ 6.70242247e-02 9.02385161e-05 9.97751344e-01 7.00575890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.67, Y:19.58, Z:7.02 [[ 9.23981237e-01 -3.77380907e-01 -6.19864846e-02 1.01672909e+02] [ 3.76518878e-01 9.26058100e-01 -2.54937295e-02 1.95766931e+01] [ 6.70239329e-02 2.16646077e-04 9.97751345e-01 7.01543074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:101.73, Y:19.60, Z:7.02 [[ 9.23692709e-01 -3.78087158e-01 -6.19829035e-02 1.01726442e+02] [ 3.77226133e-01 9.25769988e-01 -2.55024332e-02 1.95979830e+01] [ 6.70240543e-02 1.74840606e-04 9.97751345e-01 7.01943023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:101.78, Y:19.62, Z:7.02 [[ 9.23071489e-01 -3.79602507e-01 -6.19755079e-02 1.01781081e+02] [ 3.78743686e-01 9.25149680e-01 -2.55203931e-02 1.96196795e+01] [ 6.70242265e-02 8.43148810e-05 9.97751345e-01 7.02191958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.2 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:101.84, Y:19.64, Z:7.03 [[ 9.22661497e-01 -3.80599069e-01 -6.19686313e-02 1.01835143e+02] [ 3.79741373e-01 9.24740151e-01 -2.55370801e-02 1.96404911e+01] [ 6.70242704e-02 3.00274030e-05 9.97751345e-01 7.02748993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25999999999999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:101.89, Y:19.66, Z:7.03 [[ 9.21600666e-01 -3.83161063e-01 -6.19662115e-02 1.01889584e+02] [ 3.82308750e-01 9.23681535e-01 -2.55429504e-02 1.96612819e+01] [ 6.70241094e-02 -1.49824733e-04 9.97751345e-01 7.02987785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.94, Y:19.68, Z:7.03 [[ 9.20242755e-01 -3.86412229e-01 -6.19585478e-02 1.01944519e+02] [ 3.85566017e-01 9.22326111e-01 -2.55615264e-02 1.96822108e+01] [ 6.70232729e-02 -3.66301034e-04 9.97751345e-01 7.03471565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:102.00, Y:19.70, Z:7.04 [[ 9.19549533e-01 -3.88060109e-01 -6.19516601e-02 1.01998908e+02] [ 3.87216506e-01 9.21633947e-01 -2.55782088e-02 1.97009417e+01] [ 6.70226355e-02 -4.68275412e-04 9.97751345e-01 7.03945572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.05, Y:19.72, Z:7.05 [[ 9.18246510e-01 -3.91133784e-01 -6.19492514e-02 1.02053648e+02] [ 3.90296764e-01 9.20333577e-01 -2.55840413e-02 1.97204111e+01] [ 6.70207590e-02 -6.86135761e-04 9.97751345e-01 7.04642430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.11, Y:19.74, Z:7.05 [[ 9.17823380e-01 -3.92126019e-01 -6.19469761e-02 1.02108203e+02] [ 3.91290884e-01 9.19911202e-01 -2.55895494e-02 1.97405410e+01] [ 6.70200453e-02 -7.52600314e-04 9.97751345e-01 7.05131360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.16, Y:19.76, Z:7.06 [[ 9.18213909e-01 -3.91211840e-01 -6.19395961e-02 1.02162476e+02] [ 3.90373423e-01 9.20300414e-01 -2.56074003e-02 1.97617709e+01] [ 6.70209541e-02 -6.66501053e-04 9.97751346e-01 7.05504615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.22, Y:19.79, Z:7.06 [[ 9.18148441e-01 -3.91366617e-01 -6.19323110e-02 1.02216625e+02] [ 3.90527364e-01 9.20234610e-01 -2.56250073e-02 1.97862842e+01] [ 6.70210285e-02 -6.58701656e-04 9.97751346e-01 7.05664581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.27, Y:19.81, Z:7.06 [[ 9.19878699e-01 -3.87283359e-01 -6.19255919e-02 1.02270329e+02] [ 3.86433752e-01 9.21960673e-01 -2.56412346e-02 1.98058727e+01] [ 6.70233838e-02 -3.43313324e-04 9.97751346e-01 7.06309557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.32, Y:19.83, Z:7.07 [[ 9.20330797e-01 -3.86208152e-01 -6.19232315e-02 1.02324135e+02] [ 3.85355730e-01 9.22411620e-01 -2.56469337e-02 1.98306950e+01] [ 6.70237631e-02 -2.58809091e-04 9.97751346e-01 7.06557077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.38, Y:19.85, Z:7.07 [[ 9.21398536e-01 -3.83654940e-01 -6.19162731e-02 1.02377766e+02] [ 3.82795624e-01 9.23476521e-01 -2.56637214e-02 1.98512615e+01] [ 6.70242380e-02 -5.47630657e-05 9.97751346e-01 7.07067465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.43, Y:19.87, Z:7.07 [[ 9.21392253e-01 -3.83670423e-01 -6.19138294e-02 1.02431060e+02] [ 3.82810745e-01 9.23470088e-01 -2.56696156e-02 1.98738952e+01] [ 6.70242418e-02 -4.94942132e-05 9.97751346e-01 7.07320198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.49, Y:19.90, Z:7.07 [[ 9.20760837e-01 -3.85184453e-01 -6.19065267e-02 1.02485936e+02] [ 3.84327009e-01 9.22839594e-01 -2.56872153e-02 1.98967490e+01] [ 6.70241099e-02 -1.40568368e-04 9.97751346e-01 7.07436404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:102.54, Y:19.92, Z:7.08 [[ 9.20252881e-01 -3.86397522e-01 -6.18998440e-02 1.02539314e+02] [ 3.85541735e-01 9.22332321e-01 -2.57033087e-02 1.99179989e+01] [ 6.70239216e-02 -2.11429420e-04 9.97751346e-01 7.08089647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.59, Y:19.94, Z:7.09 [[ 9.20099823e-01 -3.86762256e-01 -6.18972761e-02 1.02593213e+02] [ 3.85906878e-01 9.22179431e-01 -2.57094912e-02 1.99411500e+01] [ 6.70238557e-02 -2.31286223e-04 9.97751346e-01 7.08660519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.65, Y:19.97, Z:7.08 [[ 9.18379787e-01 -3.90830002e-01 -6.18908381e-02 1.02645807e+02] [ 3.89982790e-01 9.20462736e-01 -2.57249801e-02 1.99684941e+01] [ 6.70223042e-02 -5.11059958e-04 9.97751347e-01 7.08187173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:19.99, Z:7.09 [[ 9.19879155e-01 -3.87288888e-01 -6.18842233e-02 1.02699721e+02] [ 3.86432588e-01 9.21958384e-01 -2.57408830e-02 1.99871444e+01] [ 6.70238365e-02 -2.35578843e-04 9.97751347e-01 7.09385225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:102.75, Y:20.01, Z:7.10 [[ 9.19814724e-01 -3.87442294e-01 -6.18816802e-02 1.02752608e+02] [ 3.86585930e-01 9.21893926e-01 -2.57469953e-02 2.00098253e+01] [ 6.70238200e-02 -2.40121538e-04 9.97751347e-01 7.09526562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.81, Y:20.03, Z:7.10 [[ 9.20059682e-01 -3.86860596e-01 -6.18794037e-02 1.02805584e+02] [ 3.86002549e-01 9.22138190e-01 -2.57524654e-02 2.00324537e+01] [ 6.70239754e-02 -1.91802427e-04 9.97751347e-01 7.10132380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.86, Y:20.06, Z:7.11 [[ 9.20644099e-01 -3.85468936e-01 -6.18719888e-02 1.02859572e+02] [ 3.84606551e-01 9.22720811e-01 -2.57702679e-02 2.00556148e+01] [ 6.70242094e-02 -7.11271256e-05 9.97751347e-01 7.10639991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39999999999999 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:102.91, Y:20.08, Z:7.11 [[ 9.21292587e-01 -3.83917481e-01 -6.18654749e-02 1.02913092e+02] [ 3.83050549e-01 9.23367405e-01 -2.57858960e-02 2.00799316e+01] [ 6.70242192e-02 5.87507191e-05 9.97751347e-01 7.10505751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:102.97, Y:20.10, Z:7.11 [[ 9.22228219e-01 -3.81665786e-01 -6.18574130e-02 1.02965025e+02] [ 3.80792492e-01 9.24300367e-01 -2.58052212e-02 2.01031500e+01] [ 6.70237995e-02 2.43464709e-04 9.97751347e-01 7.10853111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.02, Y:20.13, Z:7.12 [[ 9.24127305e-01 -3.77044934e-01 -6.18533859e-02 1.03017233e+02] [ 3.76160634e-01 9.26194780e-01 -2.58148702e-02 2.01264087e+01] [ 6.70216492e-02 5.89417555e-04 9.97751347e-01 7.11789892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.07, Y:20.15, Z:7.12 [[ 9.24890384e-01 -3.75169676e-01 -6.18505616e-02 1.03070686e+02] [ 3.74280732e-01 9.26955866e-01 -2.58216353e-02 2.01497850e+01] [ 6.70202354e-02 7.32708687e-04 9.97751347e-01 7.11979726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:103.12, Y:20.17, Z:7.12 [[ 9.24876470e-01 -3.75204351e-01 -6.18482818e-02 1.03124303e+02] [ 3.74315119e-01 9.26941828e-01 -2.58270947e-02 2.01728524e+01] [ 6.70201977e-02 7.36125275e-04 9.97751347e-01 7.12333882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.18, Y:20.19, Z:7.13 [[ 9.25089999e-01 -3.74678618e-01 -6.18419525e-02 1.03178736e+02] [ 3.73787200e-01 9.27154414e-01 -2.58422412e-02 2.01944757e+01] [ 6.70195744e-02 7.90668616e-04 9.97751348e-01 7.13018610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75999999999999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:20.22, Z:7.13 [[ 9.25029856e-01 -3.74828137e-01 -6.18355338e-02 1.03232334e+02] [ 3.73936026e-01 9.27093972e-01 -2.58575908e-02 2.02167230e+01] [ 6.70195032e-02 7.96509681e-04 9.97751348e-01 7.13359568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:20.24, Z:7.14 [[ 9.25087476e-01 -3.74686280e-01 -6.18332800e-02 1.03285780e+02] [ 3.73793492e-01 9.27151299e-01 -2.58629792e-02 2.02390608e+01] [ 6.70193093e-02 8.12640465e-04 9.97751348e-01 7.13882747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:20.26, Z:7.14 [[ 9.25901894e-01 -3.72670437e-01 -6.18257781e-02 1.03340165e+02] [ 3.71771960e-01 9.27963247e-01 -2.58809002e-02 2.02628182e+01] [ 6.70170962e-02 9.78083808e-04 9.97751348e-01 7.14199976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.39, Y:20.29, Z:7.15 [[ 9.26406730e-01 -3.71414724e-01 -6.18196876e-02 1.03394120e+02] [ 3.70512483e-01 9.28466438e-01 -2.58954399e-02 2.02857485e+01] [ 6.70154528e-02 1.08474384e-03 9.97751348e-01 7.14547134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.45, Y:20.31, Z:7.14 [[ 9.26477041e-01 -3.71240385e-01 -6.18131750e-02 1.03447593e+02] [ 3.70336721e-01 9.28536125e-01 -2.59109764e-02 2.03103738e+01] [ 6.70149668e-02 1.11423621e-03 9.97751348e-01 7.14405250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:103.50, Y:20.33, Z:7.15 [[ 9.27590239e-01 -3.68451197e-01 -6.18066612e-02 1.03501282e+02] [ 3.67540307e-01 9.29646136e-01 -2.59265047e-02 2.03319101e+01] [ 6.70109755e-02 1.33273347e-03 9.97751348e-01 7.15322483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.56, Y:20.35, Z:7.16 [[ 9.28073947e-01 -3.67231444e-01 -6.18046594e-02 1.03555277e+02] [ 3.66317534e-01 9.30128504e-01 -2.59312758e-02 2.03539694e+01] [ 6.70090552e-02 1.42601107e-03 9.97751348e-01 7.15762581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17999999999999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:103.61, Y:20.38, Z:7.16 [[ 9.27740924e-01 -3.68073003e-01 -6.17984020e-02 1.03608882e+02] [ 3.67159964e-01 9.29795868e-01 -2.59461797e-02 2.03762148e+01] [ 6.70099871e-02 1.38143365e-03 9.97751348e-01 7.16311901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.66, Y:20.40, Z:7.17 [[ 9.27133007e-01 -3.69602844e-01 -6.17909804e-02 1.03663434e+02] [ 3.68692020e-01 9.29188933e-01 -2.59638423e-02 2.03975652e+01] [ 6.70118051e-02 1.29009376e-03 9.97751349e-01 7.16925320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:20.42, Z:7.17 [[ 9.24072808e-01 -3.77189787e-01 -6.17843904e-02 1.03717439e+02] [ 3.76294797e-01 9.26135676e-01 -2.59795145e-02 2.04204237e+01] [ 6.70199358e-02 7.57818266e-04 9.97751349e-01 7.17371203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:103.77, Y:20.44, Z:7.18 [[ 9.20584917e-01 -3.85625347e-01 -6.17778507e-02 1.03772694e+02] [ 3.84748218e-01 9.22655443e-01 -2.59950564e-02 2.04411617e+01] [ 6.70240228e-02 1.61738833e-04 9.97751349e-01 7.17938043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:20.46, Z:7.18 [[ 9.18807724e-01 -3.89841844e-01 -6.17713780e-02 1.03827040e+02] [ 3.88973183e-01 9.20881817e-01 -2.60104281e-02 2.04615976e+01] [ 6.70240921e-02 -1.28827288e-04 9.97751349e-01 7.18286812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.88, Y:20.48, Z:7.18 [[ 9.16293989e-01 -3.95715228e-01 -6.17639445e-02 1.03881462e+02] [ 3.94858673e-01 9.18373110e-01 -2.60280677e-02 2.04848021e+01] [ 6.70220485e-02 -5.38667144e-04 9.97751349e-01 7.18296757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.94, Y:20.51, Z:7.18 [[ 9.15652288e-01 -3.97198819e-01 -6.17574724e-02 1.03936754e+02] [ 3.96344598e-01 9.17732369e-01 -2.60434152e-02 2.05051890e+01] [ 6.70212452e-02 -6.30527806e-04 9.97751349e-01 7.18374854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:20.53, Z:7.19 [[ 9.13736307e-01 -4.01587888e-01 -6.17505460e-02 1.03989696e+02] [ 4.00742548e-01 9.15820013e-01 -2.60598278e-02 2.05290819e+01] [ 6.70176971e-02 -9.34260311e-04 9.97751350e-01 7.19070534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.04, Y:20.55, Z:7.20 [[ 9.14719201e-01 -3.99344674e-01 -6.17463819e-02 1.04043271e+02] [ 3.98493558e-01 9.16800554e-01 -2.60696906e-02 2.05510260e+01] [ 6.70199092e-02 -7.59088826e-04 9.97751350e-01 7.19830478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.10, Y:20.57, Z:7.20 [[ 9.15507783e-01 -3.97534059e-01 -6.17427749e-02 1.04096674e+02] [ 3.96678252e-01 9.17587211e-01 -2.60782305e-02 2.05740495e+01] [ 6.70213655e-02 -6.17192982e-04 9.97751350e-01 7.20193677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.15, Y:20.60, Z:7.20 [[ 9.17711256e-01 -3.92421718e-01 -6.17352933e-02 1.04148679e+02] [ 3.91553134e-01 9.19785380e-01 -2.60959298e-02 2.05964006e+01] [ 6.70238298e-02 -2.24119125e-04 9.97751350e-01 7.20468089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.20, Y:20.62, Z:7.21 [[ 9.19681740e-01 -3.87781702e-01 -6.17320743e-02 1.04201726e+02] [ 3.86902143e-01 9.21751234e-01 -2.61035424e-02 2.06205657e+01] [ 6.70240918e-02 1.22679460e-04 9.97751350e-01 7.20905158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.25, Y:20.65, Z:7.21 [[ 9.23456979e-01 -3.78704764e-01 -6.17244645e-02 1.04253448e+02] [ 3.77803664e-01 9.25517184e-01 -2.61215243e-02 2.06461926e+01] [ 6.70193982e-02 8.02375100e-04 9.97751350e-01 7.21263770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:104.31, Y:20.67, Z:7.22 [[ 9.27009302e-01 -3.69925371e-01 -6.17168838e-02 1.04306517e+02] [ 3.69003572e-01 9.29060329e-01 -2.61394228e-02 2.06699059e+01] [ 6.70083440e-02 1.45773754e-03 9.97751350e-01 7.21695501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:104.36, Y:20.69, Z:7.22 [[ 9.28368156e-01 -3.66502226e-01 -6.17145518e-02 1.04359824e+02] [ 3.65572499e-01 9.30415601e-01 -2.61449275e-02 2.06923408e+01] [ 6.70023559e-02 1.71097520e-03 9.97751350e-01 7.22147157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.41, Y:20.71, Z:7.23 [[ 9.29204776e-01 -3.64377185e-01 -6.17069748e-02 1.04414430e+02] [ 3.63441590e-01 9.31249547e-01 -2.61627984e-02 2.07148279e+01] [ 6.69977192e-02 1.88371623e-03 9.97751350e-01 7.22540992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.47, Y:20.74, Z:7.23 [[ 9.29083453e-01 -3.64687541e-01 -6.17003648e-02 1.04467746e+02] [ 3.63751595e-01 9.31128063e-01 -2.61783776e-02 2.07370437e+01] [ 6.69978693e-02 1.87829130e-03 9.97751351e-01 7.22954880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:20.76, Z:7.23 [[ 9.28840967e-01 -3.65306005e-01 -6.16926286e-02 1.04520749e+02] [ 3.64370212e-01 9.30885647e-01 -2.61965963e-02 2.07579244e+01] [ 6.69985564e-02 1.85351572e-03 9.97751351e-01 7.23367082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:20.78, Z:7.24 [[ 9.28251960e-01 -3.66800667e-01 -6.16892974e-02 1.04574339e+02] [ 3.65867645e-01 9.30297906e-01 -2.62044386e-02 2.07794646e+01] [ 6.70012297e-02 1.75420359e-03 9.97751351e-01 7.23624805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:20.80, Z:7.24 [[ 9.26804622e-01 -3.70442856e-01 -6.16869732e-02 1.04629687e+02] [ 3.69517512e-01 9.28854051e-01 -2.62099088e-02 2.08003134e+01] [ 6.70074684e-02 1.49704775e-03 9.97751351e-01 7.23974906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.68, Y:20.82, Z:7.24 [[ 9.25542964e-01 -3.73585009e-01 -6.16803269e-02 1.04684867e+02] [ 3.72665581e-01 9.27595055e-01 -2.62255402e-02 2.08215640e+01] [ 6.70118349e-02 1.28672937e-03 9.97751351e-01 7.24404052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.74, Y:20.84, Z:7.25 [[ 9.22678267e-01 -3.80606311e-01 -6.16737509e-02 1.04738830e+02] [ 3.79701468e-01 9.24736830e-01 -2.62409959e-02 2.08431504e+01] [ 6.70194775e-02 7.94382854e-04 9.97751351e-01 7.24785283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.5 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:104.79, Y:20.86, Z:7.25 [[ 9.18975843e-01 -3.89462034e-01 -6.16662291e-02 1.04794131e+02] [ 3.88575845e-01 9.21042505e-01 -2.62586600e-02 2.08638690e+01] [ 6.70239693e-02 1.69067133e-04 9.97751351e-01 7.25183375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.85, Y:20.88, Z:7.26 [[ 9.13493375e-01 -4.02154118e-01 -6.16597071e-02 1.04849343e+02] [ 4.01295608e-01 9.15571687e-01 -2.62739660e-02 2.08822821e+01] [ 6.70200656e-02 -7.42675768e-04 9.97751351e-01 7.25933672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61999999999999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:104.90, Y:20.91, Z:7.25 [[ 9.08477028e-01 -4.13361660e-01 -6.16573383e-02 1.04901528e+02] [ 4.12528406e-01 9.10565594e-01 -2.62795237e-02 2.09114381e+01] [ 6.70059984e-02 -1.56105995e-03 9.97751351e-01 7.25416062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.96, Y:20.93, Z:7.27 [[ 9.08017003e-01 -4.14372222e-01 -6.16504949e-02 1.04955114e+02] [ 4.13540203e-01 9.10106062e-01 -2.62955682e-02 2.09315190e+01] [ 6.70046421e-02 -1.61813516e-03 9.97751352e-01 7.26737380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:20.96, Z:7.27 [[ 9.07245707e-01 -4.16058744e-01 -6.16469632e-02 1.05007770e+02] [ 4.15230047e-01 9.09336085e-01 -2.63038451e-02 2.09552964e+01] [ 6.70017530e-02 -1.73362083e-03 9.97751352e-01 7.27060310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.8 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:105.06, Y:20.98, Z:7.27 [[ 9.05130686e-01 -4.20641193e-01 -6.16395068e-02 1.05059849e+02] [ 4.19821889e-01 9.07224763e-01 -2.63213067e-02 2.09815502e+01] [ 6.69927128e-02 -2.05339187e-03 9.97751352e-01 7.27426960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:105.11, Y:21.01, Z:7.28 [[ 9.04491383e-01 -4.22015182e-01 -6.16321627e-02 1.05111848e+02] [ 4.21197889e-01 9.06586246e-01 -2.63384920e-02 2.10063661e+01] [ 6.69901145e-02 -2.13639774e-03 9.97751352e-01 7.27797485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.16, Y:21.04, Z:7.27 [[ 9.03739578e-01 -4.23623832e-01 -6.16248640e-02 1.05162270e+02] [ 4.22809106e-01 9.05835440e-01 -2.63555578e-02 2.10396653e+01] [ 6.69868282e-02 -2.23699296e-03 9.97751352e-01 7.27105924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97999999999999 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:105.22, Y:21.06, Z:7.29 [[ 9.07591510e-01 -4.15308082e-01 -6.16185636e-02 1.05216546e+02] [ 4.14473147e-01 9.09679404e-01 -2.63702798e-02 2.10599382e+01] [ 6.70049286e-02 -1.60579794e-03 9.97751352e-01 7.28594654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.27, Y:21.09, Z:7.29 [[ 9.11955547e-01 -4.05636559e-01 -6.16121990e-02 1.05266779e+02] [ 4.04778472e-01 9.14034033e-01 -2.63851420e-02 2.10872195e+01] [ 6.70184249e-02 -8.77215192e-04 9.97751352e-01 7.28964246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:21.11, Z:7.29 [[ 9.14951254e-01 -3.98833954e-01 -6.16090944e-02 1.05318797e+02] [ 3.97959925e-01 9.17023086e-01 -2.63923891e-02 2.11140693e+01] [ 6.70231428e-02 -3.70201105e-04 9.97751352e-01 7.29384638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:105.37, Y:21.14, Z:7.30 [[ 9.18736643e-01 -3.90036201e-01 -6.16014812e-02 1.05370711e+02] [ 3.89141141e-01 9.20799477e-01 -2.64101470e-02 2.11413489e+01] [ 6.70235250e-02 2.92299172e-04 9.97751353e-01 7.29618391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:105.42, Y:21.17, Z:7.30 [[ 9.20788100e-01 -3.85169392e-01 -6.15939438e-02 1.05423638e+02] [ 3.84262254e-01 9.22845651e-01 -2.64277142e-02 2.11658132e+01] [ 6.70208497e-02 6.66097057e-04 9.97751353e-01 7.30120506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:105.48, Y:21.19, Z:7.31 [[ 9.23414848e-01 -3.78829818e-01 -6.15872392e-02 1.05476631e+02] [ 3.77907515e-01 9.25465645e-01 -2.64433292e-02 2.11920851e+01] [ 6.70143957e-02 1.14388224e-03 9.97751353e-01 7.30591398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33999999999999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:105.53, Y:21.22, Z:7.31 [[ 9.24817044e-01 -3.75394808e-01 -6.15806282e-02 1.05529615e+02] [ 3.74463865e-01 9.26863933e-01 -2.64587160e-02 2.12162626e+01] [ 6.70093278e-02 1.40975151e-03 9.97751353e-01 7.31026216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39999999999999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:105.58, Y:21.24, Z:7.31 [[ 9.25979035e-01 -3.72520588e-01 -6.15730271e-02 1.05582689e+02] [ 3.71582116e-01 9.28022484e-01 -2.64763929e-02 2.12409974e+01] [ 6.70041550e-02 1.63714902e-03 9.97751353e-01 7.31174435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:105.64, Y:21.26, Z:7.31 [[ 9.26139432e-01 -3.72122913e-01 -6.15653368e-02 1.05635912e+02] [ 3.71182377e-01 9.28181931e-01 -2.64942631e-02 2.12638501e+01] [ 6.70029555e-02 1.68541373e-03 9.97751353e-01 7.31482583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:105.69, Y:21.29, Z:7.32 [[ 9.25765756e-01 -3.73052841e-01 -6.15576413e-02 1.05689645e+02] [ 3.72113169e-01 9.27808653e-01 -2.65121311e-02 2.12853621e+01] [ 6.70041380e-02 1.63761409e-03 9.97751354e-01 7.31861753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:105.74, Y:21.31, Z:7.32 [[ 9.25010621e-01 -3.74922590e-01 -6.15500002e-02 1.05743169e+02] [ 3.73985869e-01 9.27054872e-01 -2.65298587e-02 2.13071955e+01] [ 6.70068709e-02 1.52157081e-03 9.97751354e-01 7.32175223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:21.33, Z:7.32 [[ 9.23739832e-01 -3.78043993e-01 -6.15423616e-02 1.05797268e+02] [ 3.77113001e-01 9.25786698e-01 -2.65475664e-02 2.13283328e+01] [ 6.70112478e-02 1.31461978e-03 9.97751354e-01 7.32488212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.7 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:105.85, Y:21.35, Z:7.33 [[ 9.22836743e-01 -3.80244418e-01 -6.15347766e-02 1.05851277e+02] [ 3.79317135e-01 9.24885293e-01 -2.65651361e-02 2.13498988e+01] [ 6.70138546e-02 1.17408852e-03 9.97751354e-01 7.33005939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:21.37, Z:7.34 [[ 9.21568951e-01 -3.83308109e-01 -6.15269262e-02 1.05905499e+02] [ 3.82386425e-01 9.23620025e-01 -2.65833059e-02 2.13701054e+01] [ 6.70170978e-02 9.71288024e-04 9.97751354e-01 7.33649098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.96, Y:21.39, Z:7.34 [[ 9.20893988e-01 -3.84927262e-01 -6.15245206e-02 1.05958706e+02] [ 3.84008812e-01 9.22946512e-01 -2.65888722e-02 2.13917273e+01] [ 6.70186235e-02 8.59574491e-04 9.97751354e-01 7.34223146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.01, Y:21.41, Z:7.34 [[ 9.20878791e-01 -3.84964907e-01 -6.15164377e-02 1.06011819e+02] [ 3.84045292e-01 9.22930794e-01 -2.66075599e-02 2.14144715e+01] [ 6.70183915e-02 8.77239347e-04 9.97751355e-01 7.34474783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:106.07, Y:21.44, Z:7.35 [[ 9.21666694e-01 -3.83075108e-01 -6.15139488e-02 1.06065110e+02] [ 3.82150903e-01 9.23716634e-01 -2.66133127e-02 2.14384285e+01] [ 6.70163553e-02 1.02099287e-03 9.97751355e-01 7.34650964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.12, Y:21.46, Z:7.35 [[ 9.22445741e-01 -3.81196579e-01 -6.15062805e-02 1.06117766e+02] [ 3.80267018e-01 9.24493258e-01 -2.66310233e-02 2.14605395e+01] [ 6.70137966e-02 1.17686414e-03 9.97751355e-01 7.34908187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.17, Y:21.48, Z:7.35 [[ 9.22964002e-01 -3.79940565e-01 -6.15029880e-02 1.06171912e+02] [ 3.79007712e-01 9.25010020e-01 -2.66386250e-02 2.14825566e+01] [ 6.70119744e-02 1.27638514e-03 9.97751355e-01 7.35192517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11999999999999 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:106.23, Y:21.50, Z:7.36 [[ 9.22794767e-01 -3.80352514e-01 -6.14962066e-02 1.06225016e+02] [ 3.79419533e-01 9.24840726e-01 -2.66542709e-02 2.15047881e+01] [ 6.70122153e-02 1.26355978e-03 9.97751355e-01 7.35503648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17999999999999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:106.28, Y:21.52, Z:7.36 [[ 9.21978365e-01 -3.82328482e-01 -6.14884235e-02 1.06279215e+02] [ 3.81398689e-01 9.24025775e-01 -2.66722135e-02 2.15249035e+01] [ 6.70144351e-02 1.13959968e-03 9.97751355e-01 7.36012909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:106.33, Y:21.55, Z:7.37 [[ 9.20886507e-01 -3.84951499e-01 -6.14848372e-02 1.06332875e+02] [ 3.84026986e-01 9.22936307e-01 -2.66804781e-02 2.15459972e+01] [ 6.70172786e-02 9.57855577e-04 9.97751355e-01 7.36511388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.3 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:106.39, Y:21.57, Z:7.37 [[ 9.19296341e-01 -3.88734899e-01 -6.14769548e-02 1.06386315e+02] [ 3.87817609e-01 9.21349383e-01 -2.66986285e-02 2.15696024e+01] [ 6.70204430e-02 7.02105861e-04 9.97751355e-01 7.36912383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:106.44, Y:21.59, Z:7.37 [[ 9.19632830e-01 -3.87939259e-01 -6.14702347e-02 1.06441247e+02] [ 3.87019159e-01 9.21684614e-01 -2.67140916e-02 2.15883018e+01] [ 6.70196145e-02 7.76997066e-04 9.97751356e-01 7.37181517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.50, Y:21.61, Z:7.37 [[ 9.19402530e-01 -3.88485154e-01 -6.14676524e-02 1.06496597e+02] [ 3.87565875e-01 9.21454683e-01 -2.67200322e-02 2.16089306e+01] [ 6.70199919e-02 7.43700694e-04 9.97751356e-01 7.37439267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:106.55, Y:21.63, Z:7.38 [[ 9.19152571e-01 -3.89077221e-01 -6.14611015e-02 1.06551758e+02] [ 3.88158257e-01 9.21204865e-01 -2.67350920e-02 2.16297023e+01] [ 6.70202809e-02 7.16994536e-04 9.97751356e-01 7.37719122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53999999999999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:106.61, Y:21.65, Z:7.38 [[ 9.19031303e-01 -3.89364600e-01 -6.14546318e-02 1.06606473e+02] [ 3.88445284e-01 9.21083439e-01 -2.67499552e-02 2.16507388e+01] [ 6.70203292e-02 7.12284297e-04 9.97751356e-01 7.38033315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.6 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:21.67, Z:7.38 [[ 9.19425076e-01 -3.88434915e-01 -6.14479152e-02 1.06661009e+02] [ 3.87512494e-01 9.21475817e-01 -2.67653753e-02 2.16711678e+01] [ 6.70193741e-02 7.96922356e-04 9.97751356e-01 7.38205436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.71, Y:21.69, Z:7.39 [[ 9.19666304e-01 -3.87863806e-01 -6.14455666e-02 1.06714327e+02] [ 3.86939751e-01 9.21716310e-01 -2.67707657e-02 2.16940110e+01] [ 6.70187920e-02 8.44438937e-04 9.97751356e-01 7.38813501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:106.77, Y:21.72, Z:7.39 [[ 9.19310327e-01 -3.88707991e-01 -6.14379406e-02 1.06765900e+02] [ 3.87784650e-01 9.21360654e-01 -2.67882559e-02 2.17177592e+01] [ 6.70193102e-02 8.02030037e-04 9.97751356e-01 7.39013650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:106.82, Y:21.74, Z:7.40 [[ 9.19150147e-01 -3.89087122e-01 -6.14346700e-02 1.06818139e+02] [ 3.88164125e-01 9.21200629e-01 -2.67957544e-02 2.17429655e+01] [ 6.70195396e-02 7.82586715e-04 9.97751356e-01 7.39543207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.87, Y:21.77, Z:7.40 [[ 9.20023492e-01 -3.87018742e-01 -6.14269259e-02 1.06870169e+02] [ 3.86089952e-01 9.22071356e-01 -2.68134953e-02 2.17683827e+01] [ 6.70173341e-02 9.52726748e-04 9.97751356e-01 7.39971823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.92, Y:21.79, Z:7.40 [[ 9.21400395e-01 -3.83729509e-01 -6.14245531e-02 1.06922981e+02] [ 3.82793047e-01 9.23444762e-01 -2.68189298e-02 2.17934881e+01] [ 6.70133966e-02 1.19808066e-03 9.97751356e-01 7.40392018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:106.98, Y:21.82, Z:7.41 [[ 9.22652269e-01 -3.80710865e-01 -6.14168420e-02 1.06975253e+02] [ 3.79766541e-01 9.24693015e-01 -2.68365771e-02 2.18189667e+01] [ 6.70087013e-02 1.43676715e-03 9.97751357e-01 7.40604990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:107.03, Y:21.85, Z:7.41 [[ 9.24605874e-01 -3.75942686e-01 -6.14090726e-02 1.07026809e+02] [ 3.74986660e-01 9.26641165e-01 -2.68543438e-02 2.18465442e+01] [ 6.69998687e-02 1.80210105e-03 9.97751357e-01 7.40937563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:21.87, Z:7.41 [[ 9.25756003e-01 -3.73101923e-01 -6.14066604e-02 1.07078821e+02] [ 3.72139286e-01 9.27788176e-01 -2.68598585e-02 2.18727012e+01] [ 6.69938383e-02 2.01384450e-03 9.97751357e-01 7.41250283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.13, Y:21.90, Z:7.42 [[ 9.27337958e-01 -3.69153736e-01 -6.13989509e-02 1.07130798e+02] [ 3.68181284e-01 9.29365452e-01 -2.68774702e-02 2.18999625e+01] [ 6.69839823e-02 2.31855369e-03 9.97751357e-01 7.41758722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19999999999999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:107.18, Y:21.93, Z:7.42 [[ 9.27691787e-01 -3.68264803e-01 -6.13920417e-02 1.07182952e+02] [ 3.67289366e-01 9.29717847e-01 -2.68932426e-02 2.19254916e+01] [ 6.69811115e-02 2.39999622e-03 9.97751357e-01 7.42050152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25999999999999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:107.24, Y:21.95, Z:7.43 [[ 9.27069984e-01 -3.69827744e-01 -6.13896148e-02 1.07236131e+02] [ 3.68855357e-01 9.29097509e-01 -2.68987814e-02 2.19515346e+01] [ 6.69848538e-02 2.29316461e-03 9.97751357e-01 7.42571749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:107.29, Y:21.98, Z:7.43 [[ 9.25852725e-01 -3.72865768e-01 -6.13828221e-02 1.07289044e+02] [ 3.71899009e-01 9.27882939e-01 -2.69142733e-02 2.19759018e+01] [ 6.69914846e-02 2.09044262e-03 9.97751357e-01 7.42957490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:107.34, Y:22.00, Z:7.43 [[ 9.23312394e-01 -3.79113903e-01 -6.13748461e-02 1.07341494e+02] [ 3.78159678e-01 9.25348530e-01 -2.69324494e-02 2.19996045e+01] [ 6.70035896e-02 1.65757227e-03 9.97751358e-01 7.43241972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:107.39, Y:22.02, Z:7.44 [[ 9.21011401e-01 -3.84671416e-01 -6.13669339e-02 1.07393950e+02] [ 3.83728279e-01 9.23052696e-01 -2.69504659e-02 2.20221732e+01] [ 6.70119876e-02 1.27345842e-03 9.97751358e-01 7.43556533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.45, Y:22.04, Z:7.44 [[ 9.17351518e-01 -3.93320106e-01 -6.13635614e-02 1.07447156e+02] [ 3.92395704e-01 9.19401365e-01 -2.69581425e-02 2.20444183e+01] [ 6.70209216e-02 6.51295100e-04 9.97751358e-01 7.43968948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:107.50, Y:22.07, Z:7.44 [[ 9.14929810e-01 -3.98922174e-01 -6.13558677e-02 1.07500684e+02] [ 3.98009150e-01 9.16984750e-01 -2.69756418e-02 2.20672826e+01] [ 6.70235766e-02 2.60622024e-04 9.97751358e-01 7.44195412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:22.09, Z:7.45 [[ 9.13506859e-01 -4.02171144e-01 -6.13480970e-02 1.07554023e+02] [ 4.01264243e-01 9.15564509e-01 -2.69933024e-02 2.20889237e+01] [ 6.70240676e-02 4.17692116e-05 9.97751358e-01 7.44762843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:22.11, Z:7.45 [[ 9.12075323e-01 -4.05408392e-01 -6.13403656e-02 1.07607743e+02] [ 4.04507613e-01 9.14135660e-01 -2.70108600e-02 2.21107489e+01] [ 6.70238449e-02 -1.76705929e-04 9.97751358e-01 7.45070193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.66, Y:22.13, Z:7.45 [[ 9.11663531e-01 -4.06334729e-01 -6.13326444e-02 1.07660379e+02] [ 4.05434865e-01 9.13724267e-01 -2.70283808e-02 2.21329554e+01] [ 6.70236954e-02 -2.25603308e-04 9.97751358e-01 7.45389573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.8 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:107.71, Y:22.16, Z:7.46 [[ 9.11280962e-01 -4.07192489e-01 -6.13293255e-02 1.07714456e+02] [ 4.06294057e-01 9.13342323e-01 -2.70359096e-02 2.21555104e+01] [ 6.70234879e-02 -2.80430793e-04 9.97751359e-01 7.45622184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:107.77, Y:22.18, Z:7.46 [[ 9.10798879e-01 -4.08270830e-01 -6.13215394e-02 1.07767225e+02] [ 4.07373651e-01 9.12860785e-01 -2.70535581e-02 2.21775198e+01] [ 6.70232073e-02 -3.40428947e-04 9.97751359e-01 7.45960145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:107.82, Y:22.20, Z:7.46 [[ 9.08740678e-01 -4.12832242e-01 -6.13181947e-02 1.07819951e+02] [ 4.11944900e-01 9.10806837e-01 -2.70611370e-02 2.22049755e+01] [ 6.70207408e-02 -6.68161677e-04 9.97751359e-01 7.45545207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.87, Y:22.22, Z:7.47 [[ 9.10318752e-01 -4.09341342e-01 -6.13142336e-02 1.07874788e+02] [ 4.08445473e-01 9.12381228e-01 -2.70701090e-02 2.22223264e+01] [ 6.70228705e-02 -4.01093303e-04 9.97751359e-01 7.47053149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03999999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.93, Y:22.25, Z:7.48 [[ 9.09338191e-01 -4.11515647e-01 -6.13100877e-02 1.07928086e+02] [ 4.10624076e-01 9.11402529e-01 -2.70794957e-02 2.22457265e+01] [ 6.70218051e-02 -5.50978528e-04 9.97751359e-01 7.47628163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.1 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:22.27, Z:7.48 [[ 9.08776086e-01 -4.12756495e-01 -6.13033543e-02 1.07981590e+02] [ 4.11866716e-01 9.10841196e-01 -2.70947303e-02 2.22701835e+01] [ 6.70211465e-02 -6.25768261e-04 9.97751359e-01 7.48039269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:22.29, Z:7.48 [[ 9.07688255e-01 -4.15144280e-01 -6.12964728e-02 1.08034863e+02] [ 4.14258882e-01 9.09755248e-01 -2.71102895e-02 2.22945058e+01] [ 6.70194694e-02 -7.84916940e-04 9.97751359e-01 7.48153237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.09, Y:22.32, Z:7.49 [[ 9.07515442e-01 -4.15523072e-01 -6.12886614e-02 1.08089109e+02] [ 4.14637345e-01 9.09582293e-01 -2.71279374e-02 2.23180755e+01] [ 6.70193650e-02 -7.93545708e-04 9.97751359e-01 7.48546180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.14, Y:22.34, Z:7.49 [[ 9.06673666e-01 -4.17357639e-01 -6.12818406e-02 1.08142234e+02] [ 4.16475054e-01 9.08741860e-01 -2.71433369e-02 2.23412327e+01] [ 6.70178528e-02 -9.12209068e-04 9.97751359e-01 7.48722435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:108.20, Y:22.37, Z:7.49 [[ 9.05929304e-01 -4.18972068e-01 -6.12739932e-02 1.08195251e+02] [ 4.18091971e-01 9.07998558e-01 -2.71610401e-02 2.23653297e+01] [ 6.70164147e-02 -1.01218243e-03 9.97751360e-01 7.48884911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.25, Y:22.39, Z:7.49 [[ 9.04724367e-01 -4.21568831e-01 -6.12661457e-02 1.08248566e+02] [ 4.20693475e-01 9.06795631e-01 -2.71787301e-02 2.23914742e+01] [ 6.70135787e-02 -1.18500833e-03 9.97751360e-01 7.48637429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.30, Y:22.41, Z:7.50 [[ 9.06186788e-01 -4.18417095e-01 -6.12587992e-02 1.08302107e+02] [ 4.17533416e-01 9.08254515e-01 -2.71952785e-02 2.24111512e+01] [ 6.70175503e-02 -9.33593596e-04 9.97751360e-01 7.49705496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.35, Y:22.43, Z:7.50 [[ 9.06568730e-01 -4.17589576e-01 -6.12542588e-02 1.08354780e+02] [ 4.16703319e-01 9.08635353e-01 -2.72055014e-02 2.24345565e+01] [ 6.70185188e-02 -8.61196109e-04 9.97751360e-01 7.50257163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.41, Y:22.46, Z:7.50 [[ 9.06031791e-01 -4.18754417e-01 -6.12464840e-02 1.08407962e+02] [ 4.17869635e-01 9.08099046e-01 -2.72229932e-02 2.24602845e+01] [ 6.70176223e-02 -9.28148598e-04 9.97751360e-01 7.50026044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.46, Y:22.48, Z:7.51 [[ 9.07819177e-01 -4.14866391e-01 -6.12390286e-02 1.08460887e+02] [ 4.13971624e-01 9.09882130e-01 -2.72397541e-02 2.24810604e+01] [ 6.70211562e-02 -6.22449010e-04 9.97751360e-01 7.51307157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69999999999999 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:108.51, Y:22.51, Z:7.52 [[ 9.08414947e-01 -4.13560811e-01 -6.12351089e-02 1.08513391e+02] [ 4.12662486e-01 9.10476353e-01 -2.72485628e-02 2.25060644e+01] [ 6.70220563e-02 -5.16430548e-04 9.97751360e-01 7.51506032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75999999999999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:22.53, Z:7.52 [[ 9.09747052e-01 -4.10623341e-01 -6.12272272e-02 1.08565605e+02] [ 4.09717168e-01 9.11805019e-01 -2.72662614e-02 2.25307587e+01] [ 6.70234564e-02 -2.80445228e-04 9.97751361e-01 7.51851875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:108.62, Y:22.56, Z:7.52 [[ 9.09046051e-01 -4.12174086e-01 -6.12192836e-02 1.08618372e+02] [ 4.11270223e-01 9.11105034e-01 -2.72840850e-02 2.25578686e+01] [ 6.70229902e-02 -3.75178725e-04 9.97751361e-01 7.51513763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:22.58, Z:7.53 [[ 9.11285443e-01 -4.07200107e-01 -6.12120384e-02 1.08672040e+02] [ 4.06283915e-01 9.13338969e-01 -2.73003301e-02 2.25777135e+01] [ 6.70240374e-02 8.92679546e-06 9.97751361e-01 7.52555916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:22.60, Z:7.53 [[ 9.11501604e-01 -4.06716391e-01 -6.12095028e-02 1.08724553e+02] [ 4.05798728e-01 9.13554473e-01 -2.73060138e-02 2.26015472e+01] [ 6.70240185e-02 5.07370203e-05 9.97751361e-01 7.52673119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:22.63, Z:7.52 [[ 9.10351639e-01 -4.09285020e-01 -6.12018407e-02 1.08777047e+02] [ 4.08371995e-01 9.12406575e-01 -2.73231765e-02 2.26291105e+01] [ 6.70239287e-02 -1.19419271e-04 9.97751361e-01 7.52410791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:22.65, Z:7.53 [[ 9.10891829e-01 -4.08082400e-01 -6.11950237e-02 1.08830587e+02] [ 4.07165636e-01 9.12945100e-01 -2.73384357e-02 2.26514843e+01] [ 6.70240315e-02 -1.41530082e-05 9.97751361e-01 7.52929727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:22.67, Z:7.54 [[ 9.13402747e-01 -4.02432024e-01 -6.11873140e-02 1.08886110e+02] [ 4.01501403e-01 9.15449775e-01 -2.73556803e-02 2.26708697e+01] [ 6.70227146e-02 4.19961132e-04 9.97751361e-01 7.54199010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17999999999999 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:108.94, Y:22.70, Z:7.54 [[ 9.15551382e-01 -3.97520592e-01 -6.11804344e-02 1.08938606e+02] [ 3.96577964e-01 9.17592908e-01 -2.73710578e-02 2.26952721e+01] [ 6.70192918e-02 7.96797680e-04 9.97751362e-01 7.54112297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:108.99, Y:22.72, Z:7.55 [[ 9.16932033e-01 -3.94326730e-01 -6.11725173e-02 1.08990924e+02] [ 3.93375811e-01 9.18969710e-01 -2.73887406e-02 2.27178578e+01] [ 6.70158030e-02 1.04982500e-03 9.97751362e-01 7.54607225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.3 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:109.04, Y:22.74, Z:7.55 [[ 9.18395467e-01 -3.90906777e-01 -6.11690946e-02 1.09044071e+02] [ 3.89947762e-01 9.20429346e-01 -2.73963825e-02 2.27407746e+01] [ 6.70112614e-02 1.30796195e-03 9.97751362e-01 7.54660618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.10, Y:22.76, Z:7.55 [[ 9.18628173e-01 -3.90360847e-01 -6.11611771e-02 1.09097798e+02] [ 3.89399448e-01 9.20660925e-01 -2.74140467e-02 2.27616653e+01] [ 6.70100764e-02 1.36718695e-03 9.97751362e-01 7.55110820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:109.15, Y:22.78, Z:7.55 [[ 9.18063660e-01 -3.91687024e-01 -6.11587403e-02 1.09151399e+02] [ 3.90728199e-01 9.20097629e-01 -2.74194819e-02 2.27829708e+01] [ 6.70118672e-02 1.27638538e-03 9.97751362e-01 7.55347613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47999999999999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:109.21, Y:22.80, Z:7.56 [[ 9.16878824e-01 -3.94453782e-01 -6.11509316e-02 1.09206737e+02] [ 3.93499936e-01 9.18915131e-01 -2.74368860e-02 2.28022405e+01] [ 6.70150997e-02 1.09341212e-03 9.97751362e-01 7.55748363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53999999999999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:109.26, Y:22.82, Z:7.56 [[ 9.15530970e-01 -3.97573329e-01 -6.11431979e-02 1.09261854e+02] [ 3.96625271e-01 9.17569979e-01 -2.74541097e-02 2.28232091e+01] [ 6.70181846e-02 8.84150205e-04 9.97751362e-01 7.56126015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.32, Y:22.84, Z:7.57 [[ 9.13506762e-01 -4.02203605e-01 -6.11363669e-02 1.09315894e+02] [ 4.01264865e-01 9.15550078e-01 -2.74693130e-02 2.28432845e+01] [ 6.70216622e-02 5.61527193e-04 9.97751363e-01 7.56916355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.37, Y:22.87, Z:7.56 [[ 9.09021213e-01 -4.12242321e-01 -6.11285823e-02 1.09368707e+02] [ 4.11324983e-01 9.11074225e-01 -2.74866255e-02 2.28682463e+01] [ 6.70238260e-02 -1.57787359e-04 9.97751363e-01 7.56410950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.42, Y:22.89, Z:7.58 [[ 9.11143234e-01 -4.07531927e-01 -6.11206665e-02 1.09422376e+02] [ 4.06602795e-01 9.13190936e-01 -2.75042163e-02 2.28881692e+01] [ 6.70236849e-02 2.08446737e-04 9.97751363e-01 7.57656738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.47, Y:22.92, Z:7.58 [[ 9.13641600e-01 -4.01900812e-01 -6.11127178e-02 1.09474831e+02] [ 4.00957880e-01 9.15682983e-01 -2.75218664e-02 2.29158370e+01] [ 6.70209362e-02 6.41496284e-04 9.97751363e-01 7.57914234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83999999999999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:109.53, Y:22.94, Z:7.58 [[ 9.15310947e-01 -3.98085355e-01 -6.11058169e-02 1.09526696e+02] [ 3.97132891e-01 9.17347900e-01 -2.75371797e-02 2.29430810e+01] [ 6.70174408e-02 9.37952281e-04 9.97751363e-01 7.57918443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:109.58, Y:22.97, Z:7.58 [[ 9.16792607e-01 -3.94662340e-01 -6.10979063e-02 1.09578773e+02] [ 3.93701102e-01 9.18825435e-01 -2.75547202e-02 2.29698483e+01] [ 6.70131207e-02 1.20765068e-03 9.97751363e-01 7.58289422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:23.00, Z:7.59 [[ 9.17206389e-01 -3.93700963e-01 -6.10900357e-02 1.09631269e+02] [ 3.92736434e-01 9.19237657e-01 -2.75721586e-02 2.29952490e+01] [ 6.70114467e-02 1.29707729e-03 9.97751364e-01 7.58699066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:23.02, Z:7.59 [[ 9.17675629e-01 -3.92607220e-01 -6.10819960e-02 1.09683241e+02] [ 3.91639086e-01 9.19705181e-01 -2.75899579e-02 2.30210434e+01] [ 6.70094449e-02 1.39653482e-03 9.97751364e-01 7.59147612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:109.74, Y:23.05, Z:7.60 [[ 9.18011726e-01 -3.91821082e-01 -6.10795367e-02 1.09735837e+02] [ 3.90850848e-01 9.20040275e-01 -2.75954013e-02 2.30459304e+01] [ 6.70080938e-02 1.45991327e-03 9.97751364e-01 7.59615017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.79, Y:23.07, Z:7.60 [[ 9.18302379e-01 -3.91140601e-01 -6.10718551e-02 1.09787610e+02] [ 3.90167735e-01 9.20329666e-01 -2.76123913e-02 2.30710059e+01] [ 6.70065673e-02 1.52825731e-03 9.97751364e-01 7.60097487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19999999999999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:109.84, Y:23.10, Z:7.60 [[ 9.17692019e-01 -3.92571708e-01 -6.10640020e-02 1.09840240e+02] [ 3.91600849e-01 9.19720268e-01 -2.76297472e-02 2.30957909e+01] [ 6.70084574e-02 1.44288345e-03 9.97751364e-01 7.60203158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:109.89, Y:23.12, Z:7.61 [[ 9.16518423e-01 -3.95305127e-01 -6.10560101e-02 1.09893252e+02] [ 3.94339143e-01 9.18548998e-01 -2.76473964e-02 2.31195684e+01] [ 6.70120945e-02 1.26257342e-03 9.97751364e-01 7.60566765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.95, Y:23.14, Z:7.61 [[ 9.14093277e-01 -4.00882295e-01 -6.10480659e-02 1.09946049e+02] [ 3.99927530e-01 9.16129152e-01 -2.76649269e-02 2.31419594e+01] [ 6.70182922e-02 8.73521536e-04 9.97751365e-01 7.61446701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:23.17, Z:7.61 [[ 9.11659467e-01 -4.06387888e-01 -6.10401619e-02 1.09999410e+02] [ 4.05444252e-01 9.13700523e-01 -2.76823555e-02 2.31657029e+01] [ 6.70222018e-02 4.88498675e-04 9.97751365e-01 7.61489084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:110.05, Y:23.19, Z:7.62 [[ 9.09143320e-01 -4.11987241e-01 -6.10322676e-02 1.10052595e+02] [ 4.11055008e-01 9.11189609e-01 -2.76997494e-02 2.31895322e+01] [ 6.70239114e-02 9.54229093e-05 9.97751365e-01 7.61897472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.11, Y:23.21, Z:7.63 [[ 9.06886690e-01 -4.16932343e-01 -6.10241958e-02 1.10105050e+02] [ 4.16010072e-01 9.08937489e-01 -2.77175207e-02 2.32121085e+01] [ 6.70235101e-02 -2.50029454e-04 9.97751365e-01 7.62520471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:110.16, Y:23.24, Z:7.63 [[ 9.04569981e-01 -4.21935848e-01 -6.10187560e-02 1.10159352e+02] [ 4.21024113e-01 9.06625486e-01 -2.77294909e-02 2.32354255e+01] [ 6.70212256e-02 -6.07102598e-04 9.97751365e-01 7.62609917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.21, Y:23.26, Z:7.62 [[ 9.02697091e-01 -4.25929010e-01 -6.10118047e-02 1.10211662e+02] [ 4.25025334e-01 9.04756151e-01 -2.77447772e-02 2.32623339e+01] [ 6.70181110e-02 -8.86433020e-04 9.97751365e-01 7.62481993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.27, Y:23.28, Z:7.63 [[ 9.02829226e-01 -4.25649831e-01 -6.10049921e-02 1.10266212e+02] [ 4.24744507e-01 9.04887562e-01 -2.77597485e-02 2.32829609e+01] [ 6.70185909e-02 -8.49223040e-04 9.97751365e-01 7.63495328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.32, Y:23.31, Z:7.63 [[ 9.00180378e-01 -4.31224417e-01 -6.09982747e-02 1.10318544e+02] [ 4.30330839e-01 9.02243839e-01 -2.77745014e-02 2.33102251e+01] [ 6.70123607e-02 -1.24737759e-03 9.97751366e-01 7.63361434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.8 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:23.33, Z:7.64 [[ 9.01305192e-01 -4.28869515e-01 -6.09909064e-02 1.10372588e+02] [ 4.27969451e-01 9.03365833e-01 -2.77906721e-02 2.33307158e+01] [ 6.70156731e-02 -1.05436765e-03 9.97751366e-01 7.64062974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:110.43, Y:23.36, Z:7.65 [[ 9.01271080e-01 -4.28941561e-01 -6.09883349e-02 1.10426260e+02] [ 4.28041281e-01 9.03331626e-01 -2.77963145e-02 2.33550416e+01] [ 6.70156862e-02 -1.05351061e-03 9.97751366e-01 7.64673810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.48, Y:23.38, Z:7.66 [[ 9.02040078e-01 -4.27323017e-01 -6.09814467e-02 1.10479320e+02] [ 4.26418018e-01 9.04098556e-01 -2.78114180e-02 2.33790636e+01] [ 6.70176970e-02 -9.16574049e-04 9.97751366e-01 7.65609882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97999999999999 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:110.53, Y:23.40, Z:7.66 [[ 9.02747999e-01 -4.25826451e-01 -6.09744446e-02 1.10531862e+02] [ 4.24917004e-01 9.04804516e-01 -2.78267611e-02 2.34033743e+01] [ 6.70193238e-02 -7.88525338e-04 9.97751366e-01 7.65530674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03999999999999 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:110.59, Y:23.43, Z:7.66 [[ 9.04005938e-01 -4.23150505e-01 -6.09665072e-02 1.10585135e+02] [ 4.22233797e-01 9.06059228e-01 -2.78441407e-02 2.34281945e+01] [ 6.70215286e-02 -5.70851317e-04 9.97751366e-01 7.65636203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.1 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:110.64, Y:23.45, Z:7.66 [[ 9.05827001e-01 -4.19239036e-01 -6.09596242e-02 1.10636956e+02] [ 4.18312448e-01 9.07875851e-01 -2.78592015e-02 2.34530684e+01] [ 6.70234355e-02 -2.64552666e-04 9.97751366e-01 7.66085441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.69, Y:23.48, Z:7.67 [[ 9.06973083e-01 -4.16754985e-01 -6.09516932e-02 1.10689666e+02] [ 4.15821620e-01 9.09018855e-01 -2.78765427e-02 2.34774761e+01] [ 6.70239265e-02 -6.17579115e-05 9.97751367e-01 7.66803116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:110.74, Y:23.50, Z:7.67 [[ 9.06974900e-01 -4.16752183e-01 -6.09438106e-02 1.10742947e+02] [ 4.15817655e-01 9.09020141e-01 -2.78937649e-02 2.35016744e+01] [ 6.70239387e-02 -4.25677525e-05 9.97751367e-01 7.66963464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:110.80, Y:23.52, Z:7.68 [[ 9.07806529e-01 -4.14938686e-01 -6.09359732e-02 1.10797008e+02] [ 4.13998923e-01 9.09849369e-01 -2.79108759e-02 2.35245229e+01] [ 6.70238589e-02 1.10248074e-04 9.97751367e-01 7.67766007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33999999999999 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:110.85, Y:23.55, Z:7.68 [[ 9.08127846e-01 -4.14236015e-01 -6.09289733e-02 1.10849545e+02] [ 4.13293646e-01 9.10169485e-01 -2.79261483e-02 2.35484495e+01] [ 6.70237086e-02 1.78955375e-04 9.97751367e-01 7.67923556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39999999999999 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:110.90, Y:23.57, Z:7.68 [[ 9.08943520e-01 -4.12444310e-01 -6.09209986e-02 1.10902368e+02] [ 4.11496752e-01 9.10982756e-01 -2.79435342e-02 2.35731022e+01] [ 6.70231309e-02 3.30301257e-04 9.97751367e-01 7.68258511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.95, Y:23.60, Z:7.69 [[ 9.10109842e-01 -4.09865440e-01 -6.09130171e-02 1.10954998e+02] [ 4.08910940e-01 9.12145838e-01 -2.79609221e-02 2.35964750e+01] [ 6.70217706e-02 5.39511283e-04 9.97751367e-01 7.68853914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:111.01, Y:23.62, Z:7.69 [[ 9.10161526e-01 -4.09751842e-01 -6.09050414e-02 1.11008766e+02] [ 4.08795926e-01 9.12196857e-01 -2.79782841e-02 2.36212078e+01] [ 6.70215408e-02 5.67024978e-04 9.97751368e-01 7.68837419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:111.06, Y:23.64, Z:7.70 [[ 9.09877189e-01 -4.10383874e-01 -6.08980910e-02 1.11061199e+02] [ 4.09428360e-01 9.11912708e-01 -2.79934043e-02 2.36443208e+01] [ 6.70217848e-02 5.37154525e-04 9.97751368e-01 7.69545422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:111.11, Y:23.67, Z:7.70 [[ 9.07307172e-01 -4.16036182e-01 -6.08899920e-02 1.11113759e+02] [ 4.15092168e-01 9.09348050e-01 -2.80110099e-02 2.36683944e+01] [ 6.70237891e-02 1.39631462e-04 9.97751368e-01 7.69663036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.17, Y:23.69, Z:7.71 [[ 9.06142250e-01 -4.18568539e-01 -6.08818654e-02 1.11167092e+02] [ 4.17629042e-01 9.08185211e-01 -2.80286618e-02 2.36918690e+01] [ 6.70239258e-02 -2.80804225e-05 9.97751368e-01 7.70536608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75999999999999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:23.72, Z:7.71 [[ 9.04971493e-01 -4.21094821e-01 -6.08748678e-02 1.11219889e+02] [ 4.20160005e-01 9.07016600e-01 -2.80438517e-02 2.37160330e+01] [ 6.70236363e-02 -1.98298483e-04 9.97751368e-01 7.70837184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:23.74, Z:7.71 [[ 9.04721204e-01 -4.21633445e-01 -6.08669058e-02 1.11271579e+02] [ 4.20698685e-01 9.06766337e-01 -2.80611219e-02 2.37414534e+01] [ 6.70235687e-02 -2.19135253e-04 9.97751368e-01 7.71100788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:111.32, Y:23.77, Z:7.72 [[ 9.05252517e-01 -4.20492654e-01 -6.08589144e-02 1.11323360e+02] [ 4.19554152e-01 9.07295935e-01 -2.80784429e-02 2.37671362e+01] [ 6.70238247e-02 -1.15529116e-04 9.97751369e-01 7.71613231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.37, Y:23.79, Z:7.72 [[ 9.06909969e-01 -4.16907019e-01 -6.08510174e-02 1.11374675e+02] [ 4.15959290e-01 9.08949123e-01 -2.80955468e-02 2.37936034e+01] [ 6.70237096e-02 1.68585443e-04 9.97751369e-01 7.72197613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.0 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:111.43, Y:23.82, Z:7.72 [[ 9.07589143e-01 -4.15427581e-01 -6.08430211e-02 1.11426438e+02] [ 4.14475368e-01 9.09626207e-01 -2.81128527e-02 2.38194426e+01] [ 6.70232609e-02 2.96986379e-04 9.97751369e-01 7.72270857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:111.48, Y:23.85, Z:7.73 [[ 9.08217340e-01 -4.14053567e-01 -6.08350718e-02 1.11478217e+02] [ 4.13097121e-01 9.10252421e-01 -2.81300442e-02 2.38455069e+01] [ 6.70226165e-02 4.17400913e-04 9.97751369e-01 7.72707119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:111.53, Y:23.87, Z:7.73 [[ 9.07678529e-01 -4.15234596e-01 -6.08269577e-02 1.11530728e+02] [ 4.14279623e-01 9.09714300e-01 -2.81475789e-02 2.38710049e+01] [ 6.70230018e-02 3.49583879e-04 9.97751369e-01 7.73014451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.58, Y:23.89, Z:7.74 [[ 9.07264771e-01 -4.16139038e-01 -6.08188789e-02 1.11581990e+02] [ 4.15184924e-01 9.09300946e-01 -2.81650241e-02 2.38944376e+01] [ 6.70232301e-02 3.02052542e-04 9.97751370e-01 7.73777506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.64, Y:23.92, Z:7.74 [[ 9.06497218e-01 -4.17808902e-01 -6.08154112e-02 1.11635298e+02] [ 4.16858037e-01 9.08534912e-01 -2.81725098e-02 2.39182876e+01] [ 6.70236496e-02 1.86908861e-04 9.97751370e-01 7.74195917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.69, Y:23.94, Z:7.75 [[ 9.05266897e-01 -4.20469150e-01 -6.08073881e-02 1.11688152e+02] [ 4.19523111e-01 9.07306835e-01 -2.81898162e-02 2.39426347e+01] [ 6.70239069e-02 9.20283693e-06 9.97751370e-01 7.74513299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:23.97, Z:7.74 [[ 9.04340072e-01 -4.22460031e-01 -6.07993142e-02 1.11740240e+02] [ 4.21517313e-01 9.06381546e-01 -2.82072190e-02 2.39679791e+01] [ 6.70237991e-02 -1.19045121e-04 9.97751370e-01 7.74418885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.79, Y:23.99, Z:7.75 [[ 9.04071152e-01 -4.23036392e-01 -6.07911421e-02 1.11792402e+02] [ 4.22093792e-01 9.06112681e-01 -2.82248203e-02 2.39918577e+01] [ 6.70237509e-02 -1.42317913e-04 9.97751370e-01 7.75222344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.85, Y:24.02, Z:7.76 [[ 9.03428889e-01 -4.24406627e-01 -6.07886320e-02 1.11845378e+02] [ 4.23466759e-01 9.05471677e-01 -2.82302254e-02 2.40156667e+01] [ 6.70234793e-02 -2.37963868e-04 9.97751370e-01 7.75579107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53999999999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:111.90, Y:24.04, Z:7.76 [[ 9.02994034e-01 -4.25332213e-01 -6.07806123e-02 1.11898182e+02] [ 4.24393277e-01 9.05037251e-01 -2.82474816e-02 2.40412116e+01] [ 6.70232821e-02 -2.87575876e-04 9.97751370e-01 7.75681105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.6 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:111.95, Y:24.07, Z:7.76 [[ 9.03001616e-01 -4.25317269e-01 -6.07725509e-02 1.11950723e+02] [ 4.24377133e-01 9.05044280e-01 -2.82648145e-02 2.40657011e+01] [ 6.70233633e-02 -2.67307734e-04 9.97751370e-01 7.75809450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:112.00, Y:24.09, Z:7.76 [[ 9.03732100e-01 -4.23763291e-01 -6.07697611e-02 1.12003215e+02] [ 4.22819240e-01 9.05772958e-01 -2.82708113e-02 2.40903858e+01] [ 6.70237383e-02 -1.45384471e-04 9.97751371e-01 7.76302466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:112.06, Y:24.11, Z:7.77 [[ 9.04385067e-01 -4.22368352e-01 -6.07669749e-02 1.12055987e+02] [ 4.21420750e-01 9.06424279e-01 -2.82767989e-02 2.41148841e+01] [ 6.70238864e-02 -3.53494120e-05 9.97751371e-01 7.76637937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:112.11, Y:24.14, Z:7.77 [[ 9.05129440e-01 -4.20771986e-01 -6.07588001e-02 1.12107867e+02] [ 4.19819609e-01 9.07166426e-01 -2.82943533e-02 2.41396487e+01] [ 6.70238148e-02 1.02316434e-04 9.97751371e-01 7.77267110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:112.16, Y:24.16, Z:7.78 [[ 9.05041648e-01 -4.20961956e-01 -6.07506984e-02 1.12160725e+02] [ 4.20008839e-01 9.07078288e-01 -2.83117378e-02 2.41641158e+01] [ 6.70238040e-02 1.07471543e-04 9.97751371e-01 7.77813877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:24.19, Z:7.78 [[ 9.03262470e-01 -4.24767277e-01 -6.07426604e-02 1.12213600e+02] [ 4.23821582e-01 9.05302566e-01 -2.83289728e-02 2.41900268e+01] [ 6.70237070e-02 -1.55552471e-04 9.97751371e-01 7.77540146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.27, Y:24.21, Z:7.79 [[ 9.04291431e-01 -4.22573365e-01 -6.07351560e-02 1.12266851e+02] [ 4.21621640e-01 9.06328721e-01 -2.83450526e-02 2.42109632e+01] [ 6.70238805e-02 2.49320636e-05 9.97751371e-01 7.78513344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:24.24, Z:7.79 [[ 9.04096050e-01 -4.22991597e-01 -6.07325346e-02 1.12319374e+02] [ 4.22040437e-01 9.06133604e-01 -2.83506682e-02 2.42355799e+01] [ 6.70238849e-02 1.41681348e-07 9.97751371e-01 7.78800393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.37, Y:24.26, Z:7.79 [[ 9.03876431e-01 -4.23461851e-01 -6.07244528e-02 1.12370783e+02] [ 4.22510589e-01 9.05913937e-01 -2.83679681e-02 2.42615204e+01] [ 6.70238803e-02 -1.55865121e-05 9.97751371e-01 7.79134034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.42, Y:24.29, Z:7.79 [[ 9.01906633e-01 -4.27642323e-01 -6.07162925e-02 1.12421714e+02] [ 4.26699330e-01 9.03947979e-01 -2.83854229e-02 2.42897276e+01] [ 6.70231781e-02 -3.06600116e-04 9.97751372e-01 7.79147524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19999999999999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:112.47, Y:24.31, Z:7.80 [[ 9.00604892e-01 -4.30378197e-01 -6.07077898e-02 1.12473732e+02] [ 4.29440180e-01 9.02648529e-01 -2.84035959e-02 2.43149528e+01] [ 6.70220856e-02 -4.89946749e-04 9.97751372e-01 7.79717138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.53, Y:24.34, Z:7.80 [[ 8.95225897e-01 -4.41458380e-01 -6.07049608e-02 1.12526584e+02] [ 4.40545242e-01 8.97280771e-01 -2.84096410e-02 2.43424902e+01] [ 6.70110681e-02 -1.31023530e-03 9.97751372e-01 7.79605882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.58, Y:24.36, Z:7.81 [[ 8.94934618e-01 -4.42049620e-01 -6.06973025e-02 1.12579529e+02] [ 4.41136731e-01 8.96989603e-01 -2.84259936e-02 2.43648671e+01] [ 6.70105489e-02 -1.33640394e-03 9.97751372e-01 7.80755546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.63, Y:24.39, Z:7.81 [[ 8.94501289e-01 -4.42926188e-01 -6.06946156e-02 1.12631396e+02] [ 4.42014924e-01 8.96556994e-01 -2.84317295e-02 2.43918446e+01] [ 6.70093397e-02 -1.39570727e-03 9.97751372e-01 7.80979244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.68, Y:24.42, Z:7.81 [[ 8.95415187e-01 -4.41076862e-01 -6.06864553e-02 1.12683402e+02] [ 4.40160172e-01 8.97468478e-01 -2.84491367e-02 2.44172863e+01] [ 6.70124366e-02 -1.23797151e-03 9.97751372e-01 7.81292087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.74, Y:24.44, Z:7.82 [[ 8.98241411e-01 -4.35293582e-01 -6.06783734e-02 1.12735055e+02] [ 4.34362507e-01 9.00288220e-01 -2.84663639e-02 2.44446783e+01] [ 6.70192503e-02 -7.86743453e-04 9.97751372e-01 7.81556540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.79, Y:24.47, Z:7.82 [[ 9.00781461e-01 -4.30013807e-01 -6.06703044e-02 1.12786436e+02] [ 4.29069577e-01 9.02822234e-01 -2.84835509e-02 2.44719346e+01] [ 6.70228199e-02 -3.74327269e-04 9.97751373e-01 7.81933337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61999999999999 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:112.84, Y:24.50, Z:7.82 [[ 9.04629506e-01 -4.21859620e-01 -6.06623189e-02 1.12837105e+02] [ 4.20895854e-01 9.06661127e-01 -2.85005479e-02 2.45000540e+01] [ 6.70233967e-02 2.49918012e-04 9.97751373e-01 7.82085793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67999999999999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:112.89, Y:24.53, Z:7.82 [[ 9.07150492e-01 -4.16412129e-01 -6.06541388e-02 1.12888474e+02] [ 4.15435000e-01 9.09175719e-01 -2.85179459e-02 2.45266654e+01] [ 6.70204888e-02 6.72216429e-04 9.97751373e-01 7.82448764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:112.94, Y:24.55, Z:7.83 [[ 9.10422822e-01 -4.09209427e-01 -6.06459396e-02 1.12940000e+02] [ 4.08215118e-01 9.12439669e-01 -2.85353717e-02 2.45534621e+01] [ 6.70127041e-02 1.22266428e-03 9.97751373e-01 7.83053074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:24.58, Z:7.84 [[ 9.11718916e-01 -4.06314769e-01 -6.06376725e-02 1.12992331e+02] [ 4.05312890e-01 9.13732013e-01 -2.85529285e-02 2.45786041e+01] [ 6.70080591e-02 1.45501475e-03 9.97751373e-01 7.83752175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.04, Y:24.60, Z:7.84 [[ 9.12327946e-01 -4.04946672e-01 -6.06292984e-02 1.13044701e+02] [ 4.03940594e-01 9.14338948e-01 -2.85706991e-02 2.46039566e+01] [ 6.70053384e-02 1.57521236e-03 9.97751374e-01 7.84160441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:113.10, Y:24.63, Z:7.84 [[ 9.12586125e-01 -4.04365734e-01 -6.06210982e-02 1.13096147e+02] [ 4.03357222e-01 9.14595907e-01 -2.85880876e-02 2.46307704e+01] [ 6.70038513e-02 1.63713434e-03 9.97751374e-01 7.83969962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97999999999999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:24.66, Z:7.84 [[ 9.12027206e-01 -4.05626016e-01 -6.06127877e-02 1.13148576e+02] [ 4.04619112e-01 9.14037794e-01 -2.86056967e-02 2.46554325e+01] [ 6.70055936e-02 1.56408133e-03 9.97751374e-01 7.84000841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03999999999999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:113.20, Y:24.68, Z:7.84 [[ 9.10901345e-01 -4.08148427e-01 -6.06102437e-02 1.13201918e+02] [ 4.07146732e-01 9.12914533e-01 -2.86110860e-02 2.46792163e+01] [ 6.70095421e-02 1.38461404e-03 9.97751374e-01 7.84489459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.25, Y:24.70, Z:7.85 [[ 9.09472907e-01 -4.11322721e-01 -6.06023979e-02 1.13254270e+02] [ 4.10326947e-01 9.11489030e-01 -2.86276950e-02 2.47021828e+01] [ 6.70136423e-02 1.16931612e-03 9.97751374e-01 7.85145751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.31, Y:24.72, Z:7.86 [[ 9.06721670e-01 -4.17352935e-01 -6.05998380e-02 1.13308400e+02] [ 4.16370208e-01 9.08744186e-01 -2.86331127e-02 2.47242889e+01] [ 6.70198641e-02 7.30296605e-04 9.97751374e-01 7.85859794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.36, Y:24.75, Z:7.86 [[ 9.04801585e-01 -4.21500460e-01 -6.05925273e-02 1.13361715e+02] [ 4.20525969e-01 9.06828081e-01 -2.86485752e-02 2.47471198e+01] [ 6.70223928e-02 4.40544953e-04 9.97751374e-01 7.86428451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:113.41, Y:24.77, Z:7.87 [[ 9.02595405e-01 -4.26204636e-01 -6.05899599e-02 1.13414319e+02] [ 4.25240343e-01 9.04626773e-01 -2.86540039e-02 2.47708378e+01] [ 6.70237693e-02 9.76769571e-05 9.97751374e-01 7.86571040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.47, Y:24.79, Z:7.87 [[ 9.00895595e-01 -4.29787135e-01 -6.05817329e-02 1.13467244e+02] [ 4.28829751e-01 9.02930228e-01 -2.86713875e-02 2.47943804e+01] [ 6.70236713e-02 -1.49322712e-04 9.97751374e-01 7.87283323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:113.52, Y:24.82, Z:7.88 [[ 8.98099644e-01 -4.35600604e-01 -6.05734492e-02 1.13520056e+02] [ 4.34655210e-01 9.00139876e-01 -2.86888775e-02 2.48186970e+01] [ 6.70214695e-02 -5.63094625e-04 9.97751375e-01 7.87555705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.57, Y:24.84, Z:7.88 [[ 8.96972680e-01 -4.37917650e-01 -6.05652039e-02 1.13572196e+02] [ 4.36976352e-01 8.99014804e-01 -2.87062738e-02 2.48433951e+01] [ 6.70199989e-02 -7.16818546e-04 9.97751375e-01 7.88078642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.62, Y:24.87, Z:7.88 [[ 8.96314035e-01 -4.39265301e-01 -6.05569556e-02 1.13624273e+02] [ 4.38325899e-01 8.98357032e-01 -2.87236633e-02 2.48685172e+01] [ 6.70190756e-02 -7.98259431e-04 9.97751375e-01 7.88418376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.68, Y:24.89, Z:7.89 [[ 8.96784870e-01 -4.38304393e-01 -6.05487827e-02 1.13676949e+02] [ 4.37361639e-01 8.98826323e-01 -2.87408813e-02 2.48938648e+01] [ 6.70200943e-02 -7.07327362e-04 9.97751375e-01 7.88771164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:113.73, Y:24.92, Z:7.89 [[ 8.99069119e-01 -4.33600716e-01 -6.05403866e-02 1.13728230e+02] [ 4.32646090e-01 9.01105047e-01 -2.87585562e-02 2.49201461e+01] [ 6.70229785e-02 -3.36631747e-04 9.97751375e-01 7.88720733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.78, Y:24.95, Z:7.89 [[ 9.02082535e-01 -4.27296903e-01 -6.05347496e-02 1.13779618e+02] [ 4.26327255e-01 9.04111351e-01 -2.87704168e-02 2.49458370e+01] [ 6.70236643e-02 1.45676908e-04 9.97751375e-01 7.89341627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.83, Y:24.97, Z:7.90 [[ 9.06623292e-01 -4.17577247e-01 -6.05264374e-02 1.13830881e+02] [ 4.16584683e-01 9.08640996e-01 -2.87878932e-02 2.49724802e+01] [ 6.70179715e-02 8.85387760e-04 9.97751376e-01 7.89602771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.88, Y:25.00, Z:7.90 [[ 9.09341908e-01 -4.11624649e-01 -6.05181223e-02 1.13883092e+02] [ 4.10617717e-01 9.11352479e-01 -2.88053628e-02 2.49986856e+01] [ 6.70103381e-02 1.34411035e-03 9.97751376e-01 7.89973268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:113.94, Y:25.02, Z:7.90 [[ 9.11135424e-01 -4.07640546e-01 -6.05097116e-02 1.13935268e+02] [ 4.06623651e-01 9.13140975e-01 -2.88230198e-02 2.50249537e+01] [ 6.70033285e-02 1.65699448e-03 9.97751376e-01 7.90035160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.99, Y:25.05, Z:7.91 [[ 9.13093424e-01 -4.03236916e-01 -6.05011529e-02 1.13986800e+02] [ 4.02209162e-01 9.15093431e-01 -2.88409738e-02 2.50499455e+01] [ 6.69939529e-02 2.00038549e-03 9.97751376e-01 7.90872448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.04, Y:25.08, Z:7.91 [[ 9.13224749e-01 -4.02940678e-01 -6.04927062e-02 1.14039019e+02] [ 4.01911104e-01 9.15223820e-01 -2.88586796e-02 2.50754810e+01] [ 6.69927016e-02 2.04177013e-03 9.97751376e-01 7.91235806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:114.09, Y:25.10, Z:7.91 [[ 9.11859341e-01 -4.06022395e-01 -6.04843549e-02 1.14090959e+02] [ 4.04998418e-01 9.13861285e-01 -2.88761723e-02 2.50999420e+01] [ 6.69986829e-02 1.83493941e-03 9.97751377e-01 7.91191376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11999999999999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:114.14, Y:25.12, Z:7.91 [[ 9.10464562e-01 -4.09141001e-01 -6.04807708e-02 1.14144083e+02] [ 4.08123384e-01 9.12469746e-01 -2.88836772e-02 2.51241310e+01] [ 6.70043702e-02 1.61394766e-03 9.97751377e-01 7.91374125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.20, Y:25.15, Z:7.92 [[ 9.08691925e-01 -4.13064255e-01 -6.04723628e-02 1.14197081e+02] [ 4.12054126e-01 9.10700892e-01 -2.89012699e-02 2.51469906e+01] [ 6.70103163e-02 1.34446395e-03 9.97751377e-01 7.91966550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.25, Y:25.17, Z:7.92 [[ 9.07087919e-01 -4.16576047e-01 -6.04640762e-02 1.14249990e+02] [ 4.15572542e-01 9.09100202e-01 -2.89185960e-02 2.51716240e+01] [ 6.70146983e-02 1.10449925e-03 9.97751377e-01 7.92226471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.3 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:114.30, Y:25.20, Z:7.92 [[ 9.05265111e-01 -4.20523691e-01 -6.04558030e-02 1.14302523e+02] [ 4.19527807e-01 9.07281177e-01 -2.89358812e-02 2.51958357e+01] [ 6.70186356e-02 8.31753299e-04 9.97751377e-01 7.92363926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.35, Y:25.23, Z:7.92 [[ 8.99263584e-01 -4.33210224e-01 -6.04475606e-02 1.14352744e+02] [ 4.32241629e-01 9.01292901e-01 -2.89530895e-02 2.52261555e+01] [ 6.70237316e-02 -9.14930249e-05 9.97751377e-01 7.91967603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.41, Y:25.25, Z:7.92 [[ 8.95718848e-01 -4.40493946e-01 -6.04386374e-02 1.14405557e+02] [ 4.39540595e-01 8.97755371e-01 -2.89717044e-02 2.52502001e+01] [ 6.70209717e-02 -6.14732959e-04 9.97751378e-01 7.92329344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.46, Y:25.27, Z:7.94 [[ 8.96681002e-01 -4.38533279e-01 -6.04296593e-02 1.14459488e+02] [ 4.37574213e-01 8.98714840e-01 -2.89904190e-02 2.52680749e+01] [ 6.70222951e-02 -4.47302643e-04 9.97751378e-01 7.93722603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:25.30, Z:7.93 [[ 8.92171510e-01 -4.47636814e-01 -6.04258170e-02 1.14509732e+02] [ 4.46697957e-01 8.94214754e-01 -2.89984256e-02 2.52994510e+01] [ 6.70144199e-02 -1.12051983e-03 9.97751378e-01 7.93419969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.56, Y:25.32, Z:7.95 [[ 8.93331736e-01 -4.45318094e-01 -6.04169272e-02 1.14563517e+02] [ 4.44372681e-01 8.95371955e-01 -2.90169351e-02 2.53196656e+01] [ 6.70173885e-02 -9.25882954e-04 9.97751378e-01 7.94787548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.61, Y:25.35, Z:7.94 [[ 8.90523849e-01 -4.50907304e-01 -6.04142155e-02 1.14613079e+02] [ 4.49974312e-01 8.92569778e-01 -2.90225800e-02 2.53530405e+01] [ 6.70103962e-02 -1.33954534e-03 9.97751378e-01 7.94170127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.67, Y:25.38, Z:7.95 [[ 8.94327654e-01 -4.43316003e-01 -6.04066903e-02 1.14665570e+02] [ 4.42364584e-01 8.96365080e-01 -2.90382343e-02 2.53755739e+01] [ 6.70195617e-02 -7.52084413e-04 9.97751378e-01 7.95253360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:114.72, Y:25.41, Z:7.94 [[ 8.92764235e-01 -4.46456636e-01 -6.04027573e-02 1.14715161e+02] [ 4.45511831e-01 8.94804735e-01 -2.90464130e-02 2.54090317e+01] [ 6.70166371e-02 -9.78544285e-04 9.97751378e-01 7.94259897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.77, Y:25.43, Z:7.96 [[ 8.97209896e-01 -4.37455103e-01 -6.03939983e-02 1.14767553e+02] [ 4.36488598e-01 8.99240208e-01 -2.90646136e-02 2.54287372e+01] [ 6.70231751e-02 -2.84232722e-04 9.97751378e-01 7.95859467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:25.46, Z:7.96 [[ 8.98433295e-01 -4.34937507e-01 -6.03902310e-02 1.14820159e+02] [ 4.33964786e-01 9.00460636e-01 -2.90724391e-02 2.54550732e+01] [ 6.70237200e-02 -8.75864757e-05 9.97751378e-01 7.96431811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.87, Y:25.48, Z:7.97 [[ 9.00005814e-01 -4.31675150e-01 -6.03829367e-02 1.14872012e+02] [ 4.30694064e-01 9.02029121e-01 -2.90875815e-02 2.54814011e+01] [ 6.70235534e-02 1.72420064e-04 9.97751379e-01 7.96950206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.92, Y:25.51, Z:7.97 [[ 9.02539468e-01 -4.26352812e-01 -6.03803616e-02 1.14923763e+02] [ 4.25359438e-01 9.04556770e-01 -2.90929258e-02 2.55085137e+01] [ 6.70213156e-02 5.74157053e-04 9.97751379e-01 7.97437990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.97, Y:25.54, Z:7.98 [[ 9.05327445e-01 -4.20401537e-01 -6.03718842e-02 1.14974820e+02] [ 4.19393731e-01 9.07337576e-01 -2.91105071e-02 2.55361963e+01] [ 6.70157810e-02 1.03495127e-03 9.97751379e-01 7.97739515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.03, Y:25.56, Z:7.98 [[ 9.06132599e-01 -4.18664512e-01 -6.03633963e-02 1.15025549e+02] [ 4.17651681e-01 9.08140202e-01 -2.91280970e-02 2.55617870e+01] [ 6.70133274e-02 1.18304427e-03 9.97751379e-01 7.98046044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.08, Y:25.59, Z:7.98 [[ 9.07666526e-01 -4.15329000e-01 -6.03597464e-02 1.15077172e+02] [ 4.14308290e-01 9.09670135e-01 -2.91356583e-02 2.55886048e+01] [ 6.70083425e-02 1.43791851e-03 9.97751379e-01 7.98360134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:25.62, Z:7.99 [[ 9.09283637e-01 -4.11777814e-01 -6.03514635e-02 1.15128262e+02] [ 4.10748143e-01 9.11282655e-01 -2.91528055e-02 2.56153932e+01] [ 6.70017204e-02 1.71891748e-03 9.97751379e-01 7.98568438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.18, Y:25.64, Z:7.99 [[ 9.09725199e-01 -4.10802625e-01 -6.03429092e-02 1.15180294e+02] [ 4.09769638e-01 9.11722505e-01 -2.91705012e-02 2.56413994e+01] [ 6.69993068e-02 1.81044791e-03 9.97751379e-01 7.98843268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.23, Y:25.67, Z:7.98 [[ 9.07586793e-01 -4.15506877e-01 -6.03344677e-02 1.15231003e+02] [ 4.14483085e-01 9.09588828e-01 -2.91879505e-02 2.56715384e+01] [ 6.70073520e-02 1.48298212e-03 9.97751380e-01 7.98142468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.29, Y:25.69, Z:7.99 [[ 9.08919887e-01 -4.12583842e-01 -6.03258817e-02 1.15285232e+02] [ 4.11552436e-01 9.10918010e-01 -2.92056855e-02 2.56908885e+01] [ 6.70017260e-02 1.71836475e-03 9.97751380e-01 7.99304860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.34, Y:25.71, Z:8.00 [[ 9.07844616e-01 -4.14944918e-01 -6.03230248e-02 1.15337909e+02] [ 4.13918317e-01 9.09845212e-01 -2.92115850e-02 2.57145143e+01] [ 6.70058141e-02 1.55077522e-03 9.97751380e-01 7.99665173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.39, Y:25.74, Z:8.00 [[ 9.05975525e-01 -4.19011345e-01 -6.03145246e-02 1.15391844e+02] [ 4.17992557e-01 9.07980110e-01 -2.92291253e-02 2.57370866e+01] [ 6.70117238e-02 1.26984973e-03 9.97751380e-01 8.00234885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.45, Y:25.76, Z:8.01 [[ 9.04469103e-01 -4.22254298e-01 -6.03071202e-02 1.15445551e+02] [ 4.21241681e-01 9.06476813e-01 -2.92443946e-02 2.57593837e+01] [ 6.70155774e-02 1.04677872e-03 9.97751380e-01 8.00922062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.50, Y:25.78, Z:8.01 [[ 9.03890400e-01 -4.23492046e-01 -6.03044956e-02 1.15498202e+02] [ 4.22481817e-01 9.05899312e-01 -2.92498058e-02 2.57844587e+01] [ 6.70168611e-02 9.61065742e-04 9.97751380e-01 8.01348792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:25.81, Z:8.02 [[ 9.04052512e-01 -4.23147078e-01 -6.02959886e-02 1.15549797e+02] [ 4.22134913e-01 9.06060449e-01 -2.92673318e-02 2.58089876e+01] [ 6.70161964e-02 1.00616288e-03 9.97751380e-01 8.01606319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.60, Y:25.83, Z:8.02 [[ 9.04737432e-01 -4.21681178e-01 -6.02923128e-02 1.15603610e+02] [ 4.20665256e-01 9.06743471e-01 -2.92749022e-02 2.58342222e+01] [ 6.70143362e-02 1.12321862e-03 9.97751380e-01 8.01805193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.66, Y:25.86, Z:8.02 [[ 9.05014789e-01 -4.21086556e-01 -6.02855228e-02 1.15656042e+02] [ 4.20068385e-01 9.07019688e-01 -2.92888779e-02 2.58584500e+01] [ 6.70133088e-02 1.18282548e-03 9.97751381e-01 8.02127773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.71, Y:25.88, Z:8.03 [[ 9.04790205e-01 -4.21570102e-01 -6.02771417e-02 1.15708426e+02] [ 4.20551855e-01 9.06795064e-01 -2.93061164e-02 2.58822879e+01] [ 6.70135971e-02 1.16622328e-03 9.97751381e-01 8.02646383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.76, Y:25.91, Z:8.03 [[ 9.04531451e-01 -4.22126238e-01 -6.02685151e-02 1.15760729e+02] [ 4.21108042e-01 9.06536336e-01 -2.93238464e-02 2.59067454e+01] [ 6.70139638e-02 1.14478488e-03 9.97751381e-01 8.03033158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.81, Y:25.93, Z:8.03 [[ 9.03923583e-01 -4.23427547e-01 -6.02600080e-02 1.15813002e+02] [ 4.22411074e-01 9.05929342e-01 -2.93413180e-02 2.59304600e+01] [ 6.70152317e-02 1.06781457e-03 9.97751381e-01 8.03478670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.87, Y:25.96, Z:8.04 [[ 9.03180958e-01 -4.25009806e-01 -6.02563042e-02 1.15865237e+02] [ 4.23996339e-01 9.05188237e-01 -2.93489222e-02 2.59552574e+01] [ 6.70168776e-02 9.58935247e-04 9.97751381e-01 8.03836108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.92, Y:25.98, Z:8.04 [[ 9.02182613e-01 -4.27126125e-01 -6.02478693e-02 1.15917841e+02] [ 4.26116212e-01 9.04191683e-01 -2.93662273e-02 2.59796850e+01] [ 6.70187052e-02 8.21105865e-04 9.97751381e-01 8.04280746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.97, Y:26.01, Z:8.04 [[ 8.97240222e-01 -4.37414214e-01 -6.02394316e-02 1.15968584e+02] [ 4.36426178e-01 8.99260140e-01 -2.93835257e-02 2.60106227e+01] [ 6.70236915e-02 7.40162474e-05 9.97751382e-01 8.03654144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.02, Y:26.03, Z:8.05 [[ 8.98689062e-01 -4.34430810e-01 -6.02315686e-02 1.16023395e+02] [ 4.33434988e-01 9.00705153e-01 -2.93996347e-02 2.60278788e+01] [ 6.70229913e-02 3.14660850e-04 9.97751382e-01 8.05277793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.08, Y:26.05, Z:8.06 [[ 8.96152012e-01 -4.39640832e-01 -6.02288160e-02 1.16075979e+02] [ 4.38656353e-01 8.98173666e-01 -2.94052728e-02 2.60517873e+01] [ 6.70236950e-02 -6.81583704e-05 9.97751382e-01 8.05625641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.13, Y:26.08, Z:8.06 [[ 8.93620741e-01 -4.44764519e-01 -6.02203733e-02 1.16128745e+02] [ 4.43790466e-01 8.95647439e-01 -2.94225527e-02 2.60761543e+01] [ 6.70223307e-02 -4.32624256e-04 9.97751382e-01 8.05809457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.18, Y:26.10, Z:8.06 [[ 8.92199515e-01 -4.47609803e-01 -6.02120315e-02 1.16181336e+02] [ 4.46641062e-01 8.94228758e-01 -2.94396140e-02 2.61007377e+01] [ 6.70207900e-02 -6.27156346e-04 9.97751382e-01 8.06173566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.23, Y:26.13, Z:8.07 [[ 8.90670480e-01 -4.50645760e-01 -6.02037851e-02 1.16233475e+02] [ 4.49682796e-01 8.92702470e-01 -2.94564683e-02 2.61254764e+01] [ 6.70185001e-02 -8.36599710e-04 9.97751382e-01 8.06592377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.29, Y:26.15, Z:8.06 [[ 8.86238503e-01 -4.59301449e-01 -6.01954694e-02 1.16285254e+02] [ 4.58357174e-01 8.88279245e-01 -2.94734519e-02 2.61547613e+01] [ 6.70075853e-02 -1.47051732e-03 9.97751382e-01 8.06191008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.34, Y:26.17, Z:8.07 [[ 8.87031916e-01 -4.57768320e-01 -6.01875862e-02 1.16338977e+02] [ 4.56819426e-01 8.89070514e-01 -2.94895414e-02 2.61741961e+01] [ 6.70103860e-02 -1.33669420e-03 9.97751383e-01 8.07390680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:26.20, Z:8.08 [[ 8.84785109e-01 -4.62096414e-01 -6.01848342e-02 1.16391278e+02] [ 4.61157110e-01 8.86828143e-01 -2.94951569e-02 2.61993426e+01] [ 6.70032110e-02 -1.65778859e-03 9.97751383e-01 8.07698733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.44, Y:26.23, Z:8.08 [[ 8.83724434e-01 -4.64122752e-01 -6.01763658e-02 1.16443085e+02] [ 4.63186957e-01 8.85769078e-01 -2.95124241e-02 2.62253828e+01] [ 6.69997515e-02 -1.79205744e-03 9.97751383e-01 8.08182325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:26.26, Z:8.08 [[ 8.79919539e-01 -4.71297585e-01 -6.01680231e-02 1.16493921e+02] [ 4.70377296e-01 8.81971209e-01 -2.95294229e-02 2.62570674e+01] [ 6.69836097e-02 -2.31815580e-03 9.97751383e-01 8.07776963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.55, Y:26.28, Z:8.09 [[ 8.81136791e-01 -4.69018820e-01 -6.01606444e-02 1.16547518e+02] [ 4.68092200e-01 8.83185608e-01 -2.95444480e-02 2.62776115e+01] [ 6.69899174e-02 -2.12802822e-03 9.97751383e-01 8.09069432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.60, Y:26.31, Z:8.09 [[ 8.80028693e-01 -4.71095172e-01 -6.01567811e-02 1.16597941e+02] [ 4.70172849e-01 8.82079448e-01 -2.95523121e-02 2.63055711e+01] [ 6.69850119e-02 -2.27720256e-03 9.97751383e-01 8.09390770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.65, Y:26.33, Z:8.10 [[ 8.79663004e-01 -4.71778731e-01 -6.01483933e-02 1.16648321e+02] [ 4.70856836e-01 8.81713952e-01 -2.95693742e-02 2.63337695e+01] [ 6.69838793e-02 -2.31019757e-03 9.97751383e-01 8.09669064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.70, Y:26.36, Z:8.10 [[ 8.79545562e-01 -4.71998705e-01 -6.01400661e-02 1.16699782e+02] [ 4.71076167e-01 8.81596220e-01 -2.95863009e-02 2.63607859e+01] [ 6.69839507e-02 -2.30805212e-03 9.97751383e-01 8.10035700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.75, Y:26.39, Z:8.10 [[ 8.80110763e-01 -4.70945064e-01 -6.01314569e-02 1.16749312e+02] [ 4.70018878e-01 8.82159776e-01 -2.96037880e-02 2.63901500e+01] [ 6.69873104e-02 -2.20830749e-03 9.97751384e-01 8.10402957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.80, Y:26.42, Z:8.11 [[ 8.81063448e-01 -4.69160662e-01 -6.01288098e-02 1.16799590e+02] [ 4.68229959e-01 8.83110414e-01 -2.96091636e-02 2.64187488e+01] [ 6.69918329e-02 -2.06655840e-03 9.97751384e-01 8.10894232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:116.85, Y:26.45, Z:8.11 [[ 8.82938121e-01 -4.65624097e-01 -6.01204958e-02 1.16848282e+02] [ 4.64684046e-01 8.84980811e-01 -2.96260354e-02 2.64508132e+01] [ 6.70000811e-02 -1.77907922e-03 9.97751384e-01 8.11064368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.90, Y:26.48, Z:8.12 [[ 8.85398429e-01 -4.60929656e-01 -6.01121831e-02 1.16898424e+02] [ 4.59977629e-01 8.87435564e-01 -2.96428925e-02 2.64804731e+01] [ 6.70089773e-02 -1.40448906e-03 9.97751384e-01 8.11760611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:116.95, Y:26.51, Z:8.12 [[ 8.89212862e-01 -4.53528418e-01 -6.01037395e-02 1.16947091e+02] [ 4.52558276e-01 8.91241432e-01 -2.96600028e-02 2.65126810e+01] [ 6.70185971e-02 -8.26388753e-04 9.97751384e-01 8.11872040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.00, Y:26.54, Z:8.13 [[ 8.91466106e-01 -4.49084314e-01 -6.00954244e-02 1.16997278e+02] [ 4.48102924e-01 8.93489258e-01 -2.96768410e-02 2.65413939e+01] [ 6.70220199e-02 -4.73037521e-04 9.97751384e-01 8.12633147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47999999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:26.57, Z:8.13 [[ 8.94290831e-01 -4.43433740e-01 -6.00868452e-02 1.17046370e+02] [ 4.42438399e-01 8.96307156e-01 -2.96942012e-02 2.65713818e+01] [ 6.70236800e-02 -2.94757159e-05 9.97751385e-01 8.13022261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:26.60, Z:8.13 [[ 8.95668249e-01 -4.40645295e-01 -6.00842069e-02 1.17097428e+02] [ 4.39643319e-01 8.97681285e-01 -2.96995387e-02 2.65985655e+01] [ 6.70234300e-02 1.85313643e-04 9.97751385e-01 8.13451343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.15, Y:26.63, Z:8.14 [[ 8.96911578e-01 -4.38110182e-01 -6.00757010e-02 1.17148829e+02] [ 4.37101364e-01 8.98921194e-01 -2.97167343e-02 2.66268811e+01] [ 6.70225247e-02 3.94112247e-04 9.97751385e-01 8.13609687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.20, Y:26.65, Z:8.14 [[ 8.97409611e-01 -4.37090213e-01 -6.00677553e-02 1.17200706e+02] [ 4.36078037e-01 8.99417538e-01 -2.97327866e-02 2.66537880e+01] [ 6.70219026e-02 4.88259643e-04 9.97751385e-01 8.13871835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.25, Y:26.68, Z:8.14 [[ 8.98395878e-01 -4.35060612e-01 -6.00592304e-02 1.17252806e+02] [ 4.34042749e-01 9.00400927e-01 -2.97499967e-02 2.66792636e+01] [ 6.70204385e-02 6.59000929e-04 9.97751385e-01 8.14235881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.30, Y:26.70, Z:8.14 [[ 8.98709943e-01 -4.34412666e-01 -6.00505922e-02 1.17304886e+02] [ 4.33392193e-01 9.00713666e-01 -2.97674228e-02 2.67046688e+01] [ 6.70197345e-02 7.26821011e-04 9.97751385e-01 8.14488628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.36, Y:26.73, Z:8.15 [[ 8.98840954e-01 -4.34142715e-01 -6.00419986e-02 1.17355956e+02] [ 4.33120483e-01 9.00843780e-01 -2.97847462e-02 2.67287676e+01] [ 6.70192916e-02 7.66330271e-04 9.97751386e-01 8.14844627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89999999999999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:26.75, Z:8.15 [[ 8.98518127e-01 -4.34810966e-01 -6.00383064e-02 1.17408554e+02] [ 4.33789727e-01 9.00521459e-01 -2.97921869e-02 2.67524512e+01] [ 6.70197529e-02 7.24819426e-04 9.97751386e-01 8.15192445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.46, Y:26.78, Z:8.16 [[ 8.96651416e-01 -4.38648690e-01 -6.00296971e-02 1.17462273e+02] [ 4.37634865e-01 8.98658510e-01 -2.98095243e-02 2.67760118e+01] [ 6.70221069e-02 4.57663770e-04 9.97751386e-01 8.15946636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.52, Y:26.80, Z:8.16 [[ 8.94597807e-01 -4.42822890e-01 -6.00220897e-02 1.17515202e+02] [ 4.41817403e-01 8.96609091e-01 -2.98248341e-02 2.67995917e+01] [ 6.70234705e-02 1.62427410e-04 9.97751386e-01 8.16428716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.57, Y:26.82, Z:8.17 [[ 8.92106094e-01 -4.47822628e-01 -6.00134245e-02 1.17568348e+02] [ 4.46827240e-01 8.94122395e-01 -2.98422600e-02 2.68236973e+01] [ 6.70233861e-02 -1.93170809e-04 9.97751386e-01 8.16887122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.62, Y:26.85, Z:8.17 [[ 8.88681177e-01 -4.54582435e-01 -6.00047888e-02 1.17621864e+02] [ 4.53601212e-01 8.90704409e-01 -2.98596141e-02 2.68466355e+01] [ 6.70201860e-02 -6.82567959e-04 9.97751386e-01 8.17284119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19999999999999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:26.87, Z:8.17 [[ 8.86477771e-01 -4.58865584e-01 -5.99961480e-02 1.17674863e+02] [ 4.57892962e-01 8.88505150e-01 -2.98769656e-02 2.68717944e+01] [ 6.70163978e-02 -9.86548069e-04 9.97751386e-01 8.17265347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.73, Y:26.90, Z:8.18 [[ 8.86229874e-01 -4.59345290e-01 -5.99876314e-02 1.17726929e+02] [ 4.58372608e-01 8.88257225e-01 -2.98940556e-02 2.68963600e+01] [ 6.70161407e-02 -1.00368193e-03 9.97751387e-01 8.17908312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:26.92, Z:8.18 [[ 8.86358669e-01 -4.59097832e-01 -5.99790837e-02 1.17778831e+02] [ 4.58123425e-01 8.88385191e-01 -2.99111960e-02 2.69211925e+01] [ 6.70166949e-02 -9.65775339e-04 9.97751387e-01 8.18350140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:117.83, Y:26.95, Z:8.18 [[ 8.87077341e-01 -4.57708803e-01 -5.99703504e-02 1.17829720e+02] [ 4.56730039e-01 8.89101763e-01 -2.99286956e-02 2.69468652e+01] [ 6.70183716e-02 -8.41192745e-04 9.97751387e-01 8.18389024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:117.88, Y:26.97, Z:8.19 [[ 8.89698330e-01 -4.52593513e-01 -5.99665982e-02 1.17882296e+02] [ 4.51602603e-01 8.91716834e-01 -2.99362117e-02 2.69739980e+01] [ 6.70221603e-02 -4.46874341e-04 9.97751387e-01 8.18828011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.93, Y:27.00, Z:8.20 [[ 8.92563392e-01 -4.46917769e-01 -5.99591416e-02 1.17934260e+02] [ 4.45913020e-01 8.94575043e-01 -2.99511391e-02 2.70000643e+01] [ 6.70236480e-02 -3.27153443e-06 9.97751387e-01 8.19618073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:117.99, Y:27.03, Z:8.20 [[ 8.96971640e-01 -4.38004348e-01 -5.99505520e-02 1.17985580e+02] [ 4.36978462e-01 8.98972593e-01 -2.99683224e-02 2.70277986e+01] [ 6.70201587e-02 6.83635336e-04 9.97751387e-01 8.19602601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.04, Y:27.05, Z:8.20 [[ 8.99907943e-01 -4.31940573e-01 -5.99419317e-02 1.18037526e+02] [ 4.30900057e-01 9.01901329e-01 -2.99855546e-02 2.70536690e+01] [ 6.70136855e-02 1.15525697e-03 9.97751388e-01 8.20286128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67999999999999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:118.09, Y:27.08, Z:8.20 [[ 9.01683589e-01 -4.28222717e-01 -5.99333863e-02 1.18091855e+02] [ 4.27172849e-01 9.03672064e-01 -3.00026250e-02 2.70785866e+01] [ 6.70079325e-02 1.45095915e-03 9.97751388e-01 8.20010007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:118.15, Y:27.10, Z:8.20 [[ 9.01825250e-01 -4.27925267e-01 -5.99264840e-02 1.18145327e+02] [ 4.26873828e-01 9.03812896e-01 -3.00164051e-02 2.71017295e+01] [ 6.70071072e-02 1.48850441e-03 9.97751388e-01 8.20482228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.20, Y:27.12, Z:8.21 [[ 9.00964541e-01 -4.29735674e-01 -5.99178283e-02 1.18200040e+02] [ 4.28687082e-01 9.02953689e-01 -3.00336733e-02 2.71212091e+01] [ 6.70095650e-02 1.37327571e-03 9.97751388e-01 8.21025299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:118.25, Y:27.14, Z:8.21 [[ 8.99805954e-01 -4.32157516e-01 -5.99093135e-02 1.18253955e+02] [ 4.31113148e-01 9.01797323e-01 -3.00506487e-02 2.71428054e+01] [ 6.70126722e-02 1.21205989e-03 9.97751388e-01 8.21009946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.31, Y:27.16, Z:8.22 [[ 8.98166618e-01 -4.35555537e-01 -5.99007559e-02 1.18307799e+02] [ 4.34517567e-01 9.00161329e-01 -3.00676970e-02 2.71649866e+01] [ 6.70164960e-02 9.77871017e-04 9.97751388e-01 8.21791764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.36, Y:27.19, Z:8.22 [[ 8.97881233e-01 -4.36144558e-01 -5.98933734e-02 1.18359677e+02] [ 4.35106916e-01 8.99876114e-01 -3.00823956e-02 2.71908237e+01] [ 6.70168892e-02 9.50397431e-04 9.97751389e-01 8.22255000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:118.41, Y:27.22, Z:8.23 [[ 8.98914021e-01 -4.34013100e-01 -5.98849938e-02 1.18410836e+02] [ 4.32969617e-01 9.00905853e-01 -3.00990675e-02 2.72179010e+01] [ 6.70141311e-02 1.12809095e-03 9.97751389e-01 8.22523116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.46, Y:27.25, Z:8.22 [[ 8.98186907e-01 -4.35517049e-01 -5.98763832e-02 1.18460729e+02] [ 4.34475760e-01 9.00179887e-01 -3.01161871e-02 2.72496964e+01] [ 6.70156287e-02 1.03512781e-03 9.97751389e-01 8.22411971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:27.27, Z:8.23 [[ 9.01467023e-01 -4.28687528e-01 -5.98682731e-02 1.18513172e+02] [ 4.27630074e-01 9.03451473e-01 -3.01323005e-02 2.72730593e+01] [ 6.70054210e-02 1.56180118e-03 9.97751389e-01 8.22967802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.57, Y:27.30, Z:8.24 [[ 9.01637016e-01 -4.28330271e-01 -5.98654385e-02 1.18565244e+02] [ 4.27271657e-01 9.03620847e-01 -3.01379312e-02 2.72990813e+01] [ 6.70046465e-02 1.59466923e-03 9.97751389e-01 8.23523841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.62, Y:27.32, Z:8.24 [[ 9.01507404e-01 -4.28604216e-01 -5.98567141e-02 1.18617326e+02] [ 4.27545056e-01 9.03490944e-01 -3.01552488e-02 2.73243416e+01] [ 6.70046659e-02 1.59373787e-03 9.97751389e-01 8.23973918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.67, Y:27.35, Z:8.25 [[ 9.00423383e-01 -4.30878120e-01 -5.98479439e-02 1.18670679e+02] [ 4.29822814e-01 9.02408976e-01 -3.01726446e-02 2.73488724e+01] [ 6.70080541e-02 1.44414301e-03 9.97751389e-01 8.24551538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.72, Y:27.37, Z:8.25 [[ 8.98844977e-01 -4.34162231e-01 -5.98403233e-02 1.18722360e+02] [ 4.33113174e-01 9.00833879e-01 -3.01877506e-02 2.73737481e+01] [ 6.70125717e-02 1.21647563e-03 9.97751390e-01 8.25263508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:27.40, Z:8.26 [[ 8.97665337e-01 -4.36596379e-01 -5.98376484e-02 1.18774711e+02] [ 4.35552364e-01 8.99656889e-01 -3.01930518e-02 2.73989255e+01] [ 6.70155298e-02 1.04082684e-03 9.97751390e-01 8.25533247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.83, Y:27.42, Z:8.26 [[ 8.96706899e-01 -4.38562694e-01 -5.98289299e-02 1.18826514e+02] [ 4.37521894e-01 8.98700133e-01 -3.02103181e-02 2.74226951e+01] [ 6.70173858e-02 9.13333953e-04 9.97751390e-01 8.26325014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57999999999998 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:118.88, Y:27.45, Z:8.26 [[ 8.94445067e-01 -4.43157879e-01 -5.98257204e-02 1.18878041e+02] [ 4.42126895e-01 8.96443396e-01 -3.02166727e-02 2.74522780e+01] [ 6.70211285e-02 5.76593834e-04 9.97751390e-01 8.25542347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.93, Y:27.47, Z:8.27 [[ 8.95448853e-01 -4.41127210e-01 -5.98175337e-02 1.18931484e+02] [ 4.40090612e-01 8.97444275e-01 -3.02328706e-02 2.74737707e+01] [ 6.70194450e-02 7.46854257e-04 9.97751390e-01 8.26612191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.7 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:118.99, Y:27.50, Z:8.27 [[ 8.94356310e-01 -4.43338504e-01 -5.98143872e-02 1.18985056e+02] [ 4.42306424e-01 8.96354073e-01 -3.02390944e-02 2.74996072e+01] [ 6.70210245e-02 5.88237164e-04 9.97751390e-01 8.26555935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.04, Y:27.52, Z:8.27 [[ 8.92962102e-01 -4.46141037e-01 -5.98068416e-02 1.19038075e+02] [ 4.45114228e-01 8.94962580e-01 -3.02540109e-02 2.75243407e+01] [ 6.70224410e-02 3.94809044e-04 9.97751390e-01 8.27364738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:119.09, Y:27.55, Z:8.28 [[ 8.88958402e-01 -4.54067186e-01 -5.97992405e-02 1.19091257e+02] [ 4.53057204e-01 8.90967427e-01 -3.02690274e-02 2.75479652e+01] [ 6.70233476e-02 -1.84570433e-04 9.97751390e-01 8.27666452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.14, Y:27.57, Z:8.28 [[ 8.85989756e-01 -4.59833324e-01 -5.97952078e-02 1.19144489e+02] [ 4.58835878e-01 8.88005034e-01 -3.02769919e-02 2.75723037e+01] [ 6.70208153e-02 -6.11082062e-04 9.97751390e-01 8.28461267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.20, Y:27.60, Z:8.29 [[ 8.83628899e-01 -4.64354822e-01 -5.97877002e-02 1.19196508e+02] [ 4.63366685e-01 8.85648758e-01 -3.02918098e-02 2.75983717e+01] [ 6.70170503e-02 -9.36909938e-04 9.97751390e-01 8.28917901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.25, Y:27.63, Z:8.29 [[ 8.83665013e-01 -4.64287220e-01 -5.97789488e-02 1.19246224e+02] [ 4.63297761e-01 8.85684224e-01 -3.03090703e-02 2.76262460e+01] [ 6.70173859e-02 -9.12388107e-04 9.97751391e-01 8.29210099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.29, Y:27.66, Z:8.29 [[ 8.82268707e-01 -4.66935873e-01 -5.97730662e-02 1.19293536e+02] [ 4.65951690e-01 8.84290495e-01 -3.03206671e-02 2.76622289e+01] [ 6.70145615e-02 -1.10038538e-03 9.97751391e-01 8.28570870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.34, Y:27.68, Z:8.30 [[ 8.86147319e-01 -4.59533686e-01 -5.97638812e-02 1.19344903e+02] [ 4.58531392e-01 8.88160190e-01 -3.03387605e-02 2.76847857e+01] [ 6.70215825e-02 -5.19004362e-04 9.97751391e-01 8.29693992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:27.71, Z:8.30 [[ 8.87603425e-01 -4.56715642e-01 -5.97577059e-02 1.19396330e+02] [ 4.55706138e-01 8.89612689e-01 -3.03509190e-02 2.77147689e+01] [ 6.70229529e-02 -2.92373701e-04 9.97751391e-01 8.29512582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.45, Y:27.75, Z:8.29 [[ 8.86931666e-01 -4.58019792e-01 -5.97502355e-02 1.19445465e+02] [ 4.57012253e-01 8.88941916e-01 -3.03656185e-02 2.77487958e+01] [ 6.70225431e-02 -3.74361170e-04 9.97751391e-01 8.29327772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.50, Y:27.77, Z:8.31 [[ 8.89301203e-01 -4.53402869e-01 -5.97428554e-02 1.19498813e+02] [ 4.52383918e-01 8.91305693e-01 -3.03801315e-02 2.77711059e+01] [ 6.70235859e-02 -9.61951907e-06 9.97751391e-01 8.30814064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.55, Y:27.80, Z:8.31 [[ 8.89858137e-01 -4.52309851e-01 -5.97352018e-02 1.19551203e+02] [ 4.51287428e-01 8.91860858e-01 -3.03951731e-02 2.77982515e+01] [ 6.70235246e-02 8.96464926e-05 9.97751391e-01 8.31398817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.60, Y:27.83, Z:8.32 [[ 8.91443771e-01 -4.49177719e-01 -5.97275513e-02 1.19602378e+02] [ 4.48147253e-01 8.93442365e-01 -3.04101991e-02 2.78254301e+01] [ 6.70227086e-02 3.42244528e-04 9.97751392e-01 8.31841037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.65, Y:27.86, Z:8.31 [[ 8.90872983e-01 -4.50309903e-01 -5.97186679e-02 1.19651680e+02] [ 4.49280808e-01 8.92872284e-01 -3.04276342e-02 2.78583079e+01] [ 6.70230084e-02 2.76705849e-04 9.97751392e-01 8.31239227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.70, Y:27.88, Z:8.32 [[ 8.96590125e-01 -4.38817670e-01 -5.97092968e-02 1.19704649e+02] [ 4.37761729e-01 8.98575377e-01 -3.04460123e-02 2.78806472e+01] [ 6.70135521e-02 1.15914895e-03 9.97751392e-01 8.32162989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.6 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:119.76, Y:27.91, Z:8.32 [[ 8.98245652e-01 -4.35419403e-01 -5.97050489e-02 1.19757189e+02] [ 4.34355399e-01 9.00226594e-01 -3.04543404e-02 2.79082227e+01] [ 6.70084835e-02 1.42226851e-03 9.97751392e-01 8.32206853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.81, Y:27.93, Z:8.33 [[ 8.99761418e-01 -4.32279562e-01 -5.96973306e-02 1.19808217e+02] [ 4.31207643e-01 9.01738089e-01 -3.04694624e-02 2.79348647e+01] [ 6.70026826e-02 1.67330142e-03 9.97751392e-01 8.32762734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:119.86, Y:27.96, Z:8.33 [[ 8.99547189e-01 -4.32726390e-01 -5.96885827e-02 1.19860586e+02] [ 4.31654317e-01 9.01523776e-01 -3.04865896e-02 2.79607940e+01] [ 6.70030283e-02 1.65929161e-03 9.97751392e-01 8.33030039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.91, Y:27.98, Z:8.34 [[ 8.97874181e-01 -4.36188358e-01 -5.96797363e-02 1.19914352e+02] [ 4.35122758e-01 8.99854265e-01 -3.05038974e-02 2.79840843e+01] [ 6.70085101e-02 1.42065043e-03 9.97751393e-01 8.33831267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:28.01, Z:8.34 [[ 8.96614935e-01 -4.38772051e-01 -5.96719787e-02 1.19966501e+02] [ 4.37711148e-01 8.98597539e-01 -3.05190652e-02 2.80093043e+01] [ 6.70120061e-02 1.24475935e-03 9.97751393e-01 8.34154819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:28.04, Z:8.35 [[ 8.96295981e-01 -4.39424421e-01 -5.96631617e-02 1.20019079e+02] [ 4.38363814e-01 8.98278744e-01 -3.05362923e-02 2.80353690e+01] [ 6.70125425e-02 1.21538494e-03 9.97751393e-01 8.34775535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:120.07, Y:28.06, Z:8.35 [[ 8.94733241e-01 -4.42598748e-01 -5.96554863e-02 1.20071642e+02] [ 4.41544177e-01 8.96719220e-01 -3.05512797e-02 2.80607167e+01] [ 6.70161792e-02 9.94712912e-04 9.97751393e-01 8.34944267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.13, Y:28.08, Z:8.36 [[ 8.92370490e-01 -4.47343777e-01 -5.96527864e-02 1.20125136e+02] [ 4.46299415e-01 8.94361856e-01 -3.05565503e-02 2.80848828e+01] [ 6.70204594e-02 6.44760062e-04 9.97751393e-01 8.35605718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.18, Y:28.11, Z:8.36 [[ 8.89857359e-01 -4.52323241e-01 -5.96453370e-02 1.20178334e+02] [ 4.51289049e-01 8.91854026e-01 -3.05710844e-02 2.81090047e+01] [ 6.70229459e-02 2.86617013e-04 9.97751393e-01 8.36169457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.23, Y:28.13, Z:8.37 [[ 8.85795089e-01 -4.60228778e-01 -5.96366645e-02 1.20230989e+02] [ 4.59211267e-01 8.87800308e-01 -3.05879930e-02 2.81327133e+01] [ 6.70229238e-02 -2.91134286e-04 9.97751393e-01 8.36645444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.28, Y:28.16, Z:8.37 [[ 8.82848515e-01 -4.65857272e-01 -5.96280223e-02 1.20282738e+02] [ 4.64851407e-01 8.84859601e-01 -3.06048309e-02 2.81585084e+01] [ 6.70199110e-02 -6.98740529e-04 9.97751394e-01 8.37016951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.33, Y:28.18, Z:8.37 [[ 8.78787195e-01 -4.73475027e-01 -5.96193359e-02 1.20334713e+02] [ 4.72485445e-01 8.80806343e-01 -3.06217430e-02 2.81849928e+01] [ 6.70117198e-02 -1.25927283e-03 9.97751394e-01 8.37385143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.39, Y:28.21, Z:8.38 [[ 8.76258282e-01 -4.78140149e-01 -5.96105856e-02 1.20385976e+02] [ 4.77160157e-01 8.78282102e-01 -3.06387676e-02 2.82120143e+01] [ 6.70045353e-02 -1.59632255e-03 9.97751394e-01 8.37792474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.44, Y:28.24, Z:8.38 [[ 8.74632770e-01 -4.81108252e-01 -5.96017506e-02 1.20436709e+02] [ 4.80133958e-01 8.76659338e-01 -3.06559447e-02 2.82397035e+01] [ 6.69992592e-02 -1.80413058e-03 9.97751394e-01 8.38196139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.49, Y:28.27, Z:8.39 [[ 8.74431868e-01 -4.81474379e-01 -5.95930444e-02 1.20486001e+02] [ 4.80499783e-01 8.76458290e-01 -3.06728596e-02 2.82699284e+01] [ 6.69990139e-02 -1.81311899e-03 9.97751394e-01 8.38555371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.54, Y:28.30, Z:8.39 [[ 8.75389140e-01 -4.79732807e-01 -5.95842860e-02 1.20535942e+02] [ 4.78753021e-01 8.77413059e-01 -3.06898640e-02 2.82999237e+01] [ 6.70029653e-02 -1.66058333e-03 9.97751394e-01 8.38923158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.58, Y:28.33, Z:8.39 [[ 8.78283880e-01 -4.74413522e-01 -5.95754628e-02 1.20583916e+02] [ 4.73420316e-01 8.80301247e-01 -3.07069822e-02 2.83316956e+01] [ 6.70121618e-02 -1.23478696e-03 9.97751395e-01 8.39374333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:120.63, Y:28.36, Z:8.40 [[ 8.80549783e-01 -4.70194887e-01 -5.95722120e-02 1.20633576e+02] [ 4.69191589e-01 8.82562149e-01 -3.07132876e-02 2.83620625e+01] [ 6.70174102e-02 -9.06202093e-04 9.97751395e-01 8.39782183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:120.68, Y:28.39, Z:8.40 [[ 8.84315352e-01 -4.63075094e-01 -5.95635513e-02 1.20682085e+02] [ 4.62054461e-01 8.86318982e-01 -3.07300745e-02 2.83940505e+01] [ 6.70226382e-02 -3.46527923e-04 9.97751395e-01 8.39884648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:120.73, Y:28.42, Z:8.40 [[ 8.86336352e-01 -4.59196141e-01 -5.95548079e-02 1.20732547e+02] [ 4.58165601e-01 8.88334905e-01 -3.07470099e-02 2.84237819e+01] [ 6.70235229e-02 -3.37718194e-05 9.97751395e-01 8.40034024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.78, Y:28.45, Z:8.41 [[ 8.88188437e-01 -4.55604615e-01 -5.95460812e-02 1.20782276e+02] [ 4.54564861e-01 8.90182211e-01 -3.07639011e-02 2.84527716e+01] [ 6.70230375e-02 2.56585128e-04 9.97751395e-01 8.40520848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85999999999999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:120.83, Y:28.48, Z:8.41 [[ 8.88050379e-01 -4.55874812e-01 -5.95372223e-02 1.20833863e+02] [ 4.54834516e-01 8.90043870e-01 -3.07810361e-02 2.84801500e+01] [ 6.70230388e-02 2.55527096e-04 9.97751395e-01 8.40694804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.88, Y:28.51, Z:8.41 [[ 8.87877814e-01 -4.56211991e-01 -5.95282032e-02 1.20884529e+02] [ 4.55171283e-01 8.89871090e-01 -3.07984685e-02 2.85053591e+01] [ 6.70230577e-02 2.49748246e-04 9.97751396e-01 8.41187362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:120.94, Y:28.53, Z:8.41 [[ 8.87189068e-01 -4.57550448e-01 -5.95243279e-02 1.20936170e+02] [ 4.56512246e-01 8.89183649e-01 -3.08059566e-02 2.85313355e+01] [ 6.70233384e-02 1.57123351e-04 9.97751396e-01 8.41436243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:120.99, Y:28.56, Z:8.42 [[ 8.87027956e-01 -4.57863853e-01 -5.95155271e-02 1.20988714e+02] [ 4.56825215e-01 8.89022311e-01 -3.08229499e-02 2.85559997e+01] [ 6.70233460e-02 1.52624739e-04 9.97751396e-01 8.41988883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.04, Y:28.58, Z:8.42 [[ 8.87486923e-01 -4.56974739e-01 -5.95067095e-02 1.21041162e+02] [ 4.55932962e-01 8.89479640e-01 -3.08399637e-02 2.85811533e+01] [ 6.70230910e-02 2.38994161e-04 9.97751396e-01 8.42449390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:121.09, Y:28.61, Z:8.42 [[ 8.88730375e-01 -4.54552878e-01 -5.94979208e-02 1.21094678e+02] [ 4.53504536e-01 8.90719646e-01 -3.08569100e-02 2.86069451e+01] [ 6.70220642e-02 4.40896244e-04 9.97751396e-01 8.42357019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.15, Y:28.63, Z:8.43 [[ 8.90204600e-01 -4.51659919e-01 -5.94902367e-02 1.21146877e+02] [ 4.50604124e-01 8.92189924e-01 -3.08717175e-02 2.86324984e+01] [ 6.70201072e-02 6.75598900e-04 9.97751396e-01 8.42951187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.20, Y:28.66, Z:8.43 [[ 8.91891494e-01 -4.48320826e-01 -5.94810807e-02 1.21199189e+02] [ 4.47256423e-01 8.93872217e-01 -3.08893484e-02 2.86566294e+01] [ 6.70168237e-02 9.46651724e-04 9.97751396e-01 8.43113472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.25, Y:28.68, Z:8.43 [[ 8.92621216e-01 -4.46866533e-01 -5.94782755e-02 1.21252081e+02] [ 4.45798543e-01 8.94600008e-01 -3.08947491e-02 2.86813657e+01] [ 6.70150951e-02 1.06197996e-03 9.97751397e-01 8.43496205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.31, Y:28.71, Z:8.44 [[ 8.93260863e-01 -4.45587725e-01 -5.94694088e-02 1.21305633e+02] [ 4.44515766e-01 8.95237507e-01 -3.09118073e-02 2.87050842e+01] [ 6.70131671e-02 1.17721781e-03 9.97751397e-01 8.43805083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.36, Y:28.73, Z:8.44 [[ 8.91695142e-01 -4.48713583e-01 -5.94633779e-02 1.21357067e+02] [ 4.47647781e-01 8.93675113e-01 -3.09234042e-02 2.87340566e+01] [ 6.70166924e-02 9.55600180e-04 9.97751397e-01 8.44141494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51999999999998 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:121.41, Y:28.76, Z:8.45 [[ 8.91604968e-01 -4.48893992e-01 -5.94538914e-02 1.21410490e+02] [ 4.47827375e-01 8.93584499e-01 -3.09416323e-02 2.87558463e+01] [ 6.70165886e-02 9.62632955e-04 9.97751397e-01 8.44900814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:28.78, Z:8.45 [[ 8.88232962e-01 -4.55530418e-01 -5.94495118e-02 1.21461701e+02] [ 4.54478030e-01 8.90220094e-01 -3.09500447e-02 2.87847761e+01] [ 6.70218368e-02 4.72352892e-04 9.97751397e-01 8.44997258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.51, Y:28.81, Z:8.46 [[ 8.87420623e-01 -4.57112011e-01 -5.94411240e-02 1.21514882e+02] [ 4.56062086e-01 8.89409058e-01 -3.09661455e-02 2.88067273e+01] [ 6.70224712e-02 3.71153154e-04 9.97751397e-01 8.45967156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.57, Y:28.83, Z:8.46 [[ 8.86849456e-01 -4.58219537e-01 -5.94381886e-02 1.21565272e+02] [ 4.57171718e-01 8.88839001e-01 -3.09717789e-02 2.88331508e+01] [ 6.70228544e-02 2.93846477e-04 9.97751397e-01 8.46214455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.62, Y:28.87, Z:8.46 [[ 8.84565907e-01 -4.62612917e-01 -5.94343853e-02 1.21615333e+02] [ 4.61574489e-01 8.86560369e-01 -3.09790758e-02 2.88652835e+01] [ 6.70234912e-02 -3.03617114e-05 9.97751397e-01 8.45686122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.67, Y:28.89, Z:8.46 [[ 8.84125161e-01 -4.63455761e-01 -5.94260633e-02 1.21667862e+02] [ 4.62418162e-01 8.86120055e-01 -3.09950314e-02 2.88925406e+01] [ 6.70234523e-02 -7.62038604e-05 9.97751397e-01 8.46011719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.72, Y:28.92, Z:8.47 [[ 8.83000108e-01 -4.65596755e-01 -5.94177593e-02 1.21719782e+02] [ 4.64562922e-01 8.84996956e-01 -3.10109420e-02 2.89184368e+01] [ 6.70231301e-02 -2.20622749e-04 9.97751398e-01 8.46555112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.77, Y:28.95, Z:8.47 [[ 8.79653101e-01 -4.71890914e-01 -5.94086398e-02 1.21771170e+02] [ 4.70870189e-01 8.81656681e-01 -3.10284027e-02 2.89455526e+01] [ 6.70200455e-02 -6.79526762e-04 9.97751398e-01 8.47093727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.0 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:121.82, Y:28.97, Z:8.48 [[ 8.79073965e-01 -4.72970168e-01 -5.93985254e-02 1.21824048e+02] [ 4.71950595e-01 8.81078131e-01 -3.10477530e-02 2.89701431e+01] [ 6.70194027e-02 -7.39898043e-04 9.97751398e-01 8.47782667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:29.00, Z:8.49 [[ 8.76348066e-01 -4.78003250e-01 -5.93882078e-02 1.21873743e+02] [ 4.76993850e-01 8.78357375e-01 -3.10674760e-02 2.89969613e+01] [ 6.70144248e-02 -1.10188738e-03 9.97751398e-01 8.48543087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.92, Y:29.03, Z:8.48 [[ 8.72394395e-01 -4.85182060e-01 -5.93834033e-02 1.21923852e+02] [ 4.84188566e-01 8.74411616e-01 -3.10766569e-02 2.90297228e+01] [ 6.70033740e-02 -1.64166358e-03 9.97751398e-01 8.48018435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.97, Y:29.06, Z:8.48 [[ 8.71535637e-01 -4.86723980e-01 -5.93750956e-02 1.21974392e+02] [ 4.85732975e-01 8.73554081e-01 -3.10925214e-02 2.90585954e+01] [ 6.70008328e-02 -1.74220143e-03 9.97751398e-01 8.48395242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.03, Y:29.08, Z:8.50 [[ 8.74175916e-01 -4.81967004e-01 -5.93656086e-02 1.22025795e+02] [ 4.80963785e-01 8.76188317e-01 -3.11106247e-02 2.90838001e+01] [ 6.70097472e-02 -1.35654898e-03 9.97751399e-01 8.49710873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29999999999998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:122.07, Y:29.11, Z:8.50 [[ 8.76008366e-01 -4.78628679e-01 -5.93627094e-02 1.22074011e+02] [ 4.77617415e-01 8.78016736e-01 -3.11161556e-02 2.91144805e+01] [ 6.70145369e-02 -1.09465122e-03 9.97751399e-01 8.49928298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.12, Y:29.15, Z:8.50 [[ 8.77143856e-01 -4.76545047e-01 -5.93588678e-02 1.22124461e+02] [ 4.75528516e-01 8.79149566e-01 -3.11234824e-02 2.91464515e+01] [ 6.70170642e-02 -9.27062970e-04 9.97751399e-01 8.49980343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.17, Y:29.18, Z:8.50 [[ 8.80248442e-01 -4.70786465e-01 -5.93530428e-02 1.22174556e+02] [ 4.69756064e-01 8.82247062e-01 -3.11345869e-02 2.91773460e+01] [ 6.70217897e-02 -4.75280110e-04 9.97751399e-01 8.50266551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.23, Y:29.20, Z:8.51 [[ 8.84325692e-01 -4.63083530e-01 -5.93440428e-02 1.22225327e+02] [ 4.62034568e-01 8.86314632e-01 -3.11517318e-02 2.92047667e+01] [ 6.70233474e-02 1.29277589e-04 9.97751399e-01 8.51283021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.27, Y:29.24, Z:8.51 [[ 8.87437799e-01 -4.57091691e-01 -5.93408746e-02 1.22274870e+02] [ 4.56028898e-01 8.89419383e-01 -3.11577658e-02 2.92378931e+01] [ 6.70208799e-02 5.89425424e-04 9.97751399e-01 8.50985098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.33, Y:29.26, Z:8.52 [[ 8.91082808e-01 -4.49945574e-01 -5.93330464e-02 1.22326474e+02] [ 4.48865899e-01 8.93055245e-01 -3.11726658e-02 2.92634505e+01] [ 6.70136912e-02 1.14484544e-03 9.97751399e-01 8.51878056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.38, Y:29.29, Z:8.52 [[ 8.91378275e-01 -4.49360341e-01 -5.93300389e-02 1.22377235e+02] [ 4.48278991e-01 8.93349794e-01 -3.11783888e-02 2.92908328e+01] [ 6.70128095e-02 1.19532853e-03 9.97751399e-01 8.52180752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.43, Y:29.32, Z:8.53 [[ 8.89949289e-01 -4.52184993e-01 -5.93211120e-02 1.22428531e+02] [ 4.51108769e-01 8.91923611e-01 -3.11953643e-02 2.93170316e+01] [ 6.70159760e-02 1.00201844e-03 9.97751399e-01 8.52597042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.48, Y:29.35, Z:8.52 [[ 8.83602343e-01 -4.64466317e-01 -5.93122221e-02 1.22479860e+02] [ 4.63416404e-01 8.85590781e-01 -3.12122577e-02 2.93468914e+01] [ 6.70233994e-02 9.29673822e-05 9.97751400e-01 8.52151483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.53, Y:29.37, Z:8.53 [[ 8.83217292e-01 -4.65199162e-01 -5.93039265e-02 1.22534228e+02] [ 4.64149841e-01 8.85206042e-01 -3.12280115e-02 2.93663795e+01] [ 6.70234388e-02 5.52116703e-05 9.97751400e-01 8.53357108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.59, Y:29.40, Z:8.53 [[ 8.76937731e-01 -4.76931445e-01 -5.93010332e-02 1.22585216e+02] [ 4.75908356e-01 8.78940103e-01 -3.12335048e-02 2.93972806e+01] [ 6.70182968e-02 -8.32018346e-04 9.97751400e-01 8.52590073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.64, Y:29.42, Z:8.54 [[ 8.78398522e-01 -4.74236618e-01 -5.92930608e-02 1.22639935e+02] [ 4.73206365e-01 8.80397216e-01 -3.12486322e-02 2.94170109e+01] [ 6.70206913e-02 -6.09101443e-04 9.97751400e-01 8.53943104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.69, Y:29.44, Z:8.54 [[ 8.78304610e-01 -4.74410874e-01 -5.92902563e-02 1.22692349e+02] [ 4.73380659e-01 8.80303324e-01 -3.12539523e-02 2.94428284e+01] [ 6.70206246e-02 -6.16370178e-04 9.97751400e-01 8.54207783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.74, Y:29.47, Z:8.54 [[ 8.76500185e-01 -4.77737540e-01 -5.92812688e-02 1.22742214e+02] [ 4.76713758e-01 8.78502202e-01 -3.12709903e-02 2.94748178e+01] [ 6.70180511e-02 -8.51167605e-04 9.97751400e-01 8.53684616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.79, Y:29.50, Z:8.54 [[ 8.76880177e-01 -4.77040897e-01 -5.92717273e-02 1.22794100e+02] [ 4.76014302e-01 8.78880753e-01 -3.12890650e-02 2.95015555e+01] [ 6.70189440e-02 -7.77429051e-04 9.97751400e-01 8.54182144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.85, Y:29.52, Z:8.56 [[ 8.79626904e-01 -4.71957702e-01 -5.92658162e-02 1.22847491e+02] [ 4.70918792e-01 8.81621112e-01 -3.13002574e-02 2.95224612e+01] [ 6.70223924e-02 -3.76838064e-04 9.97751400e-01 8.55615824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.90, Y:29.55, Z:8.56 [[ 8.79962006e-01 -4.71332977e-01 -5.92629080e-02 1.22898383e+02] [ 4.70292281e-01 8.81955282e-01 -3.13057628e-02 2.95492200e+01] [ 6.70226732e-02 -3.23006299e-04 9.97751400e-01 8.56123314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.95, Y:29.58, Z:8.57 [[ 8.81490271e-01 -4.68469667e-01 -5.92543083e-02 1.22949282e+02] [ 4.67421402e-01 8.83479577e-01 -3.13220316e-02 2.95761473e+01] [ 6.70233930e-02 -8.66657714e-05 9.97751401e-01 8.56693286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.00, Y:29.60, Z:8.57 [[ 8.83121201e-01 -4.65388995e-01 -5.92454782e-02 1.23000020e+02] [ 4.64332671e-01 8.85106240e-01 -3.13387248e-02 2.96034807e+01] [ 6.70232401e-02 1.66281147e-04 9.97751401e-01 8.57035919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:29.63, Z:8.57 [[ 8.84031091e-01 -4.63659424e-01 -5.92365573e-02 1.23051456e+02] [ 4.62598086e-01 8.86013453e-01 -3.13555780e-02 2.96308478e+01] [ 6.70226959e-02 3.16587758e-04 9.97751401e-01 8.57267051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.10, Y:29.66, Z:8.57 [[ 8.84795636e-01 -4.62199952e-01 -5.92274211e-02 1.23103030e+02] [ 4.61134190e-01 8.86775623e-01 -3.13728260e-02 2.96586175e+01] [ 6.70219519e-02 4.46750723e-04 9.97751401e-01 8.57412468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.15, Y:29.69, Z:8.58 [[ 8.86129760e-01 -4.59638155e-01 -5.92183768e-02 1.23154320e+02] [ 4.58565528e-01 8.88106036e-01 -3.13898884e-02 2.96852883e+01] [ 6.70201883e-02 6.60007978e-04 9.97751401e-01 8.57634913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.21, Y:29.71, Z:8.58 [[ 8.86548722e-01 -4.58830691e-01 -5.92094602e-02 1.23205228e+02] [ 4.57755142e-01 8.88523409e-01 -3.14066985e-02 2.97121905e+01] [ 6.70193486e-02 7.40133608e-04 9.97751401e-01 8.57985774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.26, Y:29.74, Z:8.58 [[ 8.86582327e-01 -4.58766940e-01 -5.92002673e-02 1.23255564e+02] [ 4.57690093e-01 8.88556307e-01 -3.14240172e-02 2.97393057e+01] [ 6.70190711e-02 7.64602452e-04 9.97751402e-01 8.58317557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:29.77, Z:8.59 [[ 8.86288443e-01 -4.59334944e-01 -5.91963207e-02 1.23306871e+02] [ 4.58258866e-01 8.88262842e-01 -3.14314500e-02 2.97656126e+01] [ 6.70194554e-02 7.30092054e-04 9.97751402e-01 8.58709520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79999999999998 meters Centerline goodness : 0.998545 with order 1 Centerline is valid? [True, True] Translation: X:123.36, Y:29.79, Z:8.59 [[ 8.85398219e-01 -4.61049749e-01 -5.91871843e-02 1.23358769e+02] [ 4.59976345e-01 8.87374073e-01 -3.14486449e-02 2.97922298e+01] [ 6.70205626e-02 6.19869490e-04 9.97751402e-01 8.58868671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85999999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.41, Y:29.82, Z:8.60 [[ 8.83681430e-01 -4.64333068e-01 -5.91771186e-02 1.23410298e+02] [ 4.63265738e-01 8.85660571e-01 -3.14675742e-02 2.98180912e+01] [ 6.70222760e-02 3.92579447e-04 9.97751402e-01 8.59551249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92 meters Centerline goodness : 0.998189 with order 1 Centerline is valid? [True, True] Translation: X:123.46, Y:29.84, Z:8.60 [[ 8.82322875e-01 -4.66909851e-01 -5.91737693e-02 1.23461179e+02] [ 4.65847879e-01 8.84304896e-01 -3.14738712e-02 2.98444505e+01] [ 6.70231145e-02 2.04141631e-04 9.97751402e-01 8.60085542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.51, Y:29.87, Z:8.60 [[ 8.81679075e-01 -4.68124997e-01 -5.91692163e-02 1.23512347e+02] [ 4.67065182e-01 8.83662250e-01 -3.14824283e-02 2.98723713e+01] [ 6.70233145e-02 1.21517488e-04 9.97751402e-01 8.60428133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.56, Y:29.90, Z:8.61 [[ 8.80524556e-01 -4.70294360e-01 -5.91584461e-02 1.23563471e+02] [ 4.69238072e-01 8.82509612e-01 -3.15026537e-02 2.98999088e+01] [ 6.70234176e-02 -2.05350400e-05 9.97751402e-01 8.60650793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:29.93, Z:8.61 [[ 8.79303399e-01 -4.72574723e-01 -5.91494952e-02 1.23614877e+02] [ 4.71522453e-01 8.81290588e-01 -3.15194510e-02 2.99272071e+01] [ 6.70231892e-02 -1.75154681e-04 9.97751403e-01 8.61008761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.67, Y:29.95, Z:8.61 [[ 8.76509874e-01 -4.77737202e-01 -5.91405659e-02 1.23666242e+02] [ 4.76695506e-01 8.78502625e-01 -3.15361963e-02 2.99541203e+01] [ 6.70211566e-02 -5.50254563e-04 9.97751403e-01 8.61498014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.72, Y:29.98, Z:8.62 [[ 8.74164488e-01 -4.82016479e-01 -5.91317391e-02 1.23717043e+02] [ 4.80983418e-01 8.76161729e-01 -3.15527383e-02 2.99813417e+01] [ 6.70179066e-02 -8.59102699e-04 9.97751403e-01 8.62053213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.77, Y:30.01, Z:8.62 [[ 8.73704339e-01 -4.82851127e-01 -5.91228937e-02 1.23767733e+02] [ 4.81818853e-01 8.75701988e-01 -3.15693039e-02 3.00094766e+01] [ 6.70173095e-02 -9.04287015e-04 9.97751403e-01 8.62447562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.82, Y:30.04, Z:8.63 [[ 8.74156807e-01 -4.82032603e-01 -5.91138459e-02 1.23817829e+02] [ 4.80997314e-01 8.76152894e-01 -3.15862370e-02 3.00380337e+01] [ 6.70183632e-02 -8.22277076e-04 9.97751403e-01 8.62859348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.87, Y:30.07, Z:8.63 [[ 8.74566366e-01 -4.81290231e-01 -5.91048668e-02 1.23868084e+02] [ 4.80252113e-01 8.76560983e-01 -3.16030299e-02 3.00674371e+01] [ 6.70192497e-02 -7.46290125e-04 9.97751404e-01 8.63227830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:30.10, Z:8.64 [[ 8.74868895e-01 -4.80741193e-01 -5.90958653e-02 1.23918049e+02] [ 4.79700687e-01 8.76862267e-01 -3.16198534e-02 3.00977580e+01] [ 6.70199005e-02 -6.85100960e-04 9.97751404e-01 8.63538950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.97, Y:30.13, Z:8.63 [[ 8.73465449e-01 -4.83287567e-01 -5.90866995e-02 1.23967342e+02] [ 4.82251714e-01 8.75461242e-01 -3.16369718e-02 3.01294160e+01] [ 6.70178705e-02 -8.60860345e-04 9.97751404e-01 8.63495212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.02, Y:30.16, Z:8.64 [[ 8.74035230e-01 -4.82257525e-01 -5.90770465e-02 1.24018357e+02] [ 4.81218102e-01 8.76029166e-01 -3.16549871e-02 3.01566014e+01] [ 6.70190715e-02 -7.61370232e-04 9.97751404e-01 8.64004717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.07, Y:30.19, Z:8.64 [[ 8.73345883e-01 -4.83505139e-01 -5.90740924e-02 1.24068379e+02] [ 4.82468192e-01 8.75341109e-01 -3.16604990e-02 3.01853369e+01] [ 6.70179955e-02 -8.50804122e-04 9.97751404e-01 8.64475903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.12, Y:30.22, Z:8.65 [[ 8.73012219e-01 -4.84108450e-01 -5.90650005e-02 1.24117662e+02] [ 4.83071735e-01 8.75007565e-01 -3.16774516e-02 3.02156773e+01] [ 6.70176442e-02 -8.77829930e-04 9.97751404e-01 8.64880933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.17, Y:30.24, Z:8.65 [[ 8.73802492e-01 -4.82681680e-01 -5.90559184e-02 1.24168207e+02] [ 4.81640563e-01 8.75795544e-01 -3.16943742e-02 3.02446706e+01] [ 6.70192040e-02 -7.49102615e-04 9.97751404e-01 8.65191305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.22, Y:30.27, Z:8.66 [[ 8.76244876e-01 -4.78234658e-01 -5.90468315e-02 1.24219106e+02] [ 4.77182286e-01 8.78232008e-01 -3.17112942e-02 3.02744187e+01] [ 6.70222573e-02 -3.89242908e-04 9.97751405e-01 8.65514212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.27, Y:30.30, Z:8.66 [[ 8.78558148e-01 -4.73972554e-01 -5.90389561e-02 1.24270334e+02] [ 4.72909556e-01 8.80539616e-01 -3.17259496e-02 3.03044858e+01] [ 6.70233691e-02 -4.69949600e-05 9.97751405e-01 8.65768374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.32, Y:30.33, Z:8.66 [[ 8.82210676e-01 -4.67139808e-01 -5.90315406e-02 1.24320933e+02] [ 4.66060542e-01 8.84183330e-01 -3.17397414e-02 3.03347652e+01] [ 6.70216008e-02 4.88866893e-04 9.97751405e-01 8.65804604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.37, Y:30.36, Z:8.66 [[ 8.83762669e-01 -4.64197972e-01 -5.90236225e-02 1.24372179e+02] [ 4.63111157e-01 8.85731173e-01 -3.17544592e-02 3.03630533e+01] [ 6.70194180e-02 7.28907520e-04 9.97751405e-01 8.66069437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.42, Y:30.39, Z:8.67 [[ 8.84745201e-01 -4.62323626e-01 -5.90152084e-02 1.24424410e+02] [ 4.61231597e-01 8.86710818e-01 -3.17700890e-02 3.03906742e+01] [ 6.70174865e-02 8.88754946e-04 9.97751405e-01 8.66693357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:30.42, Z:8.67 [[ 8.84996878e-01 -4.61842692e-01 -5.90072412e-02 1.24476141e+02] [ 4.60748609e-01 8.86961352e-01 -3.17848798e-02 3.04178206e+01] [ 6.70167569e-02 9.42015013e-04 9.97751405e-01 8.67250159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.53, Y:30.44, Z:8.68 [[ 8.84873267e-01 -4.62080499e-01 -5.89992612e-02 1.24528832e+02] [ 4.60985958e-01 8.86837486e-01 -3.17996854e-02 3.04430539e+01] [ 6.70167710e-02 9.40860562e-04 9.97751406e-01 8.67955474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.58, Y:30.47, Z:8.68 [[ 8.84815787e-01 -4.62191570e-01 -5.89913156e-02 1.24580598e+02] [ 4.61096293e-01 8.86779596e-01 -3.18144185e-02 3.04699165e+01] [ 6.70166510e-02 9.49222808e-04 9.97751406e-01 8.68361149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.63, Y:30.50, Z:8.69 [[ 8.85055261e-01 -4.61733852e-01 -5.89833500e-02 1.24632149e+02] [ 4.60636576e-01 8.87017953e-01 -3.18291797e-02 3.04971012e+01] [ 6.70159001e-02 1.00069463e-03 9.97751406e-01 8.68526929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.68, Y:30.52, Z:8.69 [[ 8.84590973e-01 -4.62623894e-01 -5.89740828e-02 1.24683564e+02] [ 4.61527449e-01 8.86554129e-01 -3.18463409e-02 3.05234622e+01] [ 6.70165949e-02 9.52827689e-04 9.97751406e-01 8.68702992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.74, Y:30.55, Z:8.69 [[ 8.81679862e-01 -4.68148495e-01 -5.89712418e-02 1.24735534e+02] [ 4.67064000e-01 8.83649645e-01 -3.18516009e-02 3.05485330e+01] [ 6.70211959e-02 5.39570987e-04 9.97751406e-01 8.69039324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.79, Y:30.57, Z:8.70 [[ 8.76580930e-01 -4.77628858e-01 -5.89622527e-02 1.24788014e+02] [ 4.76564548e-01 8.78561692e-01 -3.18682325e-02 3.05748556e+01] [ 6.70231640e-02 -1.64234414e-04 9.97751406e-01 8.69534741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.84, Y:30.60, Z:8.70 [[ 8.71972028e-01 -4.85992965e-01 -5.89543915e-02 1.24838978e+02] [ 4.84946670e-01 8.73962365e-01 -3.18827687e-02 3.06015844e+01] [ 6.70187207e-02 -7.88853406e-04 9.97751406e-01 8.69997157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.89, Y:30.63, Z:8.70 [[ 8.69239709e-01 -4.90864316e-01 -5.89453249e-02 1.24890606e+02] [ 4.89828039e-01 8.71235280e-01 -3.18995223e-02 3.06287881e+01] [ 6.70135838e-02 -1.14474137e-03 9.97751406e-01 8.70443561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.94, Y:30.66, Z:8.71 [[ 8.61387733e-01 -5.04517285e-01 -5.89362590e-02 1.24943230e+02] [ 5.03511477e-01 8.63398833e-01 -3.19162633e-02 3.06552816e+01] [ 6.69878038e-02 -2.18280522e-03 9.97751407e-01 8.71084910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.99, Y:30.68, Z:8.72 [[ 8.57350589e-01 -5.11348633e-01 -5.89282951e-02 1.24993801e+02] [ 5.10357835e-01 8.59369126e-01 -3.19309606e-02 3.06830037e+01] [ 6.69690105e-02 -2.69848922e-03 9.97751407e-01 8.71607415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.04, Y:30.71, Z:8.72 [[ 8.54353206e-01 -5.16342075e-01 -5.89191084e-02 1.25043689e+02] [ 5.15361906e-01 8.56376925e-01 -3.19479030e-02 3.07126870e+01] [ 6.69530114e-02 -3.06987062e-03 9.97751407e-01 8.71997111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.09, Y:30.74, Z:8.72 [[ 8.54596436e-01 -5.15939726e-01 -5.89162951e-02 1.25094108e+02] [ 5.14958248e-01 8.56619521e-01 -3.19530902e-02 3.07428941e+01] [ 6.69547171e-02 -3.03243504e-03 9.97751407e-01 8.72254162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.14, Y:30.78, Z:8.72 [[ 8.58895256e-01 -5.08752122e-01 -5.89085483e-02 1.25143120e+02] [ 5.07752728e-01 8.60909551e-01 -3.19673659e-02 3.07755223e+01] [ 6.69783971e-02 -2.45435715e-03 9.97751407e-01 8.72445228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.19, Y:30.81, Z:8.73 [[ 8.62999690e-01 -5.01759155e-01 -5.89006432e-02 1.25192057e+02] [ 5.00742440e-01 8.65005298e-01 -3.19819247e-02 3.08076588e+01] [ 6.69965919e-02 -1.89366071e-03 9.97751407e-01 8.72808316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:30.84, Z:8.73 [[ 8.69267569e-01 -4.90821437e-01 -5.88915111e-02 1.25240311e+02] [ 4.89778340e-01 8.71259582e-01 -3.19987316e-02 3.08411701e+01] [ 6.70154568e-02 -1.02832690e-03 9.97751407e-01 8.73192937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.29, Y:30.87, Z:8.74 [[ 8.72384579e-01 -4.85260626e-01 -5.88835393e-02 1.25289858e+02] [ 4.84203839e-01 8.74369364e-01 -3.20133946e-02 3.08721818e+01] [ 6.70208027e-02 -5.83644002e-04 9.97751408e-01 8.73738617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.34, Y:30.90, Z:8.74 [[ 8.76127106e-01 -4.78471660e-01 -5.88741427e-02 1.25338666e+02] [ 4.77398333e-01 8.78102994e-01 -3.20306660e-02 3.09041055e+01] [ 6.70233269e-02 -4.34829111e-05 9.97751408e-01 8.74119671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.39, Y:30.94, Z:8.75 [[ 8.78665993e-01 -4.73793466e-01 -5.88712590e-02 1.25388940e+02] [ 4.72709263e-01 8.80635935e-01 -3.20359652e-02 3.09353207e+01] [ 6.70225772e-02 3.19923721e-04 9.97751408e-01 8.74514841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.44, Y:30.96, Z:8.75 [[ 8.80251570e-01 -4.70842123e-01 -5.88631365e-02 1.25439301e+02] [ 4.69750318e-01 8.82217309e-01 -3.20508827e-02 3.09643221e+01] [ 6.70209835e-02 5.61862777e-04 9.97751408e-01 8.74851061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.49, Y:30.99, Z:8.75 [[ 8.82516814e-01 -4.66582834e-01 -5.88602823e-02 1.25490113e+02] [ 4.65481193e-01 8.84477057e-01 -3.20561235e-02 3.09942519e+01] [ 6.70174062e-02 8.91713524e-04 9.97751408e-01 8.75182960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.54, Y:31.02, Z:8.75 [[ 8.83416204e-01 -4.64878725e-01 -5.88521956e-02 1.25541146e+02] [ 4.63772314e-01 8.85373759e-01 -3.20709631e-02 3.10228125e+01] [ 6.70152981e-02 1.03798952e-03 9.97751408e-01 8.75486606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.59, Y:31.05, Z:8.76 [[ 8.83891849e-01 -4.63974750e-01 -5.88441236e-02 1.25593178e+02] [ 4.62865352e-01 8.85847712e-01 -3.20857669e-02 3.10501999e+01] [ 6.70139179e-02 1.12344178e-03 9.97751408e-01 8.75823718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.65, Y:31.08, Z:8.76 [[ 8.83157206e-01 -4.65372603e-01 -5.88361319e-02 1.25645421e+02] [ 4.64265325e-01 8.85114270e-01 -3.21004148e-02 3.10754906e+01] [ 6.70153535e-02 1.03413670e-03 9.97751408e-01 8.76226497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.70, Y:31.10, Z:8.77 [[ 8.80333258e-01 -4.70693101e-01 -5.88333278e-02 1.25698903e+02] [ 4.69597309e-01 8.82296776e-01 -3.21055533e-02 3.10990153e+01] [ 6.70203178e-02 6.35613953e-04 9.97751408e-01 8.77112635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.75, Y:31.13, Z:8.78 [[ 8.78072328e-01 -4.74898500e-01 -5.88251763e-02 1.25751560e+02] [ 4.73811113e-01 8.80040513e-01 -3.21204818e-02 3.11250401e+01] [ 6.70225070e-02 3.32083962e-04 9.97751409e-01 8.77664321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:31.15, Z:8.78 [[ 8.74587666e-01 -4.81286791e-01 -5.88169890e-02 1.25803729e+02] [ 4.80212772e-01 8.76563178e-01 -3.21354669e-02 3.11501642e+01] [ 6.70231826e-02 -1.39386379e-04 9.97751409e-01 8.78107493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:31.18, Z:8.79 [[ 8.72620847e-01 -4.84844830e-01 -5.88077181e-02 1.25855407e+02] [ 4.83777723e-01 8.74600101e-01 -3.21524237e-02 3.11759681e+01] [ 6.70221726e-02 -3.92988765e-04 9.97751409e-01 8.78610956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:31.20, Z:8.79 [[ 8.70720658e-01 -4.88250229e-01 -5.87983910e-02 1.25905920e+02] [ 4.87189711e-01 8.72703449e-01 -3.21694715e-02 3.12029208e+01] [ 6.70203105e-02 -6.35347741e-04 9.97751409e-01 8.78983037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.96, Y:31.23, Z:8.80 [[ 8.68034027e-01 -4.93011238e-01 -5.87949548e-02 1.25956134e+02] [ 4.91961170e-01 8.70022372e-01 -3.21757505e-02 3.12317766e+01] [ 6.70159327e-02 -9.95188485e-04 9.97751409e-01 8.79785544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.01, Y:31.26, Z:8.80 [[ 8.66705126e-01 -4.95344041e-01 -5.87920516e-02 1.26006301e+02] [ 4.94298964e-01 8.68696100e-01 -3.21810544e-02 3.12617845e+01] [ 6.70131195e-02 -1.16936541e-03 9.97751409e-01 8.80217680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.06, Y:31.29, Z:8.81 [[ 8.66920455e-01 -4.94968044e-01 -5.87840162e-02 1.26056189e+02] [ 4.93921109e-01 8.68910452e-01 -3.21957258e-02 3.12906033e+01] [ 6.70139015e-02 -1.12353323e-03 9.97751409e-01 8.80574341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:31.32, Z:8.81 [[ 8.69794337e-01 -4.89901336e-01 -5.87749322e-02 1.26105463e+02] [ 4.88841688e-01 8.71777593e-01 -3.22123005e-02 3.13223827e+01] [ 6.70195180e-02 -7.13560487e-04 9.97751409e-01 8.80846412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.16, Y:31.35, Z:8.81 [[ 8.72177808e-01 -4.85646408e-01 -5.87659576e-02 1.26155069e+02] [ 4.84575981e-01 8.74155268e-01 -3.22286649e-02 3.13530122e+01] [ 6.70223067e-02 -3.67445226e-04 9.97751410e-01 8.81259691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.20, Y:31.38, Z:8.82 [[ 8.75014129e-01 -4.80517791e-01 -5.87616127e-02 1.26203490e+02] [ 4.79435242e-01 8.76984978e-01 -3.22365849e-02 3.13836575e+01] [ 6.70233042e-02 3.50792610e-05 9.97751410e-01 8.81717152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.25, Y:31.42, Z:8.82 [[ 8.76048549e-01 -4.78629923e-01 -5.87565945e-02 1.26253162e+02] [ 4.77542514e-01 8.78016720e-01 -3.22457287e-02 3.14153628e+01] [ 6.70230431e-02 1.90051994e-04 9.97751410e-01 8.82163863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:31.45, Z:8.83 [[ 8.76549183e-01 -4.77713450e-01 -5.87485210e-02 1.26302111e+02] [ 4.76622998e-01 8.78515670e-01 -3.22604312e-02 3.14465492e+01] [ 6.70227382e-02 2.76958447e-04 9.97751410e-01 8.82533583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:31.48, Z:8.83 [[ 8.76036624e-01 -4.78653869e-01 -5.87393222e-02 1.26350942e+02] [ 4.77564405e-01 8.78003658e-01 -3.22771717e-02 3.14789338e+01] [ 6.70229328e-02 2.24175116e-04 9.97751410e-01 8.83076955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.40, Y:31.51, Z:8.83 [[ 8.74491272e-01 -4.81472404e-01 -5.87310835e-02 1.26399842e+02] [ 4.80388273e-01 8.76461251e-01 -3.22921557e-02 3.15118543e+01] [ 6.70233007e-02 2.54845417e-05 9.97751410e-01 8.83447776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.45, Y:31.54, Z:8.84 [[ 8.73349925e-01 -4.83540612e-01 -5.87229485e-02 1.26449538e+02] [ 4.82460152e-01 8.75321919e-01 -3.23069424e-02 3.15425895e+01] [ 6.70232027e-02 -1.16216938e-04 9.97751410e-01 8.83631290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.50, Y:31.57, Z:8.84 [[ 8.72486860e-01 -4.85097295e-01 -5.87136537e-02 1.26499466e+02] [ 4.84019217e-01 8.74460158e-01 -3.23238257e-02 3.15714509e+01] [ 6.70229513e-02 -2.16423455e-04 9.97751411e-01 8.83870903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:31.60, Z:8.84 [[ 8.70642200e-01 -4.88401425e-01 -5.87044150e-02 1.26550513e+02] [ 4.87329705e-01 8.72618957e-01 -3.23405957e-02 3.16013451e+01] [ 6.70217784e-02 -4.51317816e-04 9.97751411e-01 8.83995990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.60, Y:31.63, Z:8.84 [[ 8.68388443e-01 -4.92398482e-01 -5.86962303e-02 1.26601105e+02] [ 4.91334856e-01 8.70369568e-01 -3.23554436e-02 3.16297668e+01] [ 6.70191839e-02 -7.42410559e-04 9.97751411e-01 8.84347463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.65, Y:31.66, Z:8.85 [[ 8.66845695e-01 -4.95110483e-01 -5.86868902e-02 1.26651523e+02] [ 4.94051909e-01 8.68829523e-01 -3.23723761e-02 3.16574069e+01] [ 6.70168056e-02 -9.32515296e-04 9.97751411e-01 8.84799905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.70, Y:31.69, Z:8.85 [[ 8.65849799e-01 -4.96851168e-01 -5.86774511e-02 1.26702966e+02] [ 4.95795424e-01 8.67835134e-01 -3.23894761e-02 3.16854323e+01] [ 6.70151027e-02 -1.04759032e-03 9.97751411e-01 8.85389124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.75, Y:31.72, Z:8.86 [[ 8.66438699e-01 -4.95824467e-01 -5.86692295e-02 1.26754056e+02] [ 4.94765363e-01 8.68422243e-01 -3.24043616e-02 3.17150467e+01] [ 6.70165393e-02 -9.51109699e-04 9.97751411e-01 8.85902928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.80, Y:31.75, Z:8.86 [[ 8.67769119e-01 -4.93493309e-01 -5.86609680e-02 1.26803597e+02] [ 4.92427866e-01 8.69749266e-01 -3.24193104e-02 3.17450168e+01] [ 6.70190466e-02 -7.53818816e-04 9.97751411e-01 8.86339188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.85, Y:31.78, Z:8.87 [[ 8.71716560e-01 -4.86486866e-01 -5.86580692e-02 1.26853071e+02] [ 4.85405152e-01 8.73687866e-01 -3.24245545e-02 3.17763345e+01] [ 6.70229632e-02 -2.07907904e-04 9.97751412e-01 8.86864336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.0 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:126.90, Y:31.81, Z:8.87 [[ 8.75245250e-01 -4.80110335e-01 -5.86499638e-02 1.26902656e+02] [ 4.79013278e-01 8.77208058e-01 -3.24392091e-02 3.18078278e+01] [ 6.70226204e-02 2.98152238e-04 9.97751412e-01 8.87103379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:126.95, Y:31.84, Z:8.87 [[ 8.81307696e-01 -4.68890057e-01 -5.86417918e-02 1.26952539e+02] [ 4.67767032e-01 8.83255763e-01 -3.24539754e-02 3.18385802e+01] [ 6.70130469e-02 1.17124136e-03 9.97751412e-01 8.87031951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.00, Y:31.87, Z:8.87 [[ 8.85146254e-01 -4.61603935e-01 -5.86337375e-02 1.27004345e+02] [ 4.60463916e-01 8.87084425e-01 -3.24685202e-02 3.18670406e+01] [ 6.70006720e-02 1.74066867e-03 9.97751412e-01 8.87350738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:31.89, Z:8.88 [[ 8.85950833e-01 -4.60058883e-01 -5.86254673e-02 1.27055909e+02] [ 4.58914497e-01 8.87886428e-01 -3.24834461e-02 3.18935751e+01] [ 6.69970547e-02 1.87465928e-03 9.97751412e-01 8.87707908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:127.11, Y:31.92, Z:8.88 [[ 8.85477405e-01 -4.60969804e-01 -5.86225655e-02 1.27108450e+02] [ 4.59827064e-01 8.87413972e-01 -3.24886821e-02 3.19201599e+01] [ 6.69987851e-02 1.81175175e-03 9.97751412e-01 8.88333668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:31.94, Z:8.89 [[ 8.83677068e-01 -4.64412740e-01 -5.86143885e-02 1.27162772e+02] [ 4.63276568e-01 8.85617496e-01 -3.25034281e-02 3.19427349e+01] [ 6.70049340e-02 1.56786132e-03 9.97751412e-01 8.88938612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35999999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:31.97, Z:8.90 [[ 8.81033132e-01 -4.69410162e-01 -5.86064847e-02 1.27216177e+02] [ 4.68284051e-01 8.82979416e-01 -3.25176730e-02 3.19668564e+01] [ 6.70124458e-02 1.20466522e-03 9.97751412e-01 8.89712636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:127.27, Y:31.99, Z:8.90 [[ 8.80045824e-01 -4.71259656e-01 -5.85976507e-02 1.27268321e+02] [ 4.70136576e-01 8.81993858e-01 -3.25335844e-02 3.19928935e+01] [ 6.70145338e-02 1.08214619e-03 9.97751413e-01 8.89998442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.32, Y:32.02, Z:8.90 [[ 8.80422152e-01 -4.70557394e-01 -5.85881655e-02 1.27322334e+02] [ 4.69431625e-01 8.82368633e-01 -3.25506569e-02 3.20177735e+01] [ 6.70133118e-02 1.15518167e-03 9.97751413e-01 8.90206391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.38, Y:32.04, Z:8.90 [[ 8.81065770e-01 -4.69352229e-01 -5.85798087e-02 1.27375207e+02] [ 4.68222798e-01 8.83010129e-01 -3.25656893e-02 3.20446343e+01] [ 6.70113433e-02 1.26411222e-03 9.97751413e-01 8.90390749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.43, Y:32.07, Z:8.90 [[ 8.81251933e-01 -4.69003651e-01 -5.85713773e-02 1.27427630e+02] [ 4.67872444e-01 8.83195259e-01 -3.25808466e-02 3.20711393e+01] [ 6.70104987e-02 1.30800058e-03 9.97751413e-01 8.90486088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.48, Y:32.09, Z:8.91 [[ 8.80770374e-01 -4.69908414e-01 -5.85630496e-02 1.27480800e+02] [ 4.68778209e-01 8.82714282e-01 -3.25958085e-02 3.20938592e+01] [ 6.70114850e-02 1.25634092e-03 9.97751413e-01 8.90762403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.53, Y:32.12, Z:8.91 [[ 8.79683536e-01 -4.71940415e-01 -5.85586951e-02 1.27533467e+02] [ 4.70814180e-01 8.81629747e-01 -3.26036296e-02 3.21182110e+01] [ 6.70140580e-02 1.11061213e-03 9.97751413e-01 8.91098746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.59, Y:32.14, Z:8.92 [[ 8.76982924e-01 -4.76940601e-01 -5.85543670e-02 1.27587997e+02] [ 4.75824945e-01 8.78935219e-01 -3.26114008e-02 3.21408358e+01] [ 6.70191964e-02 7.38013173e-04 9.97751413e-01 8.91973742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.64, Y:32.17, Z:8.93 [[ 8.75188631e-01 -4.80226193e-01 -5.85462572e-02 1.27641097e+02] [ 4.79116892e-01 8.77144544e-01 -3.26259535e-02 3.21660398e+01] [ 6.70213675e-02 5.03362756e-04 9.97751413e-01 8.92562669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.69, Y:32.19, Z:8.93 [[ 8.72339923e-01 -4.85382676e-01 -5.85381713e-02 1.27693963e+02] [ 4.84283964e-01 8.74301803e-01 -3.26404551e-02 3.21888738e+01] [ 6.70231401e-02 1.24474460e-04 9.97751414e-01 8.93072749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.75, Y:32.22, Z:8.93 [[ 8.70701872e-01 -4.88315506e-01 -5.85338845e-02 1.27745569e+02] [ 4.87222887e-01 8.72667152e-01 -3.26481407e-02 3.22152780e+01] [ 6.70231916e-02 -9.22509574e-05 9.97751414e-01 8.93471873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.80, Y:32.24, Z:8.94 [[ 8.69436794e-01 -4.90565506e-01 -5.85247445e-02 1.27798101e+02] [ 4.89476870e-01 8.71404282e-01 -3.26645169e-02 3.22419479e+01] [ 6.70227982e-02 -2.46775939e-04 9.97751414e-01 8.93941331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.85, Y:32.27, Z:8.94 [[ 8.67845074e-01 -4.93376888e-01 -5.85164474e-02 1.27850508e+02] [ 4.92293623e-01 8.69815525e-01 -3.26793738e-02 3.22678974e+01] [ 6.70217621e-02 -4.46640364e-04 9.97751414e-01 8.94138044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.90, Y:32.29, Z:8.95 [[ 8.66113579e-01 -4.96411168e-01 -5.85082950e-02 1.27903429e+02] [ 4.95333821e-01 8.68087272e-01 -3.26939631e-02 3.22938048e+01] [ 6.70199546e-02 -6.64451882e-04 9.97751414e-01 8.94507053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.2 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:127.96, Y:32.32, Z:8.95 [[ 8.65405345e-01 -4.97645776e-01 -5.85001647e-02 1.27955735e+02] [ 4.96570262e-01 8.67380037e-01 -3.27085044e-02 3.23211401e+01] [ 6.70191241e-02 -7.43327566e-04 9.97751414e-01 8.94959657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.01, Y:32.35, Z:8.95 [[ 8.65429914e-01 -4.97603994e-01 -5.84921252e-02 1.28008745e+02] [ 4.96527413e-01 8.67404025e-01 -3.27228751e-02 3.23463490e+01] [ 6.70193381e-02 -7.23588604e-04 9.97751414e-01 8.95465788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.06, Y:32.37, Z:8.96 [[ 8.66106888e-01 -4.96425706e-01 -5.84839859e-02 1.28060955e+02] [ 4.95345458e-01 8.68078994e-01 -3.27374156e-02 3.23730316e+01] [ 6.70204143e-02 -6.15675624e-04 9.97751414e-01 8.96029276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.11, Y:32.40, Z:8.97 [[ 8.67071753e-01 -4.94739489e-01 -5.84757406e-02 1.28112865e+02] [ 4.93654413e-01 8.69041206e-01 -3.27521367e-02 3.23997608e+01] [ 6.70216036e-02 -4.68354777e-04 9.97751415e-01 8.96595571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.16, Y:32.43, Z:8.97 [[ 8.68550522e-01 -4.92139762e-01 -5.84674728e-02 1.28164757e+02] [ 4.91047797e-01 8.70516164e-01 -3.27668895e-02 3.24277367e+01] [ 6.70227693e-02 -2.50624718e-04 9.97751415e-01 8.97076432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.22, Y:32.46, Z:8.97 [[ 8.72169965e-01 -4.85697509e-01 -5.84592314e-02 1.28215230e+02] [ 4.84590040e-01 8.74126914e-01 -3.27815863e-02 3.24560551e+01] [ 6.70227223e-02 2.62353748e-04 9.97751415e-01 8.97344741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.27, Y:32.48, Z:8.98 [[ 8.74518628e-01 -4.81456153e-01 -5.84563267e-02 1.28266424e+02] [ 4.80338847e-01 8.76469977e-01 -3.27867652e-02 3.24841964e+01] [ 6.70206051e-02 5.93792290e-04 9.97751415e-01 8.97684864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.32, Y:32.51, Z:8.98 [[ 8.77261098e-01 -4.76441923e-01 -5.84470659e-02 1.28318167e+02] [ 4.75312365e-01 8.79205381e-01 -3.28032655e-02 3.25114441e+01] [ 6.70158258e-02 9.96415586e-04 9.97751415e-01 8.97876567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.37, Y:32.54, Z:8.98 [[ 8.78450462e-01 -4.74246411e-01 -5.84390903e-02 1.28369923e+02] [ 4.73111050e-01 8.80391361e-01 -3.28174680e-02 3.25401646e+01] [ 6.70128367e-02 1.18034059e-03 9.97751415e-01 8.98227993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.42, Y:32.57, Z:8.98 [[ 8.79046147e-01 -4.73142363e-01 -5.84309513e-02 1.28420304e+02] [ 4.72003601e-01 8.80985053e-01 -3.28319529e-02 3.25709859e+01] [ 6.70109825e-02 1.28118222e-03 9.97751415e-01 8.98245209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.47, Y:32.60, Z:8.98 [[ 8.78914691e-01 -4.73387537e-01 -5.84226538e-02 1.28471365e+02] [ 4.72248336e-01 8.80853338e-01 -3.28467113e-02 3.26002415e+01] [ 6.70110134e-02 1.27945604e-03 9.97751415e-01 8.98463177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.52, Y:32.63, Z:8.99 [[ 8.78684975e-01 -4.73814815e-01 -5.84143469e-02 1.28523429e+02] [ 4.72675575e-01 8.80623600e-01 -3.28614777e-02 3.26281402e+01] [ 6.70113074e-02 1.26385171e-03 9.97751416e-01 8.99035886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.57, Y:32.65, Z:9.00 [[ 8.78330770e-01 -4.74472134e-01 -5.84059300e-02 1.28574432e+02] [ 4.73333351e-01 8.80269663e-01 -3.28764306e-02 3.26541303e+01] [ 6.70119184e-02 1.23090601e-03 9.97751416e-01 8.99546444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.63, Y:32.68, Z:9.00 [[ 8.78299225e-01 -4.74531159e-01 -5.84007707e-02 1.28626171e+02] [ 4.73391898e-01 8.80237836e-01 -3.28855928e-02 3.26822738e+01] [ 6.70118065e-02 1.23693904e-03 9.97751416e-01 9.00101361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.68, Y:32.71, Z:9.01 [[ 8.77582761e-01 -4.75855881e-01 -5.83924520e-02 1.28678354e+02] [ 4.74718564e-01 8.79522513e-01 -3.29003571e-02 3.27089670e+01] [ 6.70133045e-02 1.15280520e-03 9.97751416e-01 9.00724514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.73, Y:32.74, Z:9.01 [[ 8.75801771e-01 -4.79126857e-01 -5.83841884e-02 1.28729299e+02] [ 4.77995808e-01 8.77745185e-01 -3.29150150e-02 3.27371983e+01] [ 6.70169079e-02 9.19631075e-04 9.97751416e-01 9.01110178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:32.77, Z:9.01 [[ 8.73963318e-01 -4.82472539e-01 -5.83812348e-02 1.28781223e+02] [ 4.81348580e-01 8.75910841e-01 -3.29202530e-02 3.27657804e+01] [ 6.70198745e-02 6.69369049e-04 9.97751416e-01 9.01476263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.83, Y:32.79, Z:9.02 [[ 8.72023360e-01 -4.85971031e-01 -5.83730759e-02 1.28831985e+02] [ 4.84853918e-01 8.73974818e-01 -3.29347137e-02 3.27934964e+01] [ 6.70219151e-02 4.17425128e-04 9.97751416e-01 9.01870360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.88, Y:32.82, Z:9.02 [[ 8.69352136e-01 -4.90734690e-01 -5.83637585e-02 1.28882280e+02] [ 4.89627163e-01 8.71309049e-01 -3.29512168e-02 3.28206023e+01] [ 6.70231761e-02 6.97292178e-05 9.97751416e-01 9.02134654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.93, Y:32.85, Z:9.03 [[ 8.66950950e-01 -4.94965105e-01 -5.83574785e-02 1.28933243e+02] [ 4.93866378e-01 8.68912818e-01 -3.29623351e-02 3.28488962e+01] [ 6.70227668e-02 -2.44068809e-04 9.97751417e-01 9.02566236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.98, Y:32.88, Z:9.03 [[ 8.62783885e-01 -5.02194660e-01 -5.83480236e-02 1.28984258e+02] [ 5.01111239e-01 8.64754247e-01 -3.29790633e-02 3.28770609e+01] [ 6.70186106e-02 -7.85046055e-04 9.97751417e-01 9.03151631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:32.90, Z:9.04 [[ 8.60463384e-01 -5.06161282e-01 -5.83397061e-02 1.29034260e+02] [ 5.05085947e-01 8.62438170e-01 -3.29937703e-02 3.29048017e+01] [ 6.70145584e-02 -1.07663443e-03 9.97751417e-01 9.03764957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.08, Y:32.94, Z:9.04 [[ 8.57995963e-01 -5.10332976e-01 -5.83367890e-02 1.29084612e+02] [ 5.09266891e-01 8.59975758e-01 -3.29989273e-02 3.29354109e+01] [ 6.70086651e-02 -1.39604878e-03 9.97751417e-01 9.04342178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:32.97, Z:9.04 [[ 8.53891265e-01 -5.17172592e-01 -5.83285326e-02 1.29130940e+02] [ 5.16121365e-01 8.55878989e-01 -3.30135147e-02 3.29742042e+01] [ 6.69958505e-02 -1.91465009e-03 9.97751417e-01 9.03589887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.18, Y:33.01, Z:9.04 [[ 8.56120328e-01 -5.13475208e-01 -5.83197670e-02 1.29179562e+02] [ 5.12414342e-01 8.58102924e-01 -3.30289922e-02 3.30050495e+01] [ 6.70039313e-02 -1.60709346e-03 9.97751417e-01 9.04162017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.23, Y:33.03, Z:9.05 [[ 8.62347104e-01 -5.02948764e-01 -5.83096279e-02 1.29231206e+02] [ 5.01862480e-01 8.64315888e-01 -3.30468822e-02 3.30300909e+01] [ 6.70188264e-02 -7.65531265e-04 9.97751417e-01 9.05406193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.28, Y:33.07, Z:9.05 [[ 8.65847087e-01 -4.96899560e-01 -5.83065174e-02 1.29277163e+02] [ 4.95799150e-01 8.67808011e-01 -3.30523693e-02 3.30703373e+01] [ 6.70225707e-02 -2.90024145e-04 9.97751417e-01 9.04915263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.33, Y:33.10, Z:9.06 [[ 8.72104115e-01 -4.85834652e-01 -5.83018271e-02 1.29328226e+02] [ 4.84708811e-01 8.74050549e-01 -3.30606406e-02 3.30971321e+01] [ 6.70207488e-02 5.72911413e-04 9.97751417e-01 9.05939237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.38, Y:33.13, Z:9.06 [[ 8.75574610e-01 -4.79552246e-01 -5.82987640e-02 1.29376218e+02] [ 4.78412081e-01 8.77512688e-01 -3.30660411e-02 3.31281930e+01] [ 6.70147994e-02 1.06095304e-03 9.97751417e-01 9.06251776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.43, Y:33.16, Z:9.07 [[ 8.76193224e-01 -4.78421536e-01 -5.82946652e-02 1.29425822e+02] [ 4.77278389e-01 8.78129545e-01 -3.30732657e-02 3.31581814e+01] [ 6.70132304e-02 1.15578742e-03 9.97751417e-01 9.06627433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.48, Y:33.19, Z:9.07 [[ 8.75553391e-01 -4.79592674e-01 -5.82848655e-02 1.29476098e+02] [ 4.78450969e-01 8.77490562e-01 -3.30905266e-02 3.31875384e+01] [ 6.70143936e-02 1.08607242e-03 9.97751418e-01 9.06957873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.52, Y:33.22, Z:9.07 [[ 8.71431285e-01 -4.87043659e-01 -5.82751183e-02 1.29523734e+02] [ 4.85917372e-01 8.73377461e-01 -3.31076834e-02 3.32228629e+01] [ 6.70210621e-02 5.34178815e-04 9.97751418e-01 9.06597602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.58, Y:33.24, Z:9.08 [[ 8.73007882e-01 -4.84213046e-01 -5.82663235e-02 1.29577422e+02] [ 4.83079417e-01 8.74949789e-01 -3.31231541e-02 3.32447405e+01] [ 6.70187709e-02 7.69513052e-04 9.97751418e-01 9.07660591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.63, Y:33.27, Z:9.08 [[ 8.71909367e-01 -4.86188696e-01 -5.82632630e-02 1.29627799e+02] [ 4.85059107e-01 8.73853628e-01 -3.31285368e-02 3.32718654e+01] [ 6.70202838e-02 6.23955192e-04 9.97751418e-01 9.08006474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.68, Y:33.30, Z:9.08 [[ 8.71328711e-01 -4.87229050e-01 -5.82591585e-02 1.29678058e+02] [ 4.86101300e-01 8.73274039e-01 -3.31357532e-02 3.32999208e+01] [ 6.70209123e-02 5.52280416e-04 9.97751418e-01 9.08286366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.73, Y:33.33, Z:9.08 [[ 8.67403248e-01 -4.94184764e-01 -5.82496692e-02 1.29726697e+02] [ 4.93071495e-01 8.69356899e-01 -3.31524262e-02 3.33325523e+01] [ 6.70231757e-02 3.52706672e-05 9.97751418e-01 9.08017168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.78, Y:33.35, Z:9.09 [[ 8.67238834e-01 -4.94474441e-01 -5.82394351e-02 1.29781491e+02] [ 4.93360617e-01 8.69192169e-01 -3.31703949e-02 3.33519213e+01] [ 6.70231734e-02 3.36109930e-05 9.97751418e-01 9.08823664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.83, Y:33.38, Z:9.09 [[ 8.60358318e-01 -5.06351750e-01 -5.82363250e-02 1.29829938e+02] [ 5.05264519e-01 8.62326579e-01 -3.31758543e-02 3.33844836e+01] [ 6.70173828e-02 -8.81626521e-04 9.97751419e-01 9.08526054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.88, Y:33.40, Z:9.10 [[ 8.58503306e-01 -5.09491717e-01 -5.82259799e-02 1.29884877e+02] [ 5.08410454e-01 8.60474850e-01 -3.31940008e-02 3.34029877e+01] [ 6.70140598e-02 -1.10553752e-03 9.97751419e-01 9.10135283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:33.43, Z:9.11 [[ 8.55006952e-01 -5.15337962e-01 -5.82228288e-02 1.29935540e+02] [ 5.14269802e-01 8.56985626e-01 -3.31995270e-02 3.34316813e+01] [ 6.70051039e-02 -1.55641629e-03 9.97751419e-01 9.10759414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.98, Y:33.46, Z:9.11 [[ 8.52651556e-01 -5.19226852e-01 -5.82133961e-02 1.29984963e+02] [ 5.18166588e-01 8.54634472e-01 -3.32160584e-02 3.34604682e+01] [ 6.69978445e-02 -1.84251290e-03 9.97751419e-01 9.11344852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.03, Y:33.50, Z:9.11 [[ 8.49426751e-01 -5.24486289e-01 -5.82093464e-02 1.30032668e+02] [ 5.23437813e-01 8.51415925e-01 -3.32231539e-02 3.34955007e+01] [ 6.69854532e-02 -2.24833736e-03 9.97751419e-01 9.11422780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.08, Y:33.53, Z:9.12 [[ 8.51056094e-01 -5.21839265e-01 -5.82005717e-02 1.30082742e+02] [ 5.20783552e-01 8.53041437e-01 -3.32385183e-02 3.35270670e+01] [ 6.69926633e-02 -2.02205695e-03 9.97751419e-01 9.11934497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.13, Y:33.56, Z:9.13 [[ 8.57429791e-01 -5.11300169e-01 -5.81918516e-02 1.30130036e+02] [ 5.10219008e-01 8.59401391e-01 -3.32537780e-02 3.35577384e+01] [ 6.70128205e-02 -1.17780891e-03 9.97751419e-01 9.12530201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:33.59, Z:9.13 [[ 8.62013548e-01 -5.03534430e-01 -5.81869509e-02 1.30177312e+02] [ 5.02434926e-01 8.63974977e-01 -3.32623509e-02 3.35906027e+01] [ 6.70208085e-02 -5.62559229e-04 9.97751419e-01 9.12874735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.22, Y:33.63, Z:9.13 [[ 8.67843808e-01 -4.93418566e-01 -5.81828427e-02 1.30224232e+02] [ 4.92295716e-01 8.69791967e-01 -3.32695355e-02 3.36255100e+01] [ 6.70227757e-02 2.29596255e-04 9.97751419e-01 9.13263796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.27, Y:33.66, Z:9.14 [[ 8.69996002e-01 -4.89614948e-01 -5.81735163e-02 1.30272465e+02] [ 4.88482491e-01 8.71938592e-01 -3.32858352e-02 3.36576715e+01] [ 6.70209764e-02 5.41799344e-04 9.97751420e-01 9.13730931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.32, Y:33.69, Z:9.14 [[ 8.70751719e-01 -4.88270822e-01 -5.81639710e-02 1.30320911e+02] [ 4.87134253e-01 8.72691906e-01 -3.33025064e-02 3.36890736e+01] [ 6.70198689e-02 6.64552077e-04 9.97751420e-01 9.14318771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.37, Y:33.72, Z:9.15 [[ 8.69637811e-01 -4.90253132e-01 -5.81544834e-02 1.30369180e+02] [ 4.89119879e-01 8.71579936e-01 -3.33190659e-02 3.37221149e+01] [ 6.70210573e-02 5.31005684e-04 9.97751420e-01 9.14819205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.42, Y:33.75, Z:9.15 [[ 8.68235766e-01 -4.92733027e-01 -5.81448181e-02 1.30418288e+02] [ 4.91604191e-01 8.70180461e-01 -3.33359242e-02 3.37525814e+01] [ 6.70221955e-02 3.59205433e-04 9.97751420e-01 9.15255928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.47, Y:33.79, Z:9.16 [[ 8.67296094e-01 -4.94386288e-01 -5.81350560e-02 1.30466481e+02] [ 4.93260018e-01 8.69242277e-01 -3.33529399e-02 3.37851641e+01] [ 6.70226846e-02 2.51175741e-04 9.97751420e-01 9.15570279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.52, Y:33.82, Z:9.16 [[ 8.67742918e-01 -4.93602737e-01 -5.81254257e-02 1.30515527e+02] [ 4.92473587e-01 8.69687431e-01 -3.33697146e-02 3.38173309e+01] [ 6.70223346e-02 3.31096678e-04 9.97751420e-01 9.15680049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.57, Y:33.85, Z:9.16 [[ 8.69059409e-01 -4.91282157e-01 -5.81170020e-02 1.30565026e+02] [ 4.90146834e-01 8.71000324e-01 -3.33843790e-02 3.38499631e+01] [ 6.70210773e-02 5.27144149e-04 9.97751421e-01 9.15684839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:33.88, Z:9.16 [[ 8.69581247e-01 -4.90358904e-01 -5.81085182e-02 1.30613980e+02] [ 4.89220534e-01 8.71520376e-01 -3.33991392e-02 3.38806595e+01] [ 6.70203230e-02 6.15384832e-04 9.97751421e-01 9.15883064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.66, Y:33.91, Z:9.16 [[ 8.69357598e-01 -4.90755655e-01 -5.81055415e-02 1.30663291e+02] [ 4.89617824e-01 8.71297043e-01 -3.34043171e-02 3.39122636e+01] [ 6.70205440e-02 5.90788095e-04 9.97751421e-01 9.16191272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.71, Y:33.94, Z:9.17 [[ 8.69273034e-01 -4.90906406e-01 -5.80972664e-02 1.30713185e+02] [ 4.89767950e-01 8.71212113e-01 -3.34187031e-02 3.39421665e+01] [ 6.70204976e-02 5.95798337e-04 9.97751421e-01 9.16725118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.76, Y:33.97, Z:9.17 [[ 8.69126218e-01 -4.91166815e-01 -5.80928301e-02 1.30763077e+02] [ 4.90028425e-01 8.71065335e-01 -3.34264130e-02 3.39725914e+01] [ 6.70205954e-02 5.84633893e-04 9.97751421e-01 9.17410881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.81, Y:34.00, Z:9.18 [[ 8.68860051e-01 -4.91638480e-01 -5.80845682e-02 1.30812715e+02] [ 4.90500183e-01 8.70799222e-01 -3.34407635e-02 3.40033820e+01] [ 6.70207630e-02 5.64852181e-04 9.97751421e-01 9.18011213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.86, Y:34.03, Z:9.19 [[ 8.68634017e-01 -4.92038715e-01 -5.80762165e-02 1.30863138e+02] [ 4.90900343e-01 8.70573144e-01 -3.34552616e-02 3.40340351e+01] [ 6.70208783e-02 5.50743666e-04 9.97751421e-01 9.18541621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.91, Y:34.07, Z:9.19 [[ 8.68482829e-01 -4.92306509e-01 -5.80678593e-02 1.30912222e+02] [ 4.91167765e-01 8.70421738e-01 -3.34697608e-02 3.40654821e+01] [ 6.70209081e-02 5.46851855e-04 9.97751421e-01 9.19106899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.96, Y:34.10, Z:9.19 [[ 8.68123682e-01 -4.92940524e-01 -5.80595680e-02 1.30960894e+02] [ 4.91802234e-01 8.70062857e-01 -3.34841374e-02 3.40965747e+01] [ 6.70211619e-02 5.14547332e-04 9.97751421e-01 9.19448048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.01, Y:34.13, Z:9.20 [[ 8.67422131e-01 -4.94175101e-01 -5.80501265e-02 1.31009264e+02] [ 4.93038476e-01 8.69362282e-01 -3.35004978e-02 3.41289577e+01] [ 6.70217023e-02 4.38127262e-04 9.97751422e-01 9.19751040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.06, Y:34.16, Z:9.20 [[ 8.66206118e-01 -4.96304583e-01 -5.80406977e-02 1.31057971e+02] [ 4.95171634e-01 8.68148418e-01 -3.35168256e-02 3.41610891e+01] [ 6.70224940e-02 2.92372256e-04 9.97751422e-01 9.19891750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.11, Y:34.19, Z:9.20 [[ 8.65092194e-01 -4.98244194e-01 -5.80363575e-02 1.31107567e+02] [ 4.97115096e-01 8.67036735e-01 -3.35243392e-02 3.41922117e+01] [ 6.70229613e-02 1.50894792e-04 9.97751422e-01 9.20165393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:34.22, Z:9.21 [[ 8.63889669e-01 -5.00327376e-01 -5.80272021e-02 1.31156607e+02] [ 4.99201902e-01 8.65836311e-01 -3.35401789e-02 3.42227407e+01] [ 6.70231282e-02 7.72438450e-06 9.97751422e-01 9.20679551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.21, Y:34.26, Z:9.21 [[ 8.62883911e-01 -5.02061087e-01 -5.80174236e-02 1.31205491e+02] [ 5.00938388e-01 8.64832154e-01 -3.35570851e-02 3.42550203e+01] [ 6.70230400e-02 -1.07285776e-04 9.97751422e-01 9.21003371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.25, Y:34.29, Z:9.21 [[ 8.63053418e-01 -5.01770763e-01 -5.80077404e-02 1.31254526e+02] [ 5.00646285e-01 8.65000634e-01 -3.35738155e-02 3.42858579e+01] [ 6.70230912e-02 -6.53634732e-05 9.97751422e-01 9.21388909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.30, Y:34.32, Z:9.22 [[ 8.63365066e-01 -5.01235462e-01 -5.79980489e-02 1.31304514e+02] [ 5.00108652e-01 8.65310933e-01 -3.35905489e-02 3.43158730e+01] [ 6.70231202e-02 -4.41955399e-06 9.97751423e-01 9.21796990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.35, Y:34.35, Z:9.22 [[ 8.64814253e-01 -4.98732045e-01 -5.79884055e-02 1.31354236e+02] [ 4.97598486e-01 8.66756196e-01 -3.36071884e-02 3.43473858e+01] [ 6.70227916e-02 2.09032692e-04 9.97751423e-01 9.22331238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.40, Y:34.38, Z:9.23 [[ 8.64951454e-01 -4.98495056e-01 -5.79798375e-02 1.31403575e+02] [ 4.97359974e-01 8.66892508e-01 -3.36219636e-02 3.43786747e+01] [ 6.70226694e-02 2.44515778e-04 9.97751423e-01 9.22760526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:34.41, Z:9.23 [[ 8.64173242e-01 -4.99843929e-01 -5.79711574e-02 1.31453606e+02] [ 4.98710873e-01 8.66115478e-01 -3.36369234e-02 3.44077185e+01] [ 6.70229286e-02 1.57282598e-04 9.97751423e-01 9.23238411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:34.44, Z:9.24 [[ 8.62065757e-01 -5.03470287e-01 -5.79681094e-02 1.31504661e+02] [ 5.02345048e-01 8.64012533e-01 -3.36421752e-02 3.44373563e+01] [ 6.70230086e-02 -1.18225556e-04 9.97751423e-01 9.23760686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.55, Y:34.47, Z:9.23 [[ 8.59197720e-01 -5.08350242e-01 -5.79595563e-02 1.31553953e+02] [ 5.07235066e-01 8.61150277e-01 -3.36569043e-02 3.44707460e+01] [ 6.70213834e-02 -4.81183921e-04 9.97751423e-01 9.23467038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.61, Y:34.50, Z:9.25 [[ 8.61432693e-01 -5.04554711e-01 -5.79504934e-02 1.31605101e+02] [ 5.03429883e-01 8.63379705e-01 -3.36725016e-02 3.44960437e+01] [ 6.70228992e-02 -1.67416402e-04 9.97751423e-01 9.24566949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.65, Y:34.53, Z:9.25 [[ 8.62629252e-01 -5.02506597e-01 -5.79473331e-02 1.31654873e+02] [ 5.01376781e-01 8.64573375e-01 -3.36779393e-02 3.45264313e+01] [ 6.70231080e-02 -1.87179656e-06 9.97751423e-01 9.25018234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.70, Y:34.56, Z:9.25 [[ 8.64088770e-01 -4.99993805e-01 -5.79378336e-02 1.31704085e+02] [ 4.98857241e-01 8.66028954e-01 -3.36942739e-02 3.45572127e+01] [ 6.70227697e-02 2.12135884e-04 9.97751424e-01 9.25420868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:131.75, Y:34.59, Z:9.26 [[ 8.67745031e-01 -4.93622236e-01 -5.79279753e-02 1.31752156e+02] [ 4.92470295e-01 8.69676125e-01 -3.37112140e-02 3.45870836e+01] [ 6.70191819e-02 7.24931374e-04 9.97751424e-01 9.25738581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.80, Y:34.62, Z:9.26 [[ 8.70790804e-01 -4.88229675e-01 -5.79237473e-02 1.31801800e+02] [ 4.87065294e-01 8.72714423e-01 -3.37184771e-02 3.46173226e+01] [ 6.70132508e-02 1.14909277e-03 9.97751424e-01 9.26233519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:131.85, Y:34.65, Z:9.26 [[ 8.74948353e-01 -4.80740438e-01 -5.79138204e-02 1.31850448e+02] [ 4.79558468e-01 8.76861215e-01 -3.37355187e-02 3.46499305e+01] [ 6.70004110e-02 1.74377357e-03 9.97751424e-01 9.26389381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.90, Y:34.68, Z:9.27 [[ 8.77626974e-01 -4.75834031e-01 -5.79039637e-02 1.31899954e+02] [ 4.74640256e-01 8.79532490e-01 -3.37524283e-02 3.46795951e+01] [ 6.69889715e-02 2.13848935e-03 9.97751424e-01 9.26958285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.0 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:131.95, Y:34.71, Z:9.27 [[ 8.79143132e-01 -4.73028138e-01 -5.78941618e-02 1.31949956e+02] [ 4.71827176e-01 8.81044127e-01 -3.37692329e-02 3.47098383e+01] [ 6.69811086e-02 2.37195029e-03 9.97751424e-01 9.26965799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:132.00, Y:34.74, Z:9.27 [[ 8.79681183e-01 -4.72027993e-01 -5.78842815e-02 1.32000264e+02] [ 4.70823758e-01 8.81580107e-01 -3.37861602e-02 3.47387249e+01] [ 6.69776445e-02 2.46775446e-03 9.97751425e-01 9.27444749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.05, Y:34.77, Z:9.28 [[ 8.79473714e-01 -4.72415644e-01 -5.78744014e-02 1.32051110e+02] [ 4.71211135e-01 8.81372463e-01 -3.38030761e-02 3.47662065e+01] [ 6.69780057e-02 2.45785446e-03 9.97751425e-01 9.27869086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:132.10, Y:34.79, Z:9.28 [[ 8.78672225e-01 -4.73905910e-01 -5.78645736e-02 1.32102337e+02] [ 4.72703516e-01 8.80572314e-01 -3.38198911e-02 3.47932090e+01] [ 6.69813878e-02 2.36381154e-03 9.97751425e-01 9.28040583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.16, Y:34.82, Z:9.29 [[ 8.77336693e-01 -4.76375023e-01 -5.78546749e-02 1.32155128e+02] [ 4.75176863e-01 8.79239455e-01 -3.38368161e-02 3.48178134e+01] [ 6.69871269e-02 2.19507737e-03 9.97751425e-01 9.28779403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29999999999998 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:132.21, Y:34.84, Z:9.29 [[ 8.75395916e-01 -4.79932656e-01 -5.78501091e-02 1.32207030e+02] [ 4.78741715e-01 8.77303204e-01 -3.38446204e-02 3.48432084e+01] [ 6.69952246e-02 1.93218203e-03 9.97751425e-01 9.28968006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.26, Y:34.87, Z:9.28 [[ 8.68601375e-01 -4.92124104e-01 -5.78404516e-02 1.32259171e+02] [ 4.90958845e-01 8.70524461e-01 -3.38611170e-02 3.48710621e+01] [ 6.70153998e-02 1.01453144e-03 9.97751425e-01 9.28472317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:34.89, Z:9.30 [[ 8.69861600e-01 -4.89894214e-01 -5.78312709e-02 1.32315999e+02] [ 4.88722984e-01 8.71781055e-01 -3.38767894e-02 3.48866506e+01] [ 6.70122495e-02 1.20464691e-03 9.97751426e-01 9.29891953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:132.37, Y:34.91, Z:9.30 [[ 8.65953978e-01 -4.96769184e-01 -5.78280703e-02 1.32372909e+02] [ 4.95612831e-01 8.67882432e-01 -3.38822520e-02 3.49059530e+01] [ 6.70196250e-02 6.80137251e-04 9.97751426e-01 9.29907224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:34.93, Z:9.30 [[ 8.63897038e-01 -5.00338699e-01 -5.78194957e-02 1.32426800e+02] [ 4.99189335e-01 8.65829666e-01 -3.38968781e-02 3.49281352e+01] [ 6.70217545e-02 4.20537016e-04 9.97751426e-01 9.30276370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.48, Y:34.95, Z:9.31 [[ 8.63634886e-01 -5.00792189e-01 -5.78097547e-02 1.32482547e+02] [ 4.99642728e-01 8.65567455e-01 -3.39134829e-02 3.49476458e+01] [ 6.70218496e-02 4.04643382e-04 9.97751426e-01 9.30640981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.54, Y:34.97, Z:9.31 [[ 8.65692142e-01 -4.97228598e-01 -5.77999687e-02 1.32536288e+02] [ 4.96070070e-01 8.67619289e-01 -3.39301534e-02 3.49727970e+01] [ 6.70194104e-02 7.00232645e-04 9.97751426e-01 9.31146895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:132.59, Y:35.00, Z:9.32 [[ 8.70308202e-01 -4.89105106e-01 -5.77912600e-02 1.32589086e+02] [ 4.87927608e-01 8.72223817e-01 -3.39449800e-02 3.49956763e+01] [ 6.70095764e-02 1.34464322e-03 9.97751426e-01 9.31706488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:132.64, Y:35.02, Z:9.32 [[ 8.73088708e-01 -4.84124676e-01 -5.77875894e-02 1.32640927e+02] [ 4.82935840e-01 8.74997308e-01 -3.39512276e-02 3.50218729e+01] [ 6.70006122e-02 1.73473550e-03 9.97751426e-01 9.32131295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.69, Y:35.05, Z:9.33 [[ 8.76733268e-01 -4.77493984e-01 -5.77777729e-02 1.32692977e+02] [ 4.76289619e-01 8.78632107e-01 -3.39679250e-02 3.50476280e+01] [ 6.69848862e-02 2.26185642e-03 9.97751426e-01 9.32520845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.74, Y:35.08, Z:9.33 [[ 8.78183217e-01 -4.74823238e-01 -5.77678998e-02 1.32744185e+02] [ 4.73611996e-01 8.80077676e-01 -3.39847076e-02 3.50758177e+01] [ 6.69769679e-02 2.48522952e-03 9.97751427e-01 9.32658095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.79, Y:35.10, Z:9.33 [[ 8.79147314e-01 -4.73037005e-01 -5.77580390e-02 1.32794809e+02] [ 4.71820817e-01 8.81038602e-01 -3.40014580e-02 3.51036466e+01] [ 6.69710098e-02 2.64084535e-03 9.97751427e-01 9.32761022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.85, Y:35.13, Z:9.33 [[ 8.79465262e-01 -4.72445988e-01 -5.77550083e-02 1.32847217e+02] [ 4.71228192e-01 8.81355514e-01 -3.40066052e-02 3.51306638e+01] [ 6.69689792e-02 2.69183981e-03 9.97751427e-01 9.33200696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:35.16, Z:9.34 [[ 8.79162390e-01 -4.73010397e-01 -5.77464806e-02 1.32898295e+02] [ 4.71792865e-01 8.81052813e-01 -3.40210799e-02 3.51593794e+01] [ 6.69700237e-02 2.66567642e-03 9.97751427e-01 9.33785885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.95, Y:35.19, Z:9.34 [[ 8.78707673e-01 -4.73855635e-01 -5.77378689e-02 1.32948887e+02] [ 4.72638964e-01 8.80598650e-01 -3.40356887e-02 3.51875754e+01] [ 6.69718923e-02 2.61825433e-03 9.97751427e-01 9.34317772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.00, Y:35.22, Z:9.35 [[ 8.77984477e-01 -4.75194640e-01 -5.77348478e-02 1.33000510e+02] [ 4.73980516e-01 8.79877090e-01 -3.40408127e-02 3.52163063e+01] [ 6.69755816e-02 2.52211218e-03 9.97751427e-01 9.34990379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:35.25, Z:9.35 [[ 8.76783680e-01 -4.77407653e-01 -5.77261794e-02 1.33050782e+02] [ 4.76197341e-01 8.78678732e-01 -3.40555063e-02 3.52457030e+01] [ 6.69811254e-02 2.37025895e-03 9.97751427e-01 9.35424534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.10, Y:35.28, Z:9.36 [[ 8.76041454e-01 -4.78769450e-01 -5.77164219e-02 1.33100033e+02] [ 4.77560997e-01 8.77937692e-01 -3.40720349e-02 3.52755483e+01] [ 6.69840717e-02 2.28540297e-03 9.97751427e-01 9.35730821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.15, Y:35.31, Z:9.36 [[ 8.75007013e-01 -4.80658607e-01 -5.77064216e-02 1.33150809e+02] [ 4.79453134e-01 8.76905146e-01 -3.40889637e-02 3.53062377e+01] [ 6.69882119e-02 2.16055762e-03 9.97751428e-01 9.35863900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.20, Y:35.34, Z:9.36 [[ 8.73445835e-01 -4.83490782e-01 -5.76978106e-02 1.33200862e+02] [ 4.82290503e-01 8.75347257e-01 -3.41035322e-02 3.53368773e+01] [ 6.69943637e-02 1.96048208e-03 9.97751428e-01 9.36060629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.25, Y:35.37, Z:9.37 [[ 8.69139351e-01 -4.91191154e-01 -5.76891641e-02 1.33251699e+02] [ 4.90006755e-01 8.71050705e-01 -3.41181522e-02 3.53655522e+01] [ 6.70087216e-02 1.38534852e-03 9.97751428e-01 9.36563026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.30, Y:35.39, Z:9.37 [[ 8.64669836e-01 -4.99018204e-01 -5.76793492e-02 1.33303059e+02] [ 4.97850005e-01 8.66591133e-01 -3.41347371e-02 3.53934699e+01] [ 6.70182678e-02 7.99613266e-04 9.97751428e-01 9.37191097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.35, Y:35.42, Z:9.38 [[ 8.57151927e-01 -5.11824830e-01 -5.76707757e-02 1.33354735e+02] [ 5.10684364e-01 8.59089816e-01 -3.41492159e-02 3.54213675e+01] [ 6.70227927e-02 -1.80497242e-04 9.97751428e-01 9.37967055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:35.45, Z:9.38 [[ 8.52034854e-01 -5.20299611e-01 -5.76621376e-02 1.33404917e+02] [ 5.19177433e-01 8.53983389e-01 -3.41637954e-02 3.54501507e+01] [ 6.70179171e-02 -8.28136077e-04 9.97751428e-01 9.38465996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.45, Y:35.48, Z:9.39 [[ 8.47358819e-01 -5.27881860e-01 -5.76521774e-02 1.33454810e+02] [ 5.26775971e-01 8.49316645e-01 -3.41805952e-02 3.54792878e+01] [ 6.70082701e-02 -1.40655291e-03 9.97751429e-01 9.38890145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.50, Y:35.51, Z:9.39 [[ 8.42467230e-01 -5.35655051e-01 -5.76422760e-02 1.33504625e+02] [ 5.34566080e-01 8.44434516e-01 -3.41972848e-02 3.55092675e+01] [ 6.69930758e-02 -2.00351374e-03 9.97751429e-01 9.39315277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:35.54, Z:9.39 [[ 8.41138500e-01 -5.37740194e-01 -5.76325180e-02 1.33553649e+02] [ 5.36654974e-01 8.43107858e-01 -3.42137221e-02 3.55428651e+01] [ 6.69885223e-02 -2.15029857e-03 9.97751429e-01 9.39449758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:133.60, Y:35.58, Z:9.40 [[ 8.41539993e-01 -5.37112562e-01 -5.76240917e-02 1.33602705e+02] [ 5.36024903e-01 8.43508004e-01 -3.42279081e-02 3.55764162e+01] [ 6.69906220e-02 -2.08379470e-03 9.97751429e-01 9.39571567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.65, Y:35.61, Z:9.40 [[ 8.43362355e-01 -5.34247497e-01 -5.76155339e-02 1.33649750e+02] [ 5.33152169e-01 8.45326108e-01 -3.42423074e-02 3.56100667e+01] [ 6.69977820e-02 -1.83917384e-03 9.97751429e-01 9.39902916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.70, Y:35.65, Z:9.40 [[ 8.43128717e-01 -5.34617192e-01 -5.76057654e-02 1.33696951e+02] [ 5.33521604e-01 8.45092325e-01 -3.42587330e-02 3.56471337e+01] [ 6.69974979e-02 -1.84939877e-03 9.97751429e-01 9.39827856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.1 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:133.74, Y:35.68, Z:9.40 [[ 8.48815205e-01 -5.25542915e-01 -5.75967991e-02 1.33744713e+02] [ 5.24425306e-01 8.50766364e-01 -3.42738009e-02 3.56793352e+01] [ 6.70137725e-02 -1.11309561e-03 9.97751430e-01 9.40395674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.79, Y:35.71, Z:9.41 [[ 8.51060866e-01 -5.21899730e-01 -5.75853616e-02 1.33790274e+02] [ 5.20772468e-01 8.53006463e-01 -3.42930070e-02 3.57144212e+01] [ 6.70181967e-02 -8.03434668e-04 9.97751430e-01 9.41345226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:35.76, Z:9.41 [[ 8.53134845e-01 -5.18503054e-01 -5.75805454e-02 1.33833966e+02] [ 5.17367500e-01 8.55075614e-01 -3.43010918e-02 3.57555846e+01] [ 6.70209410e-02 -5.26846189e-04 9.97751430e-01 9.40888489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.88, Y:35.79, Z:9.42 [[ 8.58139903e-01 -5.10177993e-01 -5.75701473e-02 1.33882833e+02] [ 5.09022440e-01 8.60068831e-01 -3.43185348e-02 3.57854873e+01] [ 6.70228505e-02 1.45607328e-04 9.97751430e-01 9.42102264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.93, Y:35.82, Z:9.42 [[ 8.58520283e-01 -5.09538183e-01 -5.75653047e-02 1.33927131e+02] [ 5.08380647e-01 8.60448022e-01 -3.43266559e-02 3.58247385e+01] [ 6.70226944e-02 2.05043444e-04 9.97751430e-01 9.41523731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.98, Y:35.85, Z:9.43 [[ 8.61972352e-01 -5.03677590e-01 -5.75547520e-02 1.33977887e+02] [ 5.02505767e-01 8.63891440e-01 -3.43443402e-02 3.58522568e+01] [ 6.70195321e-02 6.82276848e-04 9.97751430e-01 9.42777818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.03, Y:35.89, Z:9.43 [[ 8.63195814e-01 -5.01578988e-01 -5.75456902e-02 1.34026312e+02] [ 5.00401488e-01 8.65111423e-01 -3.43595171e-02 3.58870735e+01] [ 6.70174457e-02 8.63042323e-04 9.97751431e-01 9.42946639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.08, Y:35.92, Z:9.43 [[ 8.63617173e-01 -5.00854052e-01 -5.75377911e-02 1.34075842e+02] [ 4.99674064e-01 8.65531250e-01 -3.43727397e-02 3.59190116e+01] [ 6.70164822e-02 9.34746424e-04 9.97751431e-01 9.43305947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:35.95, Z:9.44 [[ 8.63331303e-01 -5.01347651e-01 -5.75290744e-02 1.34125018e+02] [ 5.00167785e-01 8.65245456e-01 -3.43873225e-02 3.59492275e+01] [ 6.70167735e-02 9.13462143e-04 9.97751431e-01 9.43840473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.17, Y:35.98, Z:9.44 [[ 8.62072225e-01 -5.03510706e-01 -5.75191070e-02 1.34174279e+02] [ 5.02334531e-01 8.63988648e-01 -3.44039867e-02 3.59797983e+01] [ 6.70186311e-02 7.64887702e-04 9.97751431e-01 9.44366205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.22, Y:36.01, Z:9.45 [[ 8.59151530e-01 -5.08479440e-01 -5.75092032e-02 1.34222682e+02] [ 5.07313242e-01 8.61074039e-01 -3.44205339e-02 3.60096555e+01] [ 6.70218157e-02 3.97274014e-04 9.97751431e-01 9.44673737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.27, Y:36.04, Z:9.45 [[ 8.55752942e-01 -5.14179038e-01 -5.75049480e-02 1.34273078e+02] [ 5.13025167e-01 8.57682876e-01 -3.44276414e-02 3.60396509e+01] [ 6.70229807e-02 -3.99301252e-05 9.97751431e-01 9.45307245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.32, Y:36.07, Z:9.46 [[ 8.53799314e-01 -5.17417539e-01 -5.74962753e-02 1.34323137e+02] [ 5.16270013e-01 8.55733027e-01 -3.44421192e-02 3.60706224e+01] [ 6.70224183e-02 -2.76945058e-04 9.97751431e-01 9.45842931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.37, Y:36.10, Z:9.46 [[ 8.52545103e-01 -5.19482466e-01 -5.74875169e-02 1.34372544e+02] [ 5.18338638e-01 8.54481006e-01 -3.44567318e-02 3.61027086e+01] [ 6.70216592e-02 -4.22083282e-04 9.97751431e-01 9.46396831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.42, Y:36.13, Z:9.47 [[ 8.52732184e-01 -5.19176275e-01 -5.74788566e-02 1.34422133e+02] [ 5.18030779e-01 8.54667099e-01 -3.44711723e-02 3.61335463e+01] [ 6.70219025e-02 -3.81138847e-04 9.97751432e-01 9.46826215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:36.16, Z:9.47 [[ 8.53071023e-01 -5.18620442e-01 -5.74688373e-02 1.34471877e+02] [ 5.17472561e-01 8.55004524e-01 -3.44878681e-02 3.61641405e+01] [ 6.70222292e-02 -3.17945524e-04 9.97751432e-01 9.47195748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:36.20, Z:9.47 [[ 8.55204915e-01 -5.15095157e-01 -5.74589610e-02 1.34521389e+02] [ 5.13938200e-01 8.57132999e-01 -3.45043147e-02 3.61967955e+01] [ 6.70229770e-02 -2.20954769e-05 9.97751432e-01 9.47428963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:36.23, Z:9.48 [[ 8.56689906e-01 -5.12622527e-01 -5.74504136e-02 1.34570163e+02] [ 5.11459051e-01 8.58614063e-01 -3.45185405e-02 3.62272912e+01] [ 6.70227145e-02 1.88151154e-04 9.97751432e-01 9.47802917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:134.62, Y:36.26, Z:9.48 [[ 8.57520066e-01 -5.11233700e-01 -5.74407608e-02 1.34619539e+02] [ 5.10066032e-01 8.59441682e-01 -3.45345959e-02 3.62574671e+01] [ 6.70222333e-02 3.15528003e-04 9.97751432e-01 9.48035065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.67, Y:36.29, Z:9.49 [[ 8.60317603e-01 -5.06512868e-01 -5.74311489e-02 1.34669761e+02] [ 5.05333590e-01 8.62232115e-01 -3.45505731e-02 3.62857334e+01] [ 6.70192909e-02 7.02577508e-04 9.97751432e-01 9.48664867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:36.31, Z:9.49 [[ 8.63501343e-01 -5.01066299e-01 -5.74281689e-02 1.34719120e+02] [ 4.99874617e-01 8.65408160e-01 -3.45555255e-02 3.63141987e+01] [ 6.70134153e-02 1.13185874e-03 9.97751433e-01 9.48828338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.77, Y:36.34, Z:9.49 [[ 8.65185674e-01 -4.98152807e-01 -5.74241241e-02 1.34769418e+02] [ 4.96954259e-01 8.67088182e-01 -3.45622459e-02 3.63429069e+01] [ 6.70090592e-02 1.36559705e-03 9.97751433e-01 9.49284434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.82, Y:36.37, Z:9.50 [[ 8.66168044e-01 -4.96443894e-01 -5.74140984e-02 1.34820518e+02] [ 4.95240490e-01 8.68067485e-01 -3.45788924e-02 3.63706290e+01] [ 6.70057920e-02 1.51734540e-03 9.97751433e-01 9.49645414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.87, Y:36.40, Z:9.50 [[ 8.66349925e-01 -4.96127583e-01 -5.74040843e-02 1.34872902e+02] [ 4.94922385e-01 8.68248227e-01 -3.45955088e-02 3.63953805e+01] [ 6.70047806e-02 1.56125015e-03 9.97751433e-01 9.49928895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:36.42, Z:9.50 [[ 8.66737314e-01 -4.95451651e-01 -5.73941587e-02 1.34924406e+02] [ 4.94243884e-01 8.68633982e-01 -3.46119676e-02 3.64214787e+01] [ 6.70030731e-02 1.63277191e-03 9.97751433e-01 9.50203555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:36.45, Z:9.50 [[ 8.67885240e-01 -4.93439215e-01 -5.73842494e-02 1.34977809e+02] [ 4.92225965e-01 8.69778405e-01 -3.46283888e-02 3.64472963e+01] [ 6.69985859e-02 1.80744994e-03 9.97751433e-01 9.50280070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:36.47, Z:9.51 [[ 8.68673623e-01 -4.92051013e-01 -5.73754130e-02 1.35029390e+02] [ 4.90833772e-01 8.70564225e-01 -3.46430235e-02 3.64735381e+01] [ 6.69951167e-02 1.93169038e-03 9.97751433e-01 9.50534386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.08, Y:36.50, Z:9.51 [[ 8.69374519e-01 -4.90812749e-01 -5.73654166e-02 1.35081464e+02] [ 4.89591725e-01 8.71262680e-01 -3.46595686e-02 3.64986622e+01] [ 6.69917048e-02 2.04651250e-03 9.97751434e-01 9.50995785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:36.52, Z:9.52 [[ 8.69003837e-01 -4.91469918e-01 -5.73554727e-02 1.35135185e+02] [ 4.90249238e-01 8.70892220e-01 -3.46760163e-02 3.65226869e+01] [ 6.69926539e-02 2.01511445e-03 9.97751434e-01 9.51525324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.19, Y:36.55, Z:9.52 [[ 8.67463648e-01 -4.94184358e-01 -5.73466690e-02 1.35188147e+02] [ 4.92968626e-01 8.69355220e-01 -3.46905696e-02 3.65486420e+01] [ 6.69981629e-02 1.82269939e-03 9.97751434e-01 9.51921975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.24, Y:36.57, Z:9.52 [[ 8.62608619e-01 -5.02611909e-01 -5.73379461e-02 1.35243531e+02] [ 5.01413705e-01 8.64511342e-01 -3.47049812e-02 3.65698013e+01] [ 6.70124416e-02 1.18678392e-03 9.97751434e-01 9.52439405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.30, Y:36.60, Z:9.52 [[ 8.55926963e-01 -5.13908943e-01 -5.73291554e-02 1.35295981e+02] [ 5.12734885e-01 8.57844679e-01 -3.47194966e-02 3.65964676e+01] [ 6.70221707e-02 3.22695391e-04 9.97751434e-01 9.52341012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.35, Y:36.62, Z:9.53 [[ 8.50171040e-01 -5.23377152e-01 -5.73197974e-02 1.35351433e+02] [ 5.22223410e-01 8.52101047e-01 -3.47349393e-02 3.66155274e+01] [ 6.70217329e-02 -4.03100580e-04 9.97751434e-01 9.53398099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.40, Y:36.64, Z:9.54 [[ 8.46276825e-01 -5.29651161e-01 -5.73165204e-02 1.35402910e+02] [ 5.28511359e-01 8.48215097e-01 -3.47403457e-02 3.66404263e+01] [ 6.70170024e-02 -8.92482674e-04 9.97751434e-01 9.53853094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.46, Y:36.67, Z:9.54 [[ 8.41478891e-01 -5.37241653e-01 -5.73121492e-02 1.35456074e+02] [ 5.36118841e-01 8.43427054e-01 -3.47475555e-02 3.66653103e+01] [ 6.70064514e-02 -1.48678847e-03 9.97751434e-01 9.54300989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.51, Y:36.69, Z:9.55 [[ 8.39126853e-01 -5.40909030e-01 -5.73022392e-02 1.35507563e+02] [ 5.39793617e-01 8.41079261e-01 -3.47638905e-02 3.66926890e+01] [ 6.69998273e-02 -1.76006889e-03 9.97751435e-01 9.54675792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.56, Y:36.72, Z:9.55 [[ 8.38901215e-01 -5.41259948e-01 -5.72924047e-02 1.35555405e+02] [ 5.40144246e-01 8.40853459e-01 -3.47800907e-02 3.67231815e+01] [ 6.69995867e-02 -1.76910236e-03 9.97751435e-01 9.54973741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.60, Y:36.75, Z:9.55 [[ 8.39242886e-01 -5.40730471e-01 -5.72881794e-02 1.35604869e+02] [ 5.39613063e-01 8.41194153e-01 -3.47870490e-02 3.67541079e+01] [ 6.70008990e-02 -1.71866659e-03 9.97751435e-01 9.55291568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.65, Y:36.79, Z:9.56 [[ 8.39695184e-01 -5.40028884e-01 -5.72782911e-02 1.35654043e+02] [ 5.38908736e-01 8.41644879e-01 -3.48033230e-02 3.67850395e+01] [ 6.70027800e-02 -1.64358875e-03 9.97751435e-01 9.55594154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.70, Y:36.82, Z:9.56 [[ 8.41251015e-01 -5.37603065e-01 -5.72684405e-02 1.35701295e+02] [ 5.36476192e-01 8.43196831e-01 -3.48195244e-02 3.68170005e+01] [ 6.70076506e-02 -1.43119467e-03 9.97751435e-01 9.55850770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:36.85, Z:9.56 [[ 8.43075559e-01 -5.34737704e-01 -5.72642066e-02 1.35749502e+02] [ 5.33603745e-01 8.45017254e-01 -3.48264861e-02 3.68497988e+01] [ 6.70122778e-02 -1.19503584e-03 9.97751435e-01 9.56272060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.80, Y:36.88, Z:9.57 [[ 8.46485543e-01 -5.29323509e-01 -5.72612395e-02 1.35798300e+02] [ 5.28176798e-01 8.48419735e-01 -3.48313639e-02 3.68813013e+01] [ 6.70186254e-02 -7.59812148e-04 9.97751435e-01 9.57087862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62 meters Centerline goodness : 0.997149 with order 1 Centerline is valid? [True, True] Translation: X:135.85, Y:36.91, Z:9.57 [[ 8.48445230e-01 -5.26177642e-01 -5.72519094e-02 1.35847074e+02] [ 5.25022725e-01 8.50374533e-01 -3.48466929e-02 3.69132893e+01] [ 6.70211164e-02 -4.93043135e-04 9.97751435e-01 9.57135734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.89, Y:36.95, Z:9.58 [[ 8.48960003e-01 -5.25347106e-01 -5.72479772e-02 1.35892462e+02] [ 5.24189866e-01 8.50887914e-01 -3.48531517e-02 3.69482776e+01] [ 6.70216143e-02 -4.19877707e-04 9.97751435e-01 9.57550415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.94, Y:36.98, Z:9.58 [[ 8.50812297e-01 -5.22342694e-01 -5.72411177e-02 1.35938617e+02] [ 5.21177888e-01 8.52735646e-01 -3.48644139e-02 3.69815325e+01] [ 6.70227133e-02 -1.69732722e-04 9.97751436e-01 9.57990363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.99, Y:37.01, Z:9.58 [[ 8.52643870e-01 -5.19348011e-01 -5.72369946e-02 1.35987094e+02] [ 5.18175996e-01 8.54562834e-01 -3.48711814e-02 3.70141239e+01] [ 6.70228871e-02 7.38624096e-05 9.97751436e-01 9.58365040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.04, Y:37.05, Z:9.59 [[ 8.54485490e-01 -5.16313471e-01 -5.72271563e-02 1.36035152e+02] [ 5.15133561e-01 8.56399609e-01 -3.48873197e-02 3.70462042e+01] [ 6.70221074e-02 3.31079649e-04 9.97751436e-01 9.58669509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:37.08, Z:9.59 [[ 8.55308004e-01 -5.14950867e-01 -5.72173398e-02 1.36084178e+02] [ 5.13766830e-01 8.57219573e-01 -3.49034119e-02 3.70776627e+01] [ 6.70213658e-02 4.56796260e-04 9.97751436e-01 9.58975654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.13, Y:37.11, Z:9.59 [[ 8.57695240e-01 -5.10965953e-01 -5.72072647e-02 1.36133567e+02] [ 5.09771934e-01 8.59600590e-01 -3.49199174e-02 3.71100435e+01] [ 6.70182873e-02 7.87988988e-04 9.97751436e-01 9.59022837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.18, Y:37.14, Z:9.59 [[ 8.58592791e-01 -5.09457307e-01 -5.71985239e-02 1.36183754e+02] [ 5.08258988e-01 8.60495439e-01 -3.49342288e-02 3.71403938e+01] [ 6.70165671e-02 9.22613137e-04 9.97751436e-01 9.59332188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.23, Y:37.17, Z:9.60 [[ 8.59234834e-01 -5.08374701e-01 -5.71897136e-02 1.36234934e+02] [ 5.07173025e-01 8.61135364e-01 -3.49486459e-02 3.71698103e+01] [ 6.70150923e-02 1.02401392e-03 9.97751436e-01 9.59795851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.29, Y:37.20, Z:9.60 [[ 8.59400987e-01 -5.08094764e-01 -5.71808936e-02 1.36285016e+02] [ 5.06891509e-01 8.61300517e-01 -3.49630708e-02 3.71993043e+01] [ 6.70144865e-02 1.06278808e-03 9.97751437e-01 9.60388064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:136.33, Y:37.23, Z:9.61 [[ 8.59127516e-01 -5.08557396e-01 -5.71776739e-02 1.36334801e+02] [ 5.07354814e-01 8.61027472e-01 -3.49683355e-02 3.72280679e+01] [ 6.70149537e-02 1.03289104e-03 9.97751437e-01 9.60688913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.39, Y:37.26, Z:9.61 [[ 8.57578603e-01 -5.11165350e-01 -5.71745027e-02 1.36385833e+02] [ 5.09968201e-01 8.59481987e-01 -3.49735198e-02 3.72592742e+01] [ 6.70177067e-02 8.35363958e-04 9.97751437e-01 9.61052574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.44, Y:37.29, Z:9.61 [[ 8.56900876e-01 -5.12301544e-01 -5.71665671e-02 1.36436521e+02] [ 5.11106054e-01 8.58805303e-01 -3.49864862e-02 3.72882314e+01] [ 6.70185819e-02 7.61772162e-04 9.97751437e-01 9.61435704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.49, Y:37.31, Z:9.62 [[ 8.55170731e-01 -5.15185632e-01 -5.71557906e-02 1.36487143e+02] [ 5.13995389e-01 8.57078441e-01 -3.50040824e-02 3.73146332e+01] [ 6.70205963e-02 5.56653921e-04 9.97751437e-01 9.61826879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.54, Y:37.34, Z:9.62 [[ 8.52862848e-01 -5.18997835e-01 -5.71507697e-02 1.36538147e+02] [ 5.17815570e-01 8.54775512e-01 -3.50122781e-02 3.73431468e+01] [ 6.70223750e-02 2.67112844e-04 9.97751437e-01 9.62036707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51999999999998 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:136.59, Y:37.37, Z:9.62 [[ 8.50795674e-01 -5.22380840e-01 -5.71399935e-02 1.36589465e+02] [ 5.21204999e-01 8.52712295e-01 -3.50298560e-02 3.73696439e+01] [ 6.70229006e-02 2.15996544e-05 9.97751437e-01 9.62347528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.64, Y:37.39, Z:9.64 [[ 8.49880851e-01 -5.23868618e-01 -5.71332696e-02 1.36641583e+02] [ 5.22695395e-01 8.51799075e-01 -3.50408193e-02 3.73936997e+01] [ 6.70228517e-02 -8.27756372e-05 9.97751437e-01 9.63685869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.69, Y:37.42, Z:9.63 [[ 8.46653479e-01 -5.29069221e-01 -5.71283212e-02 1.36692140e+02] [ 5.27907237e-01 8.48578532e-01 -3.50488849e-02 3.74241737e+01] [ 6.70211532e-02 -4.84193913e-04 9.97751437e-01 9.63492003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.7 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:136.74, Y:37.45, Z:9.64 [[ 8.46681722e-01 -5.29024939e-01 -5.71198287e-02 1.36744121e+02] [ 5.27861921e-01 8.48606150e-01 -3.50627198e-02 3.74507162e+01] [ 6.70212912e-02 -4.64418479e-04 9.97751437e-01 9.64430412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.79, Y:37.48, Z:9.65 [[ 8.46107658e-01 -5.29943762e-01 -5.71090163e-02 1.36791984e+02] [ 5.28781646e-01 8.48032630e-01 -3.50803220e-02 3.74836738e+01] [ 6.70209071e-02 -5.16470482e-04 9.97751438e-01 9.64555245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:136.84, Y:37.51, Z:9.66 [[ 8.47148455e-01 -5.28278805e-01 -5.71051613e-02 1.36839917e+02] [ 5.27112482e-01 8.49070882e-01 -3.50865962e-02 3.75128745e+01] [ 6.70218347e-02 -3.77287515e-04 9.97751438e-01 9.65701771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:37.54, Z:9.66 [[ 8.48090307e-01 -5.26765907e-01 -5.71008762e-02 1.36889473e+02] [ 5.25595685e-01 8.50010363e-01 -3.50935685e-02 3.75434225e+01] [ 6.70224319e-02 -2.49458890e-04 9.97751438e-01 9.66360270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:136.94, Y:37.58, Z:9.67 [[ 8.49843919e-01 -5.23933152e-01 -5.70908514e-02 1.36936604e+02] [ 5.22755435e-01 8.51759386e-01 -3.51098694e-02 3.75756825e+01] [ 6.70228931e-02 -6.64388364e-06 9.97751438e-01 9.66522433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.0 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:136.99, Y:37.61, Z:9.67 [[ 8.51561288e-01 -5.21137698e-01 -5.70865401e-02 1.36985074e+02] [ 5.19953223e-01 8.53472583e-01 -3.51168780e-02 3.76078236e+01] [ 6.70225258e-02 2.21843325e-04 9.97751438e-01 9.66934576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.03, Y:37.64, Z:9.67 [[ 8.53478281e-01 -5.17993347e-01 -5.70764071e-02 1.37033798e+02] [ 5.16800730e-01 8.55384506e-01 -3.51333398e-02 3.76388028e+01] [ 6.70211105e-02 4.88413565e-04 9.97751438e-01 9.67235566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:37.67, Z:9.67 [[ 8.53744086e-01 -5.17555712e-01 -5.70711839e-02 1.37084066e+02] [ 5.16361551e-01 8.55649345e-01 -3.51418223e-02 3.76696990e+01] [ 6.70207720e-02 5.32757910e-04 9.97751438e-01 9.67442853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.13, Y:37.70, Z:9.68 [[ 8.53670267e-01 -5.17678669e-01 -5.70602461e-02 1.37132955e+02] [ 5.16483596e-01 8.55574953e-01 -3.51595732e-02 3.77032226e+01] [ 6.70206784e-02 5.44001092e-04 9.97751438e-01 9.67632186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:37.73, Z:9.68 [[ 8.53646956e-01 -5.17718264e-01 -5.70497362e-02 1.37181754e+02] [ 5.16522140e-01 8.55550983e-01 -3.51766183e-02 3.77338531e+01] [ 6.70205356e-02 5.60961292e-04 9.97751439e-01 9.67935496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.23, Y:37.76, Z:9.69 [[ 8.54575724e-01 -5.16185062e-01 -5.70378268e-02 1.37232153e+02] [ 5.14984234e-01 8.56476787e-01 -3.51959185e-02 3.77620547e+01] [ 6.70191820e-02 7.03996025e-04 9.97751439e-01 9.68994213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35999999999999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:137.28, Y:37.79, Z:9.69 [[ 8.54456987e-01 -5.16381992e-01 -5.70341640e-02 1.37281862e+02] [ 5.15181206e-01 8.56358076e-01 -3.52018530e-02 3.77924904e+01] [ 6.70192699e-02 6.95539890e-04 9.97751439e-01 9.69134574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:37.82, Z:9.69 [[ 8.54804258e-01 -5.15808038e-01 -5.70241058e-02 1.37330433e+02] [ 5.14604890e-01 8.56703852e-01 -3.52181390e-02 3.78235067e+01] [ 6.70185703e-02 7.59731484e-04 9.97751439e-01 9.69437775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.38, Y:37.85, Z:9.70 [[ 8.55034812e-01 -5.15426896e-01 -5.70138977e-02 1.37380187e+02] [ 5.14221799e-01 8.56933172e-01 -3.52346568e-02 3.78536936e+01] [ 6.70179900e-02 8.09069157e-04 9.97751439e-01 9.69818254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.43, Y:37.89, Z:9.69 [[ 8.51588163e-01 -5.21102835e-01 -5.70038277e-02 1.37428296e+02] [ 5.19909301e-01 8.53493813e-01 -3.52509410e-02 3.78866687e+01] [ 6.70217795e-02 3.82463906e-04 9.97751439e-01 9.69407574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.48, Y:37.92, Z:9.70 [[ 8.50188983e-01 -5.23383699e-01 -5.69929622e-02 1.37478242e+02] [ 5.22194101e-01 8.52097092e-01 -3.52684994e-02 3.79164522e+01] [ 6.70224950e-02 2.23501005e-04 9.97751440e-01 9.69813359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.53, Y:37.94, Z:9.71 [[ 8.51129785e-01 -5.21853552e-01 -5.69821043e-02 1.37529693e+02] [ 5.20659349e-01 8.53035016e-01 -3.52860334e-02 3.79412374e+01] [ 6.70218721e-02 3.64728675e-04 9.97751440e-01 9.70955433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:37.97, Z:9.71 [[ 8.48814316e-01 -5.25611716e-01 -5.69787802e-02 1.37579252e+02] [ 5.24425589e-01 8.50724585e-01 -3.52914003e-02 3.79689781e+01] [ 6.70228225e-02 7.47154552e-05 9.97751440e-01 9.71282208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.63, Y:38.00, Z:9.72 [[ 8.47532770e-01 -5.27676152e-01 -5.69744001e-02 1.37629419e+02] [ 5.26494203e-01 8.49445626e-01 -3.52984701e-02 3.79977827e+01] [ 6.70228158e-02 -8.00812539e-05 9.97751440e-01 9.71801636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.68, Y:38.03, Z:9.72 [[ 8.47175078e-01 -5.28251359e-01 -5.69639295e-02 1.37677977e+02] [ 5.27069573e-01 8.49088035e-01 -3.53153593e-02 3.80269793e+01] [ 6.70227774e-02 -1.05661756e-04 9.97751440e-01 9.72243050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.73, Y:38.06, Z:9.72 [[ 8.43634939e-01 -5.33887360e-01 -5.69594309e-02 1.37726194e+02] [ 5.32717864e-01 8.45555433e-01 -3.53226134e-02 3.80622917e+01] [ 6.70206531e-02 -5.43915521e-04 9.97751440e-01 9.72006917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.78, Y:38.09, Z:9.73 [[ 8.46359831e-01 -5.29557565e-01 -5.69545655e-02 1.37777483e+02] [ 5.28377715e-01 8.48273982e-01 -3.53304567e-02 3.80882976e+01] [ 6.70225867e-02 -1.91243781e-04 9.97751440e-01 9.73207349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.82, Y:38.12, Z:9.73 [[ 8.42207057e-01 -5.36137878e-01 -5.69512889e-02 1.37824812e+02] [ 5.34972626e-01 8.44130129e-01 -3.53357376e-02 3.81246648e+01] [ 6.70191263e-02 -7.07373021e-04 9.97751440e-01 9.72599711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.88, Y:38.15, Z:9.74 [[ 8.44370989e-01 -5.32724372e-01 -5.69418663e-02 1.37875940e+02] [ 5.31550322e-01 8.46288703e-01 -3.53509152e-02 3.81500127e+01] [ 6.70215523e-02 -4.18180096e-04 9.97751440e-01 9.73802214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:137.92, Y:38.18, Z:9.74 [[ 8.43995646e-01 -5.33319181e-01 -5.69385692e-02 1.37924366e+02] [ 5.32146123e-01 8.45913968e-01 -3.53562250e-02 3.81825180e+01] [ 6.70212839e-02 -4.59138966e-04 9.97751440e-01 9.74015015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.97, Y:38.22, Z:9.74 [[ 8.41749540e-01 -5.36858335e-01 -5.69283812e-02 1.37970325e+02] [ 5.35692234e-01 8.43672097e-01 -3.53726215e-02 3.82214709e+01] [ 6.70189735e-02 -7.21203878e-04 9.97751441e-01 9.73625829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.02, Y:38.25, Z:9.75 [[ 8.46142308e-01 -5.29908392e-01 -5.69235464e-02 1.38020598e+02] [ 5.28725975e-01 8.48054875e-01 -3.53804002e-02 3.82491209e+01] [ 6.70226620e-02 -1.60104070e-04 9.97751441e-01 9.75013152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.07, Y:38.28, Z:9.75 [[ 8.47247803e-01 -5.28139422e-01 -5.69202251e-02 1.38068010e+02] [ 5.26952653e-01 8.49157671e-01 -3.53857428e-02 3.82819250e+01] [ 6.70228515e-02 -1.37707872e-05 9.97751441e-01 9.75348840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.12, Y:38.31, Z:9.76 [[ 8.48372831e-01 -5.26331429e-01 -5.69101605e-02 1.38115795e+02] [ 5.25139505e-01 8.50279486e-01 -3.54019221e-02 3.83142229e+01] [ 6.70226863e-02 1.48255327e-04 9.97751441e-01 9.75631936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.16, Y:38.35, Z:9.75 [[ 8.46729174e-01 -5.28972670e-01 -5.69000913e-02 1.38161860e+02] [ 5.27785606e-01 8.48638859e-01 -3.54180985e-02 3.83533062e+01] [ 6.70228347e-02 -4.15119259e-05 9.97751441e-01 9.74738445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.21, Y:38.38, Z:9.76 [[ 8.50396621e-01 -5.23057375e-01 -5.68908590e-02 1.38213307e+02] [ 5.21856036e-01 8.52297358e-01 -3.54329218e-02 3.83792287e+01] [ 6.70213799e-02 4.43198807e-04 9.97751441e-01 9.76020651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.26, Y:38.41, Z:9.76 [[ 8.51198133e-01 -5.21752555e-01 -5.68859383e-02 1.38262025e+02] [ 5.20547775e-01 8.53096690e-01 -3.54408200e-02 3.84106104e+01] [ 6.70205441e-02 5.55311236e-04 9.97751441e-01 9.76328118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.31, Y:38.45, Z:9.76 [[ 8.49405794e-01 -5.24666493e-01 -5.68759099e-02 1.38307596e+02] [ 5.23467148e-01 8.51307790e-01 -3.54569064e-02 3.84456204e+01] [ 6.70219559e-02 3.44631341e-04 9.97751441e-01 9.75663083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.36, Y:38.47, Z:9.77 [[ 8.52326267e-01 -5.19909180e-01 -5.68715985e-02 1.38359882e+02] [ 5.18698758e-01 8.54221233e-01 -3.54638204e-02 3.84707019e+01] [ 6.70188928e-02 7.27518139e-04 9.97751441e-01 9.77104136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.41, Y:38.50, Z:9.78 [[ 8.53171450e-01 -5.18522144e-01 -5.68617932e-02 1.38409587e+02] [ 5.17307594e-01 8.55063773e-01 -3.54795350e-02 3.85011682e+01] [ 6.70173840e-02 8.55088892e-04 9.97751442e-01 9.77698297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.46, Y:38.53, Z:9.78 [[ 8.55521965e-01 -5.14635791e-01 -5.68521838e-02 1.38458226e+02] [ 5.13411624e-01 8.57408079e-01 -3.54949265e-02 3.85322736e+01] [ 6.70124813e-02 1.17811724e-03 9.97751442e-01 9.78243269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:38.56, Z:9.79 [[ 8.57412325e-01 -5.11481276e-01 -5.68419724e-02 1.38506470e+02] [ 5.10249087e-01 8.59293209e-01 -3.55112716e-02 3.85627136e+01] [ 6.70072714e-02 1.44423739e-03 9.97751442e-01 9.78642502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.56, Y:38.59, Z:9.79 [[ 8.59869606e-01 -5.07340157e-01 -5.68350806e-02 1.38555260e+02] [ 5.06098183e-01 8.61744043e-01 -3.55222984e-02 3.85936026e+01] [ 6.69991806e-02 1.78041370e-03 9.97751442e-01 9.78811504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.60, Y:38.62, Z:9.79 [[ 8.60865486e-01 -5.05649629e-01 -5.68248893e-02 1.38604987e+02] [ 5.04402900e-01 8.62736763e-01 -3.55385939e-02 3.86243608e+01] [ 6.69949979e-02 1.93130996e-03 9.97751442e-01 9.79074484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.65, Y:38.65, Z:9.79 [[ 8.60465562e-01 -5.06331016e-01 -5.68147763e-02 1.38654439e+02] [ 5.05084703e-01 8.62337116e-01 -3.55547541e-02 3.86543742e+01] [ 6.69959651e-02 1.89736705e-03 9.97751442e-01 9.79283876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.70, Y:38.68, Z:9.80 [[ 8.58780420e-01 -5.09185060e-01 -5.68046148e-02 1.38704721e+02] [ 5.07943895e-01 8.60655392e-01 -3.55709814e-02 3.86837239e+01] [ 6.70014103e-02 1.69410505e-03 9.97751443e-01 9.79819771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.75, Y:38.71, Z:9.80 [[ 8.53789127e-01 -5.17511863e-01 -5.67943560e-02 1.38753843e+02] [ 5.16287900e-01 8.55675373e-01 -3.55873535e-02 3.87141695e+01] [ 6.70144094e-02 1.06185670e-03 9.97751443e-01 9.80225283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:38.74, Z:9.81 [[ 8.50702602e-01 -5.22570418e-01 -5.67912096e-02 1.38804090e+02] [ 5.21357338e-01 8.52595865e-01 -3.55923739e-02 3.87427487e+01] [ 6.70194722e-02 6.70011202e-04 9.97751443e-01 9.81022288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.85, Y:38.77, Z:9.82 [[ 8.47572380e-01 -5.27633372e-01 -5.67810261e-02 1.38853958e+02] [ 5.26430514e-01 8.49472154e-01 -3.56086125e-02 3.87712767e+01] [ 6.70221928e-02 2.89611715e-04 9.97751443e-01 9.81577536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.90, Y:38.80, Z:9.82 [[ 8.46344643e-01 -5.29601558e-01 -5.67708956e-02 1.38902235e+02] [ 5.28402035e-01 8.48246524e-01 -3.56247562e-02 3.88041361e+01] [ 6.70226413e-02 1.52964746e-04 9.97751443e-01 9.81623752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.95, Y:38.84, Z:9.82 [[ 8.46200543e-01 -5.29832851e-01 -5.67608202e-02 1.38951060e+02] [ 5.28632772e-01 8.48102073e-01 -3.56408021e-02 3.88355125e+01] [ 6.70226371e-02 1.53636342e-04 9.97751443e-01 9.81765339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.00, Y:38.87, Z:9.81 [[ 8.43055343e-01 -5.34824316e-01 -5.67506781e-02 1.38998512e+02] [ 5.33634408e-01 8.44963254e-01 -3.56569440e-02 3.88708130e+01] [ 6.70224384e-02 -2.23337338e-04 9.97751443e-01 9.81381544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.05, Y:38.90, Z:9.83 [[ 8.44954231e-01 -5.31819936e-01 -5.67441854e-02 1.39049280e+02] [ 5.30622550e-01 8.46857458e-01 -3.56672736e-02 3.88965830e+01] [ 6.70228037e-02 2.74693660e-05 9.97751444e-01 9.82582118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.10, Y:38.93, Z:9.83 [[ 8.44165686e-01 -5.33071459e-01 -5.67372378e-02 1.39098155e+02] [ 5.31876152e-01 8.46070219e-01 -3.56783219e-02 3.89281315e+01] [ 6.70227823e-02 -5.87686916e-05 9.97751444e-01 9.83064070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.15, Y:38.96, Z:9.84 [[ 8.43268791e-01 -5.34490197e-01 -5.67272014e-02 1.39147060e+02] [ 5.33297021e-01 8.45174660e-01 -3.56942723e-02 3.89592171e+01] [ 6.70226318e-02 -1.52581632e-04 9.97751444e-01 9.83736556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.19, Y:39.00, Z:9.83 [[ 8.40180002e-01 -5.39333614e-01 -5.67170000e-02 1.39192857e+02] [ 5.38150330e-01 8.42092028e-01 -3.57104746e-02 3.89978832e+01] [ 6.70207929e-02 -5.19045716e-04 9.97751444e-01 9.83273754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.24, Y:39.02, Z:9.85 [[ 8.43384612e-01 -5.34309136e-01 -5.67110427e-02 1.39243928e+02] [ 5.33113826e-01 8.45289143e-01 -3.57199328e-02 3.90241367e+01] [ 6.70227151e-02 -1.07799271e-04 9.97751444e-01 9.84537637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.29, Y:39.06, Z:9.85 [[ 8.44911497e-01 -5.31891711e-01 -5.67077608e-02 1.39289780e+02] [ 5.30690601e-01 8.46812376e-01 -3.57251423e-02 3.90575108e+01] [ 6.70227407e-02 9.03078334e-05 9.97751444e-01 9.84763640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.34, Y:39.09, Z:9.85 [[ 8.45891313e-01 -5.30332549e-01 -5.67033801e-02 1.39338201e+02] [ 5.29127470e-01 8.47789678e-01 -3.57320939e-02 3.90904345e+01] [ 6.70224329e-02 2.22151799e-04 9.97751444e-01 9.84885318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:39.13, Z:9.84 [[ 8.43554038e-01 -5.34043521e-01 -5.66930581e-02 1.39383658e+02] [ 5.32845693e-01 8.45456986e-01 -3.57484635e-02 3.91303262e+01] [ 6.70227774e-02 -5.28911322e-05 9.97751444e-01 9.84148185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.43, Y:39.16, Z:9.85 [[ 8.47438651e-01 -5.27858619e-01 -5.66834276e-02 1.39434585e+02] [ 5.26645882e-01 8.49332132e-01 -3.57637273e-02 3.91558568e+01] [ 6.70212482e-02 4.55471097e-04 9.97751444e-01 9.85394703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.48, Y:39.19, Z:9.86 [[ 8.47748981e-01 -5.27360514e-01 -5.66793942e-02 1.39482542e+02] [ 5.26146238e-01 8.49641475e-01 -3.57701185e-02 3.91869506e+01] [ 6.70209122e-02 5.02431526e-04 9.97751444e-01 9.85768249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.53, Y:39.22, Z:9.86 [[ 8.47959131e-01 -5.27023017e-01 -5.66749566e-02 1.39530967e+02] [ 5.25807517e-01 8.49850840e-01 -3.57771482e-02 3.92183051e+01] [ 6.70206400e-02 5.37441315e-04 9.97751444e-01 9.86163102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.58, Y:39.26, Z:9.85 [[ 8.45553217e-01 -5.30875568e-01 -5.66647062e-02 1.39576835e+02] [ 5.29667599e-01 8.47449744e-01 -3.57933757e-02 3.92572668e+01] [ 6.70223194e-02 2.51745035e-04 9.97751445e-01 9.85432721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.63, Y:39.29, Z:9.86 [[ 8.45746715e-01 -5.30568193e-01 -5.66558555e-02 1.39626479e+02] [ 5.29358598e-01 8.47642204e-01 -3.58073795e-02 3.92890194e+01] [ 6.70221509e-02 2.92709400e-04 9.97751445e-01 9.85893682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:39.31, Z:9.87 [[ 8.50165632e-01 -5.23459237e-01 -5.66464908e-02 1.39678031e+02] [ 5.22232807e-01 8.52050272e-01 -3.58221882e-02 3.93139949e+01] [ 6.70171132e-02 8.72137402e-04 9.97751445e-01 9.87146561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.72, Y:39.35, Z:9.86 [[ 8.47229748e-01 -5.28198164e-01 -5.66432090e-02 1.39724233e+02] [ 5.26981929e-01 8.49120984e-01 -3.58273768e-02 3.93519102e+01] [ 6.70208920e-02 5.04071877e-04 9.97751445e-01 9.86401803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.78, Y:39.38, Z:9.88 [[ 8.49783498e-01 -5.24080751e-01 -5.66336692e-02 1.39776038e+02] [ 5.22854348e-01 8.51668157e-01 -3.58424504e-02 3.93765750e+01] [ 6.70174309e-02 8.47162657e-04 9.97751445e-01 9.87526571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.83, Y:39.40, Z:9.88 [[ 8.47294558e-01 -5.28095753e-01 -5.66286776e-02 1.39827021e+02] [ 5.26877755e-01 8.49184659e-01 -3.58503351e-02 3.94046749e+01] [ 6.70206139e-02 5.39403303e-04 9.97751445e-01 9.87978077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.88, Y:39.43, Z:9.88 [[ 8.43540996e-01 -5.34072037e-01 -5.66184419e-02 1.39877146e+02] [ 5.32866346e-01 8.45438970e-01 -3.58664930e-02 3.94337501e+01] [ 6.70227282e-02 8.47950362e-05 9.97751445e-01 9.88492715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.93, Y:39.46, Z:9.89 [[ 8.41447340e-01 -5.37365676e-01 -5.66083340e-02 1.39925530e+02] [ 5.36166341e-01 8.43349337e-01 -3.58824393e-02 3.94642954e+01] [ 6.70225922e-02 -1.58300263e-04 9.97751446e-01 9.88954478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.97, Y:39.49, Z:9.89 [[ 8.39379637e-01 -5.40590237e-01 -5.66040718e-02 1.39974313e+02] [ 5.39397755e-01 8.41285938e-01 -3.58891616e-02 3.94947559e+01] [ 6.70215400e-02 -4.07477799e-04 9.97751446e-01 9.89329817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.02, Y:39.53, Z:9.90 [[ 8.38809580e-01 -5.41475388e-01 -5.65940999e-02 1.40022826e+02] [ 5.40283857e-01 8.40716476e-01 -3.59048795e-02 3.95264748e+01] [ 6.70212008e-02 -4.59521684e-04 9.97751446e-01 9.89852285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.07, Y:39.56, Z:9.90 [[ 8.37787622e-01 -5.43056278e-01 -5.65842739e-02 1.40069290e+02] [ 5.41867300e-01 8.39696110e-01 -3.59203582e-02 3.95617838e+01] [ 6.70203707e-02 -5.67536290e-04 9.97751446e-01 9.89691674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:140.12, Y:39.59, Z:9.90 [[ 8.39479089e-01 -5.40438942e-01 -5.65739255e-02 1.40117555e+02] [ 5.39242915e-01 8.41383168e-01 -3.59366493e-02 3.95918390e+01] [ 6.70219134e-02 -3.39022896e-04 9.97751446e-01 9.90441409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.9 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.17, Y:39.62, Z:9.91 [[ 8.39886092e-01 -5.39806715e-01 -5.65691045e-02 1.40165316e+02] [ 5.38608744e-01 8.41788948e-01 -3.59442366e-02 3.96242779e+01] [ 6.70221873e-02 -2.79549931e-04 9.97751446e-01 9.90838670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:39.66, Z:9.91 [[ 8.41282186e-01 -5.37629411e-01 -5.65588178e-02 1.40211620e+02] [ 5.36425428e-01 8.43181243e-01 -3.59604157e-02 3.96588658e+01] [ 6.70227114e-02 -8.67308840e-05 9.97751446e-01 9.91171622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.26, Y:39.69, Z:9.92 [[ 8.42624859e-01 -5.35523688e-01 -5.65484377e-02 1.40259520e+02] [ 5.34313864e-01 8.44520201e-01 -3.59767312e-02 3.96920043e+01] [ 6.70226898e-02 1.00273745e-04 9.97751447e-01 9.91579242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.31, Y:39.72, Z:9.92 [[ 8.44060654e-01 -5.33258913e-01 -5.65379811e-02 1.40306801e+02] [ 5.32042903e-01 8.45952033e-01 -3.59931565e-02 3.97248975e+01] [ 6.70220915e-02 2.99775625e-04 9.97751447e-01 9.92066769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.35, Y:39.76, Z:9.92 [[ 8.44106830e-01 -5.33186923e-01 -5.65275524e-02 1.40353482e+02] [ 5.31969656e-01 8.45997399e-01 -3.60095275e-02 3.97600358e+01] [ 6.70219714e-02 3.24945487e-04 9.97751447e-01 9.92483510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.40, Y:39.79, Z:9.93 [[ 8.42620423e-01 -5.35533958e-01 -5.65172775e-02 1.40400766e+02] [ 5.34320875e-01 8.44513680e-01 -3.60256467e-02 3.97931537e+01] [ 6.70225712e-02 1.57584441e-04 9.97751447e-01 9.92832221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.45, Y:39.83, Z:9.93 [[ 8.39657169e-01 -5.40169240e-01 -5.65069072e-02 1.40448521e+02] [ 5.38965514e-01 8.41556389e-01 -3.60419055e-02 3.98251852e+01] [ 6.70224774e-02 -1.92429967e-04 9.97751447e-01 9.93281648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:39.86, Z:9.94 [[ 8.37604696e-01 -5.43347505e-01 -5.64965747e-02 1.40495379e+02] [ 5.42149894e-01 8.39507776e-01 -3.60580947e-02 3.98574708e+01] [ 6.70213896e-02 -4.27182495e-04 9.97751447e-01 9.93626299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.54, Y:39.89, Z:9.94 [[ 8.34863496e-01 -5.47550528e-01 -5.64921469e-02 1.40542304e+02] [ 5.46362027e-01 8.36772280e-01 -3.60650304e-02 3.98924136e+01] [ 6.70184890e-02 -7.55786576e-04 9.97751447e-01 9.93739723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:39.93, Z:9.94 [[ 8.34261967e-01 -5.48467741e-01 -5.64810440e-02 1.40591522e+02] [ 5.47280163e-01 8.36171324e-01 -3.60824102e-02 3.99258083e+01] [ 6.70178673e-02 -8.08772467e-04 9.97751448e-01 9.93856055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.64, Y:39.96, Z:9.94 [[ 8.35440687e-01 -5.46671618e-01 -5.64712428e-02 1.40638942e+02] [ 5.45478898e-01 8.37346836e-01 -3.60977431e-02 3.99584759e+01] [ 6.70196281e-02 -6.46348072e-04 9.97751448e-01 9.94024409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.69, Y:39.99, Z:9.94 [[ 8.38300676e-01 -5.42276254e-01 -5.64662828e-02 1.40686292e+02] [ 5.41073017e-01 8.40200204e-01 -3.61055001e-02 3.99925319e+01] [ 6.70221377e-02 -2.85116863e-04 9.97751448e-01 9.93920950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.73, Y:40.02, Z:9.95 [[ 8.40244737e-01 -5.39260309e-01 -5.64544261e-02 1.40734666e+02] [ 5.38049008e-01 8.42139133e-01 -3.61240299e-02 4.00231517e+01] [ 6.70227369e-02 -2.22219703e-05 9.97751448e-01 9.94951232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.78, Y:40.05, Z:9.95 [[ 8.43011685e-01 -5.34924866e-01 -5.64507462e-02 1.40783457e+02] [ 5.33703439e-01 8.44899567e-01 -3.61297795e-02 4.00546180e+01] [ 6.70219285e-02 3.29868972e-04 9.97751448e-01 9.95167239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.83, Y:40.09, Z:9.96 [[ 8.47191351e-01 -5.28280687e-01 -5.64475904e-02 1.40832215e+02] [ 5.27044127e-01 8.49069356e-01 -3.61347092e-02 4.00851638e+01] [ 6.70171883e-02 8.62642119e-04 9.97751448e-01 9.95550106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.88, Y:40.12, Z:9.96 [[ 8.49326094e-01 -5.24842245e-01 -5.64429278e-02 1.40881495e+02] [ 5.23597599e-01 8.51198750e-01 -3.61419908e-02 4.01164982e+01] [ 6.70129932e-02 1.14295443e-03 9.97751448e-01 9.96086750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.93, Y:40.15, Z:9.97 [[ 8.51393162e-01 -5.21483375e-01 -5.64337901e-02 1.40931573e+02] [ 5.20230397e-01 8.53260253e-01 -3.61562533e-02 4.01456888e+01] [ 6.70075950e-02 1.42461385e-03 9.97751448e-01 9.96566712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.98, Y:40.18, Z:9.97 [[ 8.52343817e-01 -5.19928464e-01 -5.64305808e-02 1.40980938e+02] [ 5.18671748e-01 8.54208394e-01 -3.61612615e-02 4.01760891e+01] [ 6.70047449e-02 1.55287970e-03 9.97751448e-01 9.97003318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.03, Y:40.21, Z:9.97 [[ 8.53391719e-01 -5.18207840e-01 -5.64199324e-02 1.41030957e+02] [ 5.16946267e-01 8.55253014e-01 -3.61778679e-02 4.02058753e+01] [ 6.70009720e-02 1.70781938e-03 9.97751449e-01 9.97208803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.08, Y:40.23, Z:9.98 [[ 8.53281179e-01 -5.18390999e-01 -5.64092313e-02 1.41080089e+02] [ 5.17128725e-01 8.55141998e-01 -3.61945455e-02 4.02339957e+01] [ 6.70008294e-02 1.71329056e-03 9.97751449e-01 9.97529469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.13, Y:40.26, Z:9.98 [[ 8.52054926e-01 -5.20404571e-01 -5.64046584e-02 1.41132329e+02] [ 5.19146223e-01 8.53918403e-01 -3.62016704e-02 4.02608141e+01] [ 6.70044906e-02 1.56354627e-03 9.97751449e-01 9.97895345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.18, Y:40.29, Z:9.98 [[ 8.50339587e-01 -5.23203861e-01 -5.63942008e-02 1.41182972e+02] [ 5.21950569e-01 8.52206468e-01 -3.62179537e-02 4.02886928e+01] [ 6.70088759e-02 1.36257459e-03 9.97751449e-01 9.98102939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.24, Y:40.31, Z:9.98 [[ 8.46368545e-01 -5.29604723e-01 -5.63837242e-02 1.41236001e+02] [ 5.28364466e-01 8.48244110e-01 -3.62342564e-02 4.03132443e+01] [ 6.70169952e-02 8.76378529e-04 9.97751449e-01 9.98358316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.29, Y:40.34, Z:9.99 [[ 8.42097639e-01 -5.36370781e-01 -5.63733145e-02 1.41289877e+02] [ 5.35144512e-01 8.43982379e-01 -3.62504445e-02 4.03362178e+01] [ 6.70217633e-02 3.58543891e-04 9.97751449e-01 9.98720615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.34, Y:40.36, Z:9.99 [[ 8.39628650e-01 -5.40228602e-01 -5.63629990e-02 1.41341721e+02] [ 5.39009916e-01 8.41518302e-01 -3.62664762e-02 4.03631221e+01] [ 6.70226830e-02 7.01570744e-05 9.97751450e-01 9.99202036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:40.39, Z:10.00 [[ 8.39435538e-01 -5.40529695e-01 -5.63526929e-02 1.41391088e+02] [ 5.39310613e-01 8.41324934e-01 -3.62824833e-02 4.03928621e+01] [ 6.70226853e-02 6.52004716e-05 9.97751450e-01 9.99658300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.44, Y:40.43, Z:9.99 [[ 8.37900984e-01 -5.42906526e-01 -5.63422121e-02 1.41436677e+02] [ 5.41691709e-01 8.39793125e-01 -3.62987515e-02 4.04298510e+01] [ 6.70226314e-02 -1.05349493e-04 9.97751450e-01 9.99453408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.49, Y:40.46, Z:10.00 [[ 8.43069097e-01 -5.34846993e-01 -5.63310965e-02 1.41487792e+02] [ 5.33612936e-01 8.44948746e-01 -3.63159934e-02 4.04558293e+01] [ 6.70203891e-02 5.57889914e-04 9.97751450e-01 1.00029506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.54, Y:40.49, Z:10.01 [[ 8.44292917e-01 -5.32913513e-01 -5.63263494e-02 1.41536014e+02] [ 5.31674661e-01 8.46169409e-01 -3.63233546e-02 4.04887224e+01] [ 6.70188403e-02 7.20258243e-04 9.97751450e-01 1.00059339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.58, Y:40.52, Z:10.01 [[ 8.44950712e-01 -5.31871028e-01 -5.63161129e-02 1.41583499e+02] [ 5.30628803e-01 8.46824973e-01 -3.63392185e-02 4.05210073e+01] [ 6.70176682e-02 8.21896927e-04 9.97751450e-01 1.00100513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:40.55, Z:10.01 [[ 8.45705351e-01 -5.30670795e-01 -5.63113450e-02 1.41631797e+02] [ 5.29425419e-01 8.47577519e-01 -3.63466053e-02 4.05532212e+01] [ 6.70163120e-02 9.25861124e-04 9.97751450e-01 1.00144098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.68, Y:40.58, Z:10.02 [[ 8.47304878e-01 -5.28114246e-01 -5.63008536e-02 1.41679853e+02] [ 5.26862142e-01 8.49172554e-01 -3.63628493e-02 4.05845523e+01] [ 6.70128783e-02 1.14763127e-03 9.97751451e-01 1.00174886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.73, Y:40.62, Z:10.02 [[ 8.48122389e-01 -5.26800849e-01 -5.62963462e-02 1.41729125e+02] [ 5.25545391e-01 8.49987810e-01 -3.63698262e-02 4.06159461e+01] [ 6.70108634e-02 1.25977862e-03 9.97751451e-01 1.00208572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:40.65, Z:10.02 [[ 8.45338033e-01 -5.31258433e-01 -5.62857607e-02 1.41775581e+02] [ 5.30011722e-01 8.47209312e-01 -3.63862009e-02 4.06521261e+01] [ 6.70162967e-02 9.26526565e-04 9.97751451e-01 1.00198598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.83, Y:40.68, Z:10.03 [[ 8.47657511e-01 -5.27550708e-01 -5.62760652e-02 1.41827105e+02] [ 5.26294818e-01 8.49522641e-01 -3.64011901e-02 4.06785173e+01] [ 6.70112652e-02 1.23794074e-03 9.97751451e-01 1.00269557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.88, Y:40.71, Z:10.03 [[ 8.47384530e-01 -5.27989436e-01 -5.62726828e-02 1.41876264e+02] [ 5.26734164e-01 8.49250077e-01 -3.64064183e-02 4.07101430e+01] [ 6.70117844e-02 1.20949112e-03 9.97751451e-01 1.00312073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.93, Y:40.74, Z:10.04 [[ 8.46867707e-01 -5.28819116e-01 -5.62621451e-02 1.41925049e+02] [ 5.27564592e-01 8.48733756e-01 -3.64226959e-02 4.07414980e+01] [ 6.70125996e-02 1.16328938e-03 9.97751451e-01 1.00355728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.97, Y:40.77, Z:10.04 [[ 8.46727172e-01 -5.29045225e-01 -5.62516355e-02 1.41972970e+02] [ 5.27790121e-01 8.48592831e-01 -3.64389198e-02 4.07732283e+01] [ 6.70125711e-02 1.16476599e-03 9.97751451e-01 1.00385596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.02, Y:40.81, Z:10.04 [[ 8.47443822e-01 -5.27896988e-01 -5.62471191e-02 1.42022487e+02] [ 5.26638894e-01 8.49307466e-01 -3.64458899e-02 4.08059966e+01] [ 6.70107738e-02 1.26392360e-03 9.97751451e-01 1.00404734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.07, Y:40.84, Z:10.04 [[ 8.48280816e-01 -5.26551935e-01 -5.62380461e-02 1.42070183e+02] [ 5.25289958e-01 8.50141833e-01 -3.64598847e-02 4.08383975e+01] [ 6.70083385e-02 1.38693981e-03 9.97751452e-01 1.00412263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.12, Y:40.87, Z:10.04 [[ 8.49664010e-01 -5.24317375e-01 -5.62348684e-02 1.42119326e+02] [ 5.23050181e-01 8.51521478e-01 -3.64647852e-02 4.08710389e+01] [ 6.70043188e-02 1.56915754e-03 9.97751452e-01 1.00413742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.17, Y:40.90, Z:10.05 [[ 8.49700848e-01 -5.24258638e-01 -5.62258881e-02 1.42168027e+02] [ 5.22990399e-01 8.51557603e-01 -3.64786270e-02 4.09023924e+01] [ 6.70038178e-02 1.59032057e-03 9.97751452e-01 1.00450809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.22, Y:40.93, Z:10.05 [[ 8.48310020e-01 -5.26506518e-01 -5.62227410e-02 1.42217530e+02] [ 5.25242879e-01 8.50169909e-01 -3.64834769e-02 4.09344491e+01] [ 6.70076709e-02 1.41870468e-03 9.97751452e-01 1.00530608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.27, Y:40.97, Z:10.06 [[ 8.46379155e-01 -5.29605860e-01 -5.62135063e-02 1.42266691e+02] [ 5.28348088e-01 8.48243017e-01 -3.64977000e-02 4.09653662e+01] [ 6.70121100e-02 1.19059393e-03 9.97751452e-01 1.00587188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:41.00, Z:10.07 [[ 8.44036539e-01 -5.33331722e-01 -5.62102667e-02 1.42316854e+02] [ 5.32081847e-01 8.45905705e-01 -3.65026887e-02 4.09954609e+01] [ 6.70166271e-02 9.01140519e-04 9.97751452e-01 1.00659222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:41.02, Z:10.07 [[ 8.41629475e-01 -5.37123138e-01 -5.62010737e-02 1.42366981e+02] [ 5.35880739e-01 8.43503618e-01 -3.65168372e-02 4.10249552e+01] [ 6.70198472e-02 6.16573609e-04 9.97751452e-01 1.00735069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.42, Y:41.06, Z:10.08 [[ 8.39071199e-01 -5.41111803e-01 -5.61919892e-02 1.42415743e+02] [ 5.39877377e-01 8.40950604e-01 -3.65308110e-02 4.10559864e+01] [ 6.70219403e-02 3.15167622e-04 9.97751452e-01 1.00781425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.46, Y:41.09, Z:10.08 [[ 8.37702182e-01 -5.43229861e-01 -5.61816018e-02 1.42463778e+02] [ 5.41999117e-01 8.39583998e-01 -3.65467792e-02 4.10889494e+01] [ 6.70224756e-02 1.64938118e-04 9.97751452e-01 1.00809980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.51, Y:41.12, Z:10.08 [[ 8.35831088e-01 -5.46105464e-01 -5.61712936e-02 1.42512222e+02] [ 5.44880129e-01 8.37716432e-01 -3.65626158e-02 4.11220607e+01] [ 6.70226598e-02 -4.64507727e-05 9.97751452e-01 1.00831868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:41.16, Z:10.08 [[ 8.33628064e-01 -5.49463419e-01 -5.61622871e-02 1.42560750e+02] [ 5.48244747e-01 8.35517721e-01 -3.65764449e-02 4.11558279e+01] [ 6.70220046e-02 -2.99527966e-04 9.97751453e-01 1.00848447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.61, Y:41.19, Z:10.09 [[ 8.28807147e-01 -5.56709557e-01 -5.61532063e-02 1.42609412e+02] [ 5.55506460e-01 8.30706758e-01 -3.65903808e-02 4.11877809e+01] [ 6.70170626e-02 -8.67099723e-04 9.97751453e-01 1.00891985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.66, Y:41.22, Z:10.10 [[ 8.23464239e-01 -5.64583602e-01 -5.61427023e-02 1.42657784e+02] [ 5.63397567e-01 8.25374549e-01 -3.66064906e-02 4.12193907e+01] [ 6.70061819e-02 -1.48652589e-03 9.97751453e-01 1.00963256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.70, Y:41.26, Z:10.09 [[ 8.17083358e-01 -5.73779700e-01 -5.61394835e-02 1.42702652e+02] [ 5.72614816e-01 8.19006640e-01 -3.66114263e-02 4.12575077e+01] [ 6.69855029e-02 -2.23171289e-03 9.97751453e-01 1.00947919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.75, Y:41.29, Z:10.10 [[ 8.17161445e-01 -5.73669570e-01 -5.61283973e-02 1.42750392e+02] [ 5.72503262e-01 8.19083863e-01 -3.66284145e-02 4.12930584e+01] [ 6.69864713e-02 -2.20236243e-03 9.97751453e-01 1.00966989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.80, Y:41.32, Z:10.11 [[ 8.23543089e-01 -5.64470955e-01 -5.61188180e-02 1.42799829e+02] [ 5.63282166e-01 8.25451686e-01 -3.66430852e-02 4.13212881e+01] [ 6.70073302e-02 -1.43356972e-03 9.97751453e-01 1.01088953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:41.36, Z:10.11 [[ 8.29140931e-01 -5.56216121e-01 -5.61154421e-02 1.42844555e+02] [ 5.55007976e-01 8.31037335e-01 -3.66482543e-02 4.13583166e+01] [ 6.70183773e-02 -7.57950261e-04 9.97751453e-01 1.01113698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.89, Y:41.39, Z:10.11 [[ 8.33896149e-01 -5.49062315e-01 -5.61051392e-02 1.42890845e+02] [ 5.47836839e-01 8.35781399e-01 -3.66640204e-02 4.13937683e+01] [ 6.70224637e-02 -1.62476750e-04 9.97751454e-01 1.01137513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.94, Y:41.43, Z:10.12 [[ 8.35949864e-01 -5.45931490e-01 -5.60948482e-02 1.42938662e+02] [ 5.44697897e-01 8.37829813e-01 -3.66797586e-02 4.14264383e+01] [ 6.70225715e-02 1.07693363e-04 9.97751454e-01 1.01171381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:41.46, Z:10.12 [[ 8.37681060e-01 -5.43272461e-01 -5.60845277e-02 1.42986611e+02] [ 5.42031844e-01 8.39556381e-01 -3.66955322e-02 4.14573887e+01] [ 6.70217952e-02 3.39552330e-04 9.97751454e-01 1.01213013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.04, Y:41.49, Z:10.13 [[ 8.39792032e-01 -5.40004044e-01 -5.60800874e-02 1.43035870e+02] [ 5.38755675e-01 8.41662202e-01 -3.67023168e-02 4.14880629e+01] [ 6.70198893e-02 6.08847841e-04 9.97751454e-01 1.01259026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.08, Y:41.52, Z:10.13 [[ 8.41101325e-01 -5.37963485e-01 -5.60700361e-02 1.43084745e+02] [ 5.36709557e-01 8.42967772e-01 -3.67176658e-02 4.15197972e+01] [ 6.70179969e-02 7.89953124e-04 9.97751454e-01 1.01290565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.13, Y:41.55, Z:10.13 [[ 8.43674029e-01 -5.33920776e-01 -5.60601195e-02 1.43133985e+02] [ 5.32656900e-01 8.45533754e-01 -3.67328002e-02 4.15502110e+01] [ 6.70131284e-02 1.12970012e-03 9.97751454e-01 1.01338971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.18, Y:41.59, Z:10.13 [[ 8.42076948e-01 -5.36437195e-01 -5.60495311e-02 1.43180887e+02] [ 5.35177802e-01 8.43939711e-01 -3.67489495e-02 4.15867794e+01] [ 6.70159285e-02 9.48978356e-04 9.97751454e-01 1.01276949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.23, Y:41.61, Z:10.14 [[ 8.45668554e-01 -5.30758186e-01 -5.60396723e-02 1.43232934e+02] [ 5.29485290e-01 8.47522116e-01 -3.67639775e-02 4.16111294e+01] [ 6.70076436e-02 1.41795754e-03 9.97751455e-01 1.01393774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.28, Y:41.64, Z:10.14 [[ 8.43220145e-01 -5.34639813e-01 -5.60362238e-02 1.43283914e+02] [ 5.33375101e-01 8.45079301e-01 -3.67692329e-02 4.16398391e+01] [ 6.70133487e-02 1.11623137e-03 9.97751455e-01 1.01421224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.33, Y:41.67, Z:10.14 [[ 8.40966809e-01 -5.38178221e-01 -5.60270247e-02 1.43334129e+02] [ 5.36920400e-01 8.42830634e-01 -3.67832448e-02 4.16692895e+01] [ 6.70172340e-02 8.51435487e-04 9.97751455e-01 1.01443215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.38, Y:41.70, Z:10.14 [[ 8.34336014e-01 -5.48401991e-01 -5.60238580e-02 1.43382182e+02] [ 5.47166687e-01 8.36214838e-01 -3.67880673e-02 4.17030895e+01] [ 6.70226306e-02 3.92206595e-05 9.97751455e-01 1.01429409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.44, Y:41.73, Z:10.16 [[ 8.36063484e-01 -5.45765123e-01 -5.60203724e-02 1.43435399e+02] [ 5.44523538e-01 8.37938163e-01 -3.67933744e-02 4.17266463e+01] [ 6.70221484e-02 2.57185421e-04 9.97751455e-01 1.01572760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.49, Y:41.76, Z:10.16 [[ 8.34593176e-01 -5.48011250e-01 -5.60169631e-02 1.43485569e+02] [ 5.46774362e-01 8.36470958e-01 -3.67985641e-02 4.17575598e+01] [ 6.70225899e-02 8.31912222e-05 9.97751455e-01 1.01628156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.53, Y:41.79, Z:10.17 [[ 8.33390500e-01 -5.49839440e-01 -5.60077189e-02 1.43534821e+02] [ 5.48605726e-01 8.35270368e-01 -3.68126285e-02 4.17897064e+01] [ 6.70226231e-02 -4.68603940e-05 9.97751455e-01 1.01684711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.58, Y:41.82, Z:10.17 [[ 8.33380351e-01 -5.49855767e-01 -5.59984521e-02 1.43582599e+02] [ 5.48621142e-01 8.35259621e-01 -3.68267196e-02 4.18221511e+01] [ 6.70226300e-02 -3.12702572e-05 9.97751455e-01 1.01726673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.63, Y:41.86, Z:10.18 [[ 8.34418387e-01 -5.48280318e-01 -5.59879378e-02 1.43629625e+02] [ 5.47041073e-01 8.36294613e-01 -3.68426976e-02 4.18561951e+01] [ 6.70225368e-02 1.14522733e-04 9.97751455e-01 1.01755160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.68, Y:41.90, Z:10.17 [[ 8.32916130e-01 -5.50560858e-01 -5.59773297e-02 1.43675122e+02] [ 5.49325668e-01 8.34795028e-01 -3.68588081e-02 4.18951677e+01] [ 6.70226136e-02 -4.94882609e-05 9.97751455e-01 1.01736316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.72, Y:41.93, Z:10.18 [[ 8.35793607e-01 -5.46183749e-01 -5.59674822e-02 1.43720178e+02] [ 5.44937717e-01 8.37665333e-01 -3.68737549e-02 4.19297827e+01] [ 6.70218653e-02 3.20056590e-04 9.97751456e-01 1.01776243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.77, Y:41.96, Z:10.18 [[ 8.37700356e-01 -5.43255557e-01 -5.59599192e-02 1.43767310e+02] [ 5.42002217e-01 8.39567196e-01 -3.68852289e-02 4.19633826e+01] [ 6.70202181e-02 5.68369125e-04 9.97751456e-01 1.01823070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.82, Y:41.99, Z:10.19 [[ 8.43282792e-01 -5.34550179e-01 -5.59485336e-02 1.43816189e+02] [ 5.33276426e-01 8.45135764e-01 -3.69024909e-02 4.19928596e+01] [ 6.70103398e-02 1.28320146e-03 9.97751456e-01 1.01914114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.86, Y:42.02, Z:10.19 [[ 8.44001207e-01 -5.33415707e-01 -5.59432450e-02 1.43863087e+02] [ 5.32138932e-01 8.45852098e-01 -3.69105065e-02 4.20249132e+01] [ 6.70083551e-02 1.38293330e-03 9.97751456e-01 1.01945666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.91, Y:42.06, Z:10.20 [[ 8.44864191e-01 -5.32048269e-01 -5.59387066e-02 1.43910399e+02] [ 5.30768043e-01 8.46712697e-01 -3.69173834e-02 4.20577642e+01] [ 6.70058430e-02 1.49969739e-03 9.97751456e-01 1.01980059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:42.09, Z:10.20 [[ 8.44529343e-01 -5.32580745e-01 -5.59279712e-02 1.43956951e+02] [ 5.31300610e-01 8.46377911e-01 -3.69336397e-02 4.20904913e+01] [ 6.70063448e-02 1.47697728e-03 9.97751456e-01 1.02001768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:42.12, Z:10.20 [[ 8.44041336e-01 -5.33354292e-01 -5.59233581e-02 1.44005908e+02] [ 5.32075388e-01 8.45890756e-01 -3.69406234e-02 4.21223169e+01] [ 6.70074917e-02 1.42397061e-03 9.97751456e-01 1.02038630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.05, Y:42.15, Z:10.21 [[ 8.43771124e-01 -5.33782761e-01 -5.59129108e-02 1.44053768e+02] [ 5.32503750e-01 8.45620470e-01 -3.69564296e-02 4.21544465e+01] [ 6.70078069e-02 1.40893344e-03 9.97751456e-01 1.02075475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.10, Y:42.19, Z:10.21 [[ 8.43257824e-01 -5.34594399e-01 -5.59023346e-02 1.44101873e+02] [ 5.33316108e-01 8.45107667e-01 -3.69724209e-02 4.21864428e+01] [ 6.70087407e-02 1.36366762e-03 9.97751457e-01 1.02103874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.15, Y:42.22, Z:10.21 [[ 8.42363997e-01 -5.36002794e-01 -5.58918757e-02 1.44150526e+02] [ 5.34726548e-01 8.44215251e-01 -3.69882250e-02 4.22186394e+01] [ 6.70105658e-02 1.27067929e-03 9.97751457e-01 1.02135487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.20, Y:42.25, Z:10.22 [[ 8.41523410e-01 -5.37322657e-01 -5.58812323e-02 1.44199820e+02] [ 5.36048248e-01 8.43375929e-01 -3.70042979e-02 4.22506249e+01] [ 6.70121339e-02 1.18494624e-03 9.97751457e-01 1.02157843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.25, Y:42.29, Z:10.21 [[ 8.38211799e-01 -5.42475161e-01 -5.58719954e-02 1.44246728e+02] [ 5.41211211e-01 8.40071470e-01 -3.70182394e-02 4.22871789e+01] [ 6.70179446e-02 7.90574714e-04 9.97751457e-01 1.02127170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.30, Y:42.32, Z:10.22 [[ 8.34342664e-01 -5.48408382e-01 -5.58620230e-02 1.44296606e+02] [ 5.47156651e-01 8.36210581e-01 -3.70332820e-02 4.23157708e+01] [ 6.70217769e-02 3.33169739e-04 9.97751457e-01 1.02165991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.35, Y:42.35, Z:10.22 [[ 8.32117746e-01 -5.51778973e-01 -5.58571572e-02 1.44346017e+02] [ 5.50534315e-01 8.33990384e-01 -3.70406196e-02 4.23463435e+01] [ 6.70225670e-02 7.08751660e-05 9.97751457e-01 1.02217413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.40, Y:42.38, Z:10.23 [[ 8.31254086e-01 -5.53080352e-01 -5.58459322e-02 1.44395348e+02] [ 5.51837490e-01 8.33127916e-01 -3.70575358e-02 4.23772093e+01] [ 6.70226000e-02 -1.36509680e-05 9.97751457e-01 1.02282575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.45, Y:42.41, Z:10.24 [[ 8.33575306e-01 -5.49576832e-01 -5.58347110e-02 1.44445782e+02] [ 5.48324962e-01 8.35443130e-01 -3.70744351e-02 4.24058460e+01] [ 6.70219763e-02 2.88767862e-04 9.97751458e-01 1.02381221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.49, Y:42.44, Z:10.24 [[ 8.31834074e-01 -5.52209777e-01 -5.58250449e-02 1.44492151e+02] [ 5.50962843e-01 8.33705196e-01 -3.70889842e-02 4.24421363e+01] [ 6.70225297e-02 9.43554159e-05 9.97751458e-01 1.02383465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.54, Y:42.47, Z:10.25 [[ 8.34127698e-01 -5.48740033e-01 -5.58154069e-02 1.44541484e+02] [ 5.47484345e-01 8.35992957e-01 -3.71034828e-02 4.24710219e+01] [ 6.70214534e-02 3.90981217e-04 9.97751458e-01 1.02470707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.59, Y:42.50, Z:10.25 [[ 8.33309898e-01 -5.49981481e-01 -5.58120435e-02 1.44589834e+02] [ 5.48728233e-01 8.35176797e-01 -3.71085414e-02 4.25023447e+01] [ 6.70219343e-02 2.97270843e-04 9.97751458e-01 1.02526309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:42.53, Z:10.26 [[ 8.32171901e-01 -5.51702186e-01 -5.58088264e-02 1.44636522e+02] [ 5.50452474e-01 8.34041169e-01 -3.71133791e-02 4.25342279e+01] [ 6.70223912e-02 1.64604726e-04 9.97751458e-01 1.02553644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.68, Y:42.57, Z:10.26 [[ 8.30376095e-01 -5.54402100e-01 -5.58019112e-02 1.44684356e+02] [ 5.53157767e-01 8.32248947e-01 -3.71237735e-02 4.25668076e+01] [ 6.70225799e-02 -4.05665306e-05 9.97751458e-01 1.02595164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:42.60, Z:10.26 [[ 8.27722145e-01 -5.58357752e-01 -5.57913213e-02 1.44732207e+02] [ 5.57121297e-01 8.29600208e-01 -3.71396817e-02 4.25990598e+01] [ 6.70217209e-02 -3.41196248e-04 9.97751458e-01 1.02629987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:42.63, Z:10.27 [[ 8.25718149e-01 -5.61318126e-01 -5.57808267e-02 1.44780532e+02] [ 5.60087340e-01 8.27599931e-01 -3.71554372e-02 4.26308261e+01] [ 6.70202287e-02 -5.62216031e-04 9.97751458e-01 1.02653044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:42.66, Z:10.27 [[ 8.25338530e-01 -5.61877186e-01 -5.57704029e-02 1.44828933e+02] [ 5.60646618e-01 8.27220455e-01 -3.71710767e-02 4.26635203e+01] [ 6.70199981e-02 -5.88765980e-04 9.97751459e-01 1.02692833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:42.70, Z:10.27 [[ 8.25994755e-01 -5.60913093e-01 -5.57599020e-02 1.44876346e+02] [ 5.59679265e-01 8.27874544e-01 -3.71868223e-02 4.26965961e+01] [ 6.70207790e-02 -4.91540800e-04 9.97751459e-01 1.02728496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.92, Y:42.73, Z:10.27 [[ 8.28501981e-01 -5.57204173e-01 -5.57492362e-02 1.44924181e+02] [ 5.55960854e-01 8.30375505e-01 -3.72028054e-02 4.27313353e+01] [ 6.70223586e-02 -1.71795010e-04 9.97751459e-01 1.02736732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.97, Y:42.77, Z:10.27 [[ 8.28280355e-01 -5.57534495e-01 -5.57399370e-02 1.44969186e+02] [ 5.56290986e-01 8.30153753e-01 -3.72167328e-02 4.27699332e+01] [ 6.70223303e-02 -1.81735847e-04 9.97751459e-01 1.02728375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.02, Y:42.80, Z:10.28 [[ 8.31916085e-01 -5.52095800e-01 -5.57301946e-02 1.45019763e+02] [ 5.50839067e-01 8.33780638e-01 -3.72313159e-02 4.27969813e+01] [ 6.70220104e-02 2.74962135e-04 9.97751459e-01 1.02823620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.07, Y:42.83, Z:10.29 [[ 8.33627651e-01 -5.49508384e-01 -5.57267882e-02 1.45067121e+02] [ 5.48245522e-01 8.35488059e-01 -3.72364139e-02 4.28299272e+01] [ 6.70207877e-02 4.89342161e-04 9.97751459e-01 1.02851731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.12, Y:42.86, Z:10.29 [[ 8.34915395e-01 -5.47550895e-01 -5.57162610e-02 1.45116502e+02] [ 5.46282621e-01 8.36772116e-01 -3.72521588e-02 4.28622178e+01] [ 6.70192666e-02 6.65575769e-04 9.97751459e-01 1.02921815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:42.89, Z:10.30 [[ 8.34961225e-01 -5.47481955e-01 -5.57069327e-02 1.45163627e+02] [ 5.46212598e-01 8.36817206e-01 -3.72661033e-02 4.28932519e+01] [ 6.70190388e-02 6.87922825e-04 9.97751460e-01 1.02964227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:42.92, Z:10.30 [[ 8.33602509e-01 -5.49549267e-01 -5.56997356e-02 1.45212062e+02] [ 5.48283794e-01 8.35461140e-01 -3.72768572e-02 4.29247363e+01] [ 6.70204342e-02 5.34819333e-04 9.97751460e-01 1.03008718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.26, Y:42.96, Z:10.30 [[ 8.32457776e-01 -5.51282855e-01 -5.56890026e-02 1.45260259e+02] [ 5.50020181e-01 8.34318310e-01 -3.72928847e-02 4.29552683e+01] [ 6.70212825e-02 4.14676578e-04 9.97751460e-01 1.03041929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.31, Y:42.99, Z:10.31 [[ 8.30154524e-01 -5.54745613e-01 -5.56845731e-02 1.45309678e+02] [ 5.53490256e-01 8.32020002e-01 -3.72994976e-02 4.29862245e+01] [ 6.70224113e-02 1.43478026e-04 9.97751460e-01 1.03079592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.36, Y:43.02, Z:10.30 [[ 8.25837467e-01 -5.61153178e-01 -5.56739502e-02 1.45355237e+02] [ 5.59911226e-01 8.27711897e-01 -3.73153469e-02 4.30237912e+01] [ 6.70216164e-02 -3.56058140e-04 9.97751460e-01 1.03048400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.41, Y:43.05, Z:10.31 [[ 8.28267292e-01 -5.57561021e-01 -5.56686637e-02 1.45406191e+02] [ 5.56310410e-01 8.30135955e-01 -3.73232318e-02 4.30505765e+01] [ 6.70225386e-02 -5.54449812e-05 9.97751460e-01 1.03141343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.45, Y:43.08, Z:10.32 [[ 8.28520740e-01 -5.57184682e-01 -5.56651960e-02 1.45454280e+02] [ 5.55932874e-01 8.30388602e-01 -3.73284030e-02 4.30826702e+01] [ 6.70225586e-02 -1.87563244e-05 9.97751460e-01 1.03184729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.50, Y:43.12, Z:10.32 [[ 8.30246208e-01 -5.54611415e-01 -5.56544065e-02 1.45501521e+02] [ 5.53352740e-01 8.32109449e-01 -3.73444826e-02 4.31150858e+01] [ 6.70222338e-02 2.08596733e-04 9.97751460e-01 1.03230190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.55, Y:43.15, Z:10.33 [[ 8.31426322e-01 -5.52841449e-01 -5.56471413e-02 1.45549032e+02] [ 5.51578083e-01 8.33286385e-01 -3.73553053e-02 4.31490803e+01] [ 6.70215663e-02 3.64440621e-04 9.97751460e-01 1.03280706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.60, Y:43.18, Z:10.33 [[ 8.33060153e-01 -5.50377332e-01 -5.56378859e-02 1.45595906e+02] [ 5.49107544e-01 8.34915838e-01 -3.73690854e-02 4.31818766e+01] [ 6.70200497e-02 5.79513107e-04 9.97751461e-01 1.03336269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:43.22, Z:10.34 [[ 8.35312669e-01 -5.46952952e-01 -5.56346307e-02 1.45643326e+02] [ 5.45675235e-01 8.37162904e-01 -3.73739312e-02 4.32158871e+01] [ 6.70170309e-02 8.60478055e-04 9.97751461e-01 1.03398850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.69, Y:43.25, Z:10.34 [[ 8.37280963e-01 -5.43936033e-01 -5.56253582e-02 1.45690713e+02] [ 5.42650733e-01 8.39125938e-01 -3.73877267e-02 4.32494395e+01] [ 6.70132126e-02 1.11889041e-03 9.97751461e-01 1.03443300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.74, Y:43.28, Z:10.35 [[ 8.37960922e-01 -5.42889033e-01 -5.56146613e-02 1.45738217e+02] [ 5.41600373e-01 8.39803551e-01 -3.74036317e-02 4.32829064e+01] [ 6.70114115e-02 1.22186042e-03 9.97751461e-01 1.03475773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.79, Y:43.32, Z:10.35 [[ 8.37268381e-01 -5.43957573e-01 -5.56041090e-02 1.45786580e+02] [ 5.42670223e-01 8.39111926e-01 -3.74193123e-02 4.33158406e+01] [ 6.70125892e-02 1.15531281e-03 9.97751461e-01 1.03500422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.84, Y:43.35, Z:10.35 [[ 8.35175676e-01 -5.47166170e-01 -5.55947153e-02 1.45835020e+02] [ 5.45884975e-01 8.37023503e-01 -3.74332635e-02 4.33474971e+01] [ 6.70162988e-02 9.15031429e-04 9.97751461e-01 1.03531911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.88, Y:43.38, Z:10.36 [[ 8.30815138e-01 -5.53765842e-01 -5.55841572e-02 1.45883891e+02] [ 5.52498278e-01 8.32672343e-01 -3.74489346e-02 4.33787115e+01] [ 6.70213311e-02 4.02990626e-04 9.97751461e-01 1.03585660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.93, Y:43.41, Z:10.36 [[ 8.26935138e-01 -5.59544344e-01 -5.55734188e-02 1.45933119e+02] [ 5.58288688e-01 8.28800413e-01 -3.74648632e-02 4.34109973e+01] [ 6.70225248e-02 -4.49992335e-05 9.97751462e-01 1.03636426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.98, Y:43.44, Z:10.37 [[ 8.21128489e-01 -5.68032251e-01 -5.55640733e-02 1.45982575e+02] [ 5.66794936e-01 8.23005982e-01 -3.74787184e-02 4.34425378e+01] [ 6.70186855e-02 -7.18591991e-04 9.97751462e-01 1.03686473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:43.47, Z:10.37 [[ 8.17762299e-01 -5.72868640e-01 -5.55548661e-02 1.46030232e+02] [ 5.71641502e-01 8.19646458e-01 -3.74923614e-02 4.34746843e+01] [ 6.70135473e-02 -1.09762742e-03 9.97751462e-01 1.03726738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:43.51, Z:10.38 [[ 8.14240568e-01 -5.77864311e-01 -5.55439910e-02 1.46078361e+02] [ 5.76647632e-01 8.16131499e-01 -3.75084656e-02 4.35079715e+01] [ 6.70060043e-02 -1.48839654e-03 9.97751462e-01 1.03757533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.13, Y:43.54, Z:10.38 [[ 8.13847160e-01 -5.78419279e-01 -5.55332128e-02 1.46125543e+02] [ 5.77202803e-01 8.15738219e-01 -3.75244166e-02 4.35436626e+01] [ 6.70054101e-02 -1.51478625e-03 9.97751462e-01 1.03780070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.17, Y:43.58, Z:10.38 [[ 8.14906513e-01 -5.76926760e-01 -5.55237626e-02 1.46173865e+02] [ 5.75705868e-01 8.16794725e-01 -3.75383945e-02 4.35779849e+01] [ 6.70084208e-02 -1.37507376e-03 9.97751462e-01 1.03806438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.22, Y:43.61, Z:10.38 [[ 8.16809527e-01 -5.74230220e-01 -5.55144263e-02 1.46220869e+02] [ 5.73002156e-01 8.18693082e-01 -3.75521967e-02 4.36112303e+01] [ 6.70128829e-02 -1.13689390e-03 9.97751463e-01 1.03847358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:43.65, Z:10.39 [[ 8.20973952e-01 -5.68261478e-01 -5.55037169e-02 1.46266929e+02] [ 5.67018648e-01 8.22847797e-01 -3.75680190e-02 4.36472107e+01] [ 6.70195692e-02 -6.29277433e-04 9.97751463e-01 1.03899786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.31, Y:43.68, Z:10.40 [[ 8.24092701e-01 -5.63730064e-01 -5.54944505e-02 1.46313456e+02] [ 5.62476009e-01 8.25959052e-01 -3.75817021e-02 4.36835448e+01] [ 6.70220791e-02 -2.43490661e-04 9.97751463e-01 1.03957451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.36, Y:43.72, Z:10.40 [[ 8.28372013e-01 -5.57423726e-01 -5.54851202e-02 1.46358874e+02] [ 5.56154539e-01 8.30228107e-01 -3.75954722e-02 4.37201263e+01] [ 6.70219145e-02 2.84735495e-04 9.97751463e-01 1.04027487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.40, Y:43.76, Z:10.41 [[ 8.30834291e-01 -5.53747985e-01 -5.54756673e-02 1.46403373e+02] [ 5.52469657e-01 8.32684100e-01 -3.76094158e-02 4.37561753e+01] [ 6.70198443e-02 5.98569429e-04 9.97751463e-01 1.04067461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.45, Y:43.79, Z:10.41 [[ 8.30636503e-01 -5.54045093e-01 -5.54710204e-02 1.46449335e+02] [ 5.52766969e-01 8.32486453e-01 -3.76162684e-02 4.37918577e+01] [ 6.70199819e-02 5.82897850e-04 9.97751463e-01 1.04088333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.50, Y:43.83, Z:10.41 [[ 8.29049554e-01 -5.56418027e-01 -5.54600459e-02 1.46495185e+02] [ 5.55144115e-01 8.30902408e-01 -3.76324417e-02 4.38260426e+01] [ 6.70212546e-02 4.10840899e-04 9.97751463e-01 1.04102952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.54, Y:43.86, Z:10.41 [[ 8.25622907e-01 -5.61490446e-01 -5.54553348e-02 1.46543571e+02] [ 5.60227452e-01 8.27483220e-01 -3.76393829e-02 4.38603008e+01] [ 6.70225128e-02 8.33579902e-06 9.97751463e-01 1.04127231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.59, Y:43.90, Z:10.42 [[ 8.22020605e-01 -5.66752032e-01 -5.54459986e-02 1.46590540e+02] [ 5.65500018e-01 8.23888325e-01 -3.76531308e-02 4.38952064e+01] [ 6.70212993e-02 -4.03063765e-04 9.97751464e-01 1.04151283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.64, Y:43.93, Z:10.42 [[ 8.20014152e-01 -5.69652215e-01 -5.54359413e-02 1.46637565e+02] [ 5.68405806e-01 8.21885617e-01 -3.76679321e-02 4.39288815e+01] [ 6.70196238e-02 -6.21873487e-04 9.97751464e-01 1.04195490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.69, Y:43.96, Z:10.43 [[ 8.20489588e-01 -5.68968330e-01 -5.54245068e-02 1.46685583e+02] [ 5.67719225e-01 8.22359253e-01 -3.76847493e-02 4.39603837e+01] [ 6.70202850e-02 -5.45613627e-04 9.97751464e-01 1.04257754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.73, Y:43.99, Z:10.43 [[ 8.20173005e-01 -5.69424936e-01 -5.54209685e-02 1.46733099e+02] [ 5.68176519e-01 8.22043132e-01 -3.76899522e-02 4.39938213e+01] [ 6.70200251e-02 -5.76611628e-04 9.97751464e-01 1.04296348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.78, Y:44.03, Z:10.43 [[ 8.19849089e-01 -5.69892239e-01 -5.54103523e-02 1.46780480e+02] [ 5.68643834e-01 8.21719223e-01 -3.77055533e-02 4.40296698e+01] [ 6.70198538e-02 -5.95891664e-04 9.97751464e-01 1.04314342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.83, Y:44.06, Z:10.43 [[ 8.19177867e-01 -5.70857569e-01 -5.54008804e-02 1.46828870e+02] [ 5.69610427e-01 8.21048843e-01 -3.77194653e-02 4.40639003e+01] [ 6.70192710e-02 -6.57967976e-04 9.97751464e-01 1.04344405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.88, Y:44.10, Z:10.43 [[ 8.17116752e-01 -5.73804864e-01 -5.53912624e-02 1.46876546e+02] [ 5.72563513e-01 8.18991575e-01 -3.77335841e-02 4.40990831e+01] [ 6.70166913e-02 -8.82272087e-04 9.97751464e-01 1.04329793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.92, Y:44.13, Z:10.44 [[ 8.17543220e-01 -5.73198018e-01 -5.53815474e-02 1.46924580e+02] [ 5.71954310e-01 8.19416480e-01 -3.77478374e-02 4.41305095e+01] [ 6.70175382e-02 -8.15226197e-04 9.97751465e-01 1.04420759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.97, Y:44.17, Z:10.45 [[ 8.16872298e-01 -5.74154114e-01 -5.53778128e-02 1.46972083e+02] [ 5.72912227e-01 8.18746766e-01 -3.77533156e-02 4.41652252e+01] [ 6.70166266e-02 -8.86988411e-04 9.97751465e-01 1.04469018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.02, Y:44.20, Z:10.46 [[ 8.17039769e-01 -5.73916630e-01 -5.53689264e-02 1.47020080e+02] [ 5.72673316e-01 8.18913290e-01 -3.77663438e-02 4.41979031e+01] [ 6.70170824e-02 -8.51701889e-04 9.97751465e-01 1.04553074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.07, Y:44.24, Z:10.45 [[ 8.15460087e-01 -5.76159855e-01 -5.53594478e-02 1.47065460e+02] [ 5.74920752e-01 8.17336395e-01 -3.77802328e-02 4.42358980e+01] [ 6.70147450e-02 -1.01902340e-03 9.97751465e-01 1.04520907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.11, Y:44.27, Z:10.46 [[ 8.19698656e-01 -5.70114640e-01 -5.53480839e-02 1.47112534e+02] [ 5.68860574e-01 8.21564997e-01 -3.77968737e-02 4.42689952e+01] [ 6.70205994e-02 -5.03296168e-04 9.97751465e-01 1.04560812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.16, Y:44.30, Z:10.46 [[ 8.21428086e-01 -5.67621136e-01 -5.53366631e-02 1.47159487e+02] [ 5.66360278e-01 8.23289844e-01 -3.78135870e-02 4.43035499e+01] [ 6.70219039e-02 -2.79345553e-04 9.97751465e-01 1.04578329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.21, Y:44.33, Z:10.47 [[ 8.27530988e-01 -5.58687452e-01 -5.53244490e-02 1.47208890e+02] [ 5.57405302e-01 8.29378147e-01 -3.78314488e-02 4.43332093e+01] [ 6.70208448e-02 4.68555055e-04 9.97751465e-01 1.04682023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:44.37, Z:10.47 [[ 8.29051688e-01 -5.56428712e-01 -5.53207688e-02 1.47255996e+02] [ 5.55141170e-01 8.30895093e-01 -3.78368295e-02 4.43672668e+01] [ 6.70192537e-02 6.57851011e-04 9.97751465e-01 1.04714754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:44.40, Z:10.47 [[ 8.26362375e-01 -5.60415970e-01 -5.53097347e-02 1.47302613e+02] [ 5.59136243e-01 8.28211214e-01 -3.78529523e-02 4.44047332e+01] [ 6.70215415e-02 3.54578247e-04 9.97751466e-01 1.04681535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.35, Y:44.43, Z:10.48 [[ 8.26536540e-01 -5.60160006e-01 -5.53002394e-02 1.47353149e+02] [ 5.58878779e-01 8.28384340e-01 -3.78668192e-02 4.44316236e+01] [ 6.70213299e-02 3.92179452e-04 9.97751466e-01 1.04812674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.40, Y:44.46, Z:10.48 [[ 8.24627978e-01 -5.62966238e-01 -5.52965916e-02 1.47401664e+02] [ 5.61690943e-01 8.26479876e-01 -3.78721453e-02 4.44630112e+01] [ 6.70222593e-02 1.70835913e-04 9.97751466e-01 1.04839984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.45, Y:44.50, Z:10.49 [[ 8.21952772e-01 -5.66866052e-01 -5.52857976e-02 1.47449513e+02] [ 5.65598483e-01 8.23809968e-01 -3.78878958e-02 4.44973001e+01] [ 6.70223531e-02 -1.27502273e-04 9.97751466e-01 1.04850697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.50, Y:44.53, Z:10.49 [[ 8.23611448e-01 -5.64454400e-01 -5.52757941e-02 1.47499689e+02] [ 5.63180414e-01 8.25464247e-01 -3.79024847e-02 4.45253379e+01] [ 6.70224160e-02 8.66756259e-05 9.97751466e-01 1.04921275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.55, Y:44.56, Z:10.49 [[ 8.23976489e-01 -5.63921730e-01 -5.52723004e-02 1.47550672e+02] [ 5.62646205e-01 8.25828229e-01 -3.79075788e-02 4.45560412e+01] [ 6.70223333e-02 1.36203676e-04 9.97751466e-01 1.04941678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.60, Y:44.59, Z:10.50 [[ 8.23940619e-01 -5.63974637e-01 -5.52672158e-02 1.47600123e+02] [ 5.62698733e-01 8.25792098e-01 -3.79149904e-02 4.45872399e+01] [ 6.70223230e-02 1.40908363e-04 9.97751466e-01 1.04977910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.65, Y:44.62, Z:10.50 [[ 8.22609710e-01 -5.65915197e-01 -5.52562636e-02 1.47650343e+02] [ 5.64642590e-01 8.24463455e-01 -3.79309451e-02 4.46157684e+01] [ 6.70224683e-02 2.32396547e-06 9.97751466e-01 1.05030028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.70, Y:44.64, Z:10.51 [[ 8.20483176e-01 -5.68994266e-01 -5.52528982e-02 1.47701644e+02] [ 5.67728285e-01 8.22341454e-01 -3.79358467e-02 4.46444135e+01] [ 6.70220279e-02 -2.42909082e-04 9.97751466e-01 1.05098566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.75, Y:44.67, Z:10.51 [[ 8.19629781e-01 -5.70223806e-01 -5.52434009e-02 1.47751163e+02] [ 5.68959680e-01 8.21489321e-01 -3.79496721e-02 4.46747136e+01] [ 6.70216703e-02 -3.26586287e-04 9.97751467e-01 1.05138791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.80, Y:44.70, Z:10.52 [[ 8.19465604e-01 -5.70460766e-01 -5.52325809e-02 1.47799617e+02] [ 5.69196117e-01 8.21324788e-01 -3.79654131e-02 4.47042219e+01] [ 6.70216665e-02 -3.26820373e-04 9.97751467e-01 1.05163245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.85, Y:44.74, Z:10.52 [[ 8.18441143e-01 -5.71930029e-01 -5.52280527e-02 1.47847745e+02] [ 5.70668273e-01 8.20302292e-01 -3.79719991e-02 4.47390401e+01] [ 6.70210247e-02 -4.39051152e-04 9.97751467e-01 1.05154816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.90, Y:44.77, Z:10.52 [[ 8.21274772e-01 -5.67854495e-01 -5.52179520e-02 1.47897368e+02] [ 5.66582516e-01 8.23128948e-01 -3.79866816e-02 4.47687809e+01] [ 6.70224027e-02 -8.80228910e-05 9.97751467e-01 1.05174843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.95, Y:44.80, Z:10.52 [[ 8.23327945e-01 -5.64874614e-01 -5.52065749e-02 1.47947320e+02] [ 5.63594816e-01 8.25176732e-01 -3.80032089e-02 4.47972884e+01] [ 6.70222291e-02 1.74964468e-04 9.97751467e-01 1.05205852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.00, Y:44.82, Z:10.53 [[ 8.25911768e-01 -5.61090454e-01 -5.52019308e-02 1.47999604e+02] [ 5.59801735e-01 8.27754348e-01 -3.80099536e-02 4.48232622e+01] [ 6.70206604e-02 4.90731329e-04 9.97751467e-01 1.05303768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:44.85, Z:10.53 [[ 8.26016295e-01 -5.60937508e-01 -5.51923211e-02 1.48050923e+02] [ 5.59647515e-01 8.27857984e-01 -3.80239023e-02 4.48513552e+01] [ 6.70204367e-02 5.20117589e-04 9.97751467e-01 1.05344959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.10, Y:44.89, Z:10.53 [[ 8.22980981e-01 -5.65382443e-01 -5.51815093e-02 1.48098759e+02] [ 5.64101346e-01 8.24828868e-01 -3.80395862e-02 4.48864980e+01] [ 6.70222161e-02 1.77892304e-04 9.97751468e-01 1.05339150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:44.91, Z:10.54 [[ 8.25348259e-01 -5.61922019e-01 -5.51715042e-02 1.48152333e+02] [ 5.60632205e-01 8.27190073e-01 -3.80540919e-02 4.49107242e+01] [ 6.70207527e-02 4.76956466e-04 9.97751468e-01 1.05447529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:44.95, Z:10.54 [[ 8.20682863e-01 -5.68715066e-01 -5.51616965e-02 1.48196900e+02] [ 5.67439542e-01 8.22534601e-01 -3.80683034e-02 4.49493825e+01] [ 6.70224217e-02 -5.89235506e-05 9.97751468e-01 1.05414236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.25, Y:44.98, Z:10.55 [[ 8.24680837e-01 -5.62902393e-01 -5.51580755e-02 1.48247286e+02] [ 5.61613467e-01 8.26523272e-01 -3.80735492e-02 4.49774758e+01] [ 6.70211250e-02 4.21008413e-04 9.97751468e-01 1.05519614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.29, Y:45.02, Z:10.55 [[ 8.21680704e-01 -5.67273126e-01 -5.51545246e-02 1.48290028e+02] [ 5.65993656e-01 8.23529717e-01 -3.80786926e-02 4.50196867e+01] [ 6.70224090e-02 7.14159183e-05 9.97751468e-01 1.05459503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.34, Y:45.05, Z:10.55 [[ 8.22516495e-01 -5.66061550e-01 -5.51446945e-02 1.48336762e+02] [ 5.64778402e-01 8.24362958e-01 -3.80929230e-02 4.50544361e+01] [ 6.70221825e-02 1.87525068e-04 9.97751468e-01 1.05482262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.38, Y:45.09, Z:10.55 [[ 8.20947979e-01 -5.68335031e-01 -5.51335459e-02 1.48384661e+02] [ 5.67055913e-01 8.22797236e-01 -3.81090519e-02 4.50872837e+01] [ 6.70224384e-02 2.17459345e-05 9.97751468e-01 1.05518993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:45.11, Z:10.57 [[ 8.21608068e-01 -5.67381477e-01 -5.51220637e-02 1.48437125e+02] [ 5.66099099e-01 8.23455066e-01 -3.81256530e-02 4.51117667e+01] [ 6.70223319e-02 1.19793505e-04 9.97751468e-01 1.05651463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.49, Y:45.14, Z:10.57 [[ 8.16891033e-01 -5.74152406e-01 -5.51185491e-02 1.48486984e+02] [ 5.72884993e-01 8.18748332e-01 -3.81307334e-02 4.51433326e+01] [ 6.70210725e-02 -4.27935456e-04 9.97751468e-01 1.05710254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.53, Y:45.17, Z:10.58 [[ 8.10144382e-01 -5.83634374e-01 -5.51089528e-02 1.48534860e+02] [ 5.82387752e-01 8.12015699e-01 -3.81445975e-02 4.51745531e+01] [ 6.70118332e-02 -1.19214782e-03 9.97751469e-01 1.05771496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:45.21, Z:10.58 [[ 8.07854288e-01 -5.86800735e-01 -5.51030475e-02 1.48583160e+02] [ 5.85560865e-01 8.09730086e-01 -3.81531263e-02 4.52084890e+01] [ 6.70068780e-02 -1.44402153e-03 9.97751469e-01 1.05823821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.63, Y:45.24, Z:10.59 [[ 8.08265924e-01 -5.86234495e-01 -5.50936706e-02 1.48628978e+02] [ 5.84992389e-01 8.10140241e-01 -3.81666620e-02 4.52424178e+01] [ 6.70082134e-02 -1.38056566e-03 9.97751469e-01 1.05863117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.67, Y:45.29, Z:10.58 [[ 8.07539897e-01 -5.87234628e-01 -5.50890682e-02 1.48670843e+02] [ 5.85994390e-01 8.09415452e-01 -3.81733038e-02 4.52863697e+01] [ 6.70066289e-02 -1.45541910e-03 9.97751469e-01 1.05817860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.72, Y:45.32, Z:10.59 [[ 8.14567763e-01 -5.77447518e-01 -5.50792436e-02 1.48720292e+02] [ 5.76183781e-01 8.16427564e-01 -3.81874742e-02 4.53153591e+01] [ 6.70194749e-02 -6.29481374e-04 9.97751469e-01 1.05927323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.77, Y:45.35, Z:10.59 [[ 8.19527065e-01 -5.70387628e-01 -5.50758090e-02 1.48765653e+02] [ 5.69107535e-01 8.21375646e-01 -3.81924271e-02 4.53520863e+01] [ 6.70224161e-02 -4.43301685e-05 9.97751469e-01 1.05942648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:45.39, Z:10.59 [[ 8.18706065e-01 -5.71565738e-01 -5.50725551e-02 1.48808819e+02] [ 5.70287989e-01 8.20556268e-01 -3.81971185e-02 4.53936651e+01] [ 6.70222946e-02 -1.35004126e-04 9.97751469e-01 1.05896912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.86, Y:45.42, Z:10.60 [[ 8.24899436e-01 -5.62591377e-01 -5.50623502e-02 1.48859654e+02] [ 5.61292519e-01 8.26734882e-01 -3.82118236e-02 4.54210319e+01] [ 6.70196080e-02 6.14826442e-04 9.97751469e-01 1.05999305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.91, Y:45.45, Z:10.61 [[ 8.25141009e-01 -5.62237358e-01 -5.50587746e-02 1.48908071e+02] [ 5.60937369e-01 8.26975653e-01 -3.82169749e-02 4.54538829e+01] [ 6.70192771e-02 6.49869028e-04 9.97751469e-01 1.06064147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.96, Y:45.48, Z:10.61 [[ 8.23446736e-01 -5.64716799e-01 -5.50491611e-02 1.48957172e+02] [ 5.63421409e-01 8.25284630e-01 -3.82308176e-02 4.54847406e+01] [ 6.70208115e-02 4.65165986e-04 9.97751469e-01 1.06128089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.01, Y:45.52, Z:10.62 [[ 8.20990157e-01 -5.68282609e-01 -5.50457860e-02 1.49006338e+02] [ 5.66994876e-01 8.22833424e-01 -3.82356766e-02 4.55153415e+01] [ 6.70221826e-02 1.80435530e-04 9.97751469e-01 1.06177331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:45.55, Z:10.62 [[ 8.16689011e-01 -5.74447754e-01 -5.50348670e-02 1.49056457e+02] [ 5.73172877e-01 8.18541193e-01 -3.82513865e-02 4.55455642e+01] [ 6.70217287e-02 -3.05005981e-04 9.97751469e-01 1.06214566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.10, Y:45.58, Z:10.62 [[ 8.10259548e-01 -5.83482363e-01 -5.50254216e-02 1.49102387e+02] [ 5.82227213e-01 8.12125154e-01 -3.82649691e-02 4.55836801e+01] [ 6.70144636e-02 -1.03274122e-03 9.97751470e-01 1.06155895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.16, Y:45.61, Z:10.63 [[ 8.14504245e-01 -5.77543135e-01 -5.50160171e-02 1.49156492e+02] [ 5.76273466e-01 8.16360000e-01 -3.82784858e-02 4.56086411e+01] [ 6.70203524e-02 -5.26281689e-04 9.97751470e-01 1.06269960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.20, Y:45.65, Z:10.62 [[ 8.11822144e-01 -5.81308102e-01 -5.50063373e-02 1.49199716e+02] [ 5.80046096e-01 8.13683120e-01 -3.82923907e-02 4.56499890e+01] [ 6.70174051e-02 -8.19600502e-04 9.97751470e-01 1.06208384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.25, Y:45.68, Z:10.62 [[ 8.13476566e-01 -5.78991620e-01 -5.49961930e-02 1.49246788e+02] [ 5.77723330e-01 8.15333264e-01 -3.83069545e-02 4.56830697e+01] [ 6.70196312e-02 -6.10773988e-04 9.97751470e-01 1.06247197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.30, Y:45.71, Z:10.64 [[ 8.18941510e-01 -5.71236811e-01 -5.49846241e-02 1.49298775e+02] [ 5.69949824e-01 8.20785297e-01 -3.83235531e-02 4.57098088e+01] [ 6.70223952e-02 4.62716185e-05 9.97751470e-01 1.06356224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.34, Y:45.75, Z:10.63 [[ 8.14554145e-01 -5.77476530e-01 -5.49763775e-02 1.49342888e+02] [ 5.76202868e-01 8.16407162e-01 -3.83353794e-02 4.57506654e+01] [ 6.70208902e-02 -4.51304242e-04 9.97751470e-01 1.06336992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.39, Y:45.78, Z:10.65 [[ 8.16097590e-01 -5.75294191e-01 -5.49665121e-02 1.49393510e+02] [ 5.74014621e-01 8.17946532e-01 -3.83495195e-02 4.57779978e+01] [ 6.70219238e-02 -2.54631151e-04 9.97751471e-01 1.06481412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.44, Y:45.82, Z:10.64 [[ 8.10204304e-01 -5.83564959e-01 -5.49629389e-02 1.49438721e+02] [ 5.82303913e-01 8.12065930e-01 -3.83546400e-02 4.58173622e+01] [ 6.70159540e-02 -9.30040025e-04 9.97751471e-01 1.06449553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.49, Y:45.84, Z:10.66 [[ 8.12682264e-01 -5.80110109e-01 -5.49527044e-02 1.49490396e+02] [ 5.78840158e-01 8.14537825e-01 -3.83692980e-02 4.58425795e+01] [ 6.70194739e-02 -6.26784153e-04 9.97751471e-01 1.06583675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.54, Y:45.88, Z:10.66 [[ 8.13001895e-01 -5.79662579e-01 -5.49473610e-02 1.49536447e+02] [ 5.78391090e-01 8.14856403e-01 -3.83769486e-02 4.58761384e+01] [ 6.70198899e-02 -5.80532081e-04 9.97751471e-01 1.06602651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.58, Y:45.91, Z:10.66 [[ 8.14129545e-01 -5.78078162e-01 -5.49428972e-02 1.49583708e+02] [ 5.76802632e-01 8.15981276e-01 -3.83833381e-02 4.59113695e+01] [ 6.70209449e-02 -4.42198132e-04 9.97751471e-01 1.06641869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.63, Y:45.94, Z:10.67 [[ 8.16655740e-01 -5.74504780e-01 -5.49332308e-02 1.49629767e+02] [ 5.73220217e-01 8.18501216e-01 -3.83971674e-02 4.59445197e+01] [ 6.70222724e-02 -1.31571307e-04 9.97751471e-01 1.06682933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:45.98, Z:10.67 [[ 8.18963886e-01 -5.71210116e-01 -5.49286478e-02 1.49676753e+02] [ 5.69917689e-01 8.20803863e-01 -3.84037224e-02 4.59789914e+01] [ 6.70222411e-02 1.46453733e-04 9.97751471e-01 1.06721719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.72, Y:46.01, Z:10.68 [[ 8.20192295e-01 -5.69445895e-01 -5.49178635e-02 1.49723848e+02] [ 5.68148478e-01 8.22028757e-01 -3.84191380e-02 4.60125728e+01] [ 6.70216835e-02 3.09580377e-04 9.97751471e-01 1.06763905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.77, Y:46.05, Z:10.68 [[ 8.21177769e-01 -5.68024916e-01 -5.49068894e-02 1.49771026e+02] [ 5.66723272e-01 8.23011238e-01 -3.84348153e-02 4.60463603e+01] [ 6.70209197e-02 4.44803861e-04 9.97751471e-01 1.06807807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:46.08, Z:10.68 [[ 8.18772549e-01 -5.71487480e-01 -5.48960171e-02 1.49815817e+02] [ 5.70192550e-01 8.20610765e-01 -3.84503379e-02 4.60846870e+01] [ 6.70221493e-02 1.80781183e-04 9.97751471e-01 1.06774278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.86, Y:46.12, Z:10.68 [[ 8.16011495e-01 -5.75423363e-01 -5.48925650e-02 1.49863092e+02] [ 5.74136967e-01 8.17855693e-01 -3.84552655e-02 4.61192009e+01] [ 6.70222550e-02 -1.35912147e-04 9.97751471e-01 1.06787040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.92, Y:46.14, Z:10.69 [[ 8.18776469e-01 -5.71483183e-01 -5.48822912e-02 1.49915662e+02] [ 5.70186930e-01 8.20613752e-01 -3.84699224e-02 4.61442153e+01] [ 6.70220766e-02 2.05102122e-04 9.97751472e-01 1.06925274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.96, Y:46.18, Z:10.69 [[ 8.13249808e-01 -5.79321223e-01 -5.48786997e-02 1.49961162e+02] [ 5.78042331e-01 8.15099217e-01 -3.84750451e-02 4.61826665e+01] [ 6.70209954e-02 -4.32388511e-04 9.97751472e-01 1.06886517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.01, Y:46.21, Z:10.69 [[ 8.11471102e-01 -5.81811048e-01 -5.48685291e-02 1.50009003e+02] [ 5.80536851e-01 8.13323748e-01 -3.84895438e-02 4.62149078e+01] [ 6.70195196e-02 -6.20050560e-04 9.97751472e-01 1.06916200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:46.24, Z:10.70 [[ 8.14579088e-01 -5.77452696e-01 -5.48570283e-02 1.50061566e+02] [ 5.76167483e-01 8.16424109e-01 -3.85059283e-02 4.62404626e+01] [ 6.70219526e-02 -2.40711948e-04 9.97751472e-01 1.07043096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.11, Y:46.27, Z:10.71 [[ 8.14652698e-01 -5.77349795e-01 -5.48470176e-02 1.50109468e+02] [ 5.76063388e-01 8.16496888e-01 -3.85201821e-02 4.62734802e+01] [ 6.70220384e-02 -2.14788576e-04 9.97751472e-01 1.07093484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.16, Y:46.31, Z:10.71 [[ 8.15454838e-01 -5.76217340e-01 -5.48359791e-02 1.50156594e+02] [ 5.74927316e-01 8.17296499e-01 -3.85358897e-02 4.63067035e+01] [ 6.70223016e-02 -1.02424564e-04 9.97751472e-01 1.07144425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.20, Y:46.34, Z:10.72 [[ 8.17323190e-01 -5.73565196e-01 -5.48249018e-02 1.50202669e+02] [ 5.72268139e-01 8.19159904e-01 -3.85516429e-02 4.63413224e+01] [ 6.70222419e-02 1.34607234e-04 9.97751473e-01 1.07175985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.25, Y:46.37, Z:10.72 [[ 8.17991553e-01 -5.72612657e-01 -5.48138993e-02 1.50249978e+02] [ 5.71312414e-01 8.19826013e-01 -3.85672803e-02 4.63749924e+01] [ 6.70219734e-02 2.31848333e-04 9.97751473e-01 1.07216992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.30, Y:46.41, Z:10.73 [[ 8.17984123e-01 -5.72624313e-01 -5.48030135e-02 1.50298045e+02] [ 5.71323059e-01 8.19817866e-01 -3.85827425e-02 4.64093140e+01] [ 6.70219060e-02 2.49845447e-04 9.97751473e-01 1.07280322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:46.44, Z:10.73 [[ 8.17378041e-01 -5.73490030e-01 -5.47934607e-02 1.50344538e+02] [ 5.72189810e-01 8.19212516e-01 -3.85963043e-02 4.64435392e+01] [ 6.70220845e-02 1.95511760e-04 9.97751473e-01 1.07324450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.39, Y:46.48, Z:10.74 [[ 8.15868956e-01 -5.75635933e-01 -5.47824659e-02 1.50392044e+02] [ 5.74339490e-01 8.17706103e-01 -3.86119037e-02 4.64772081e+01] [ 6.70223559e-02 3.85200327e-05 9.97751473e-01 1.07378336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.43, Y:46.52, Z:10.73 [[ 8.10161243e-01 -5.83642757e-01 -5.47712846e-02 1.50434974e+02] [ 5.82363397e-01 8.12010326e-01 -3.86277580e-02 4.65175104e+01] [ 6.70196598e-02 -6.02078954e-04 9.97751473e-01 1.07318359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.49, Y:46.54, Z:10.75 [[ 8.12078897e-01 -5.80972655e-01 -5.47598300e-02 1.50486978e+02] [ 5.79686121e-01 8.13922996e-01 -3.86439895e-02 4.65431924e+01] [ 6.70213861e-02 -3.61545089e-04 9.97751474e-01 1.07451923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.54, Y:46.58, Z:10.75 [[ 8.10662663e-01 -5.82947502e-01 -5.47563382e-02 1.50535182e+02] [ 5.81665126e-01 8.12509656e-01 -3.86489366e-02 4.65777074e+01] [ 6.70203545e-02 -5.18602482e-04 9.97751474e-01 1.07475814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.58, Y:46.61, Z:10.75 [[ 8.09280911e-01 -5.84865116e-01 -5.47467214e-02 1.50582547e+02] [ 5.83586195e-01 8.11130298e-01 -3.86625541e-02 4.66119761e+01] [ 6.70191036e-02 -6.60563893e-04 9.97751474e-01 1.07510555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.63, Y:46.65, Z:10.76 [[ 8.08737973e-01 -5.85616536e-01 -5.47372299e-02 1.50629233e+02] [ 5.84338424e-01 8.10587919e-01 -3.86759872e-02 4.66461675e+01] [ 6.70186349e-02 -7.06327165e-04 9.97751474e-01 1.07562399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:46.68, Z:10.76 [[ 8.09557728e-01 -5.84483829e-01 -5.47260272e-02 1.50673570e+02] [ 5.83202058e-01 8.11405141e-01 -3.86918324e-02 4.66813355e+01] [ 6.70197302e-02 -5.93059717e-04 9.97751474e-01 1.07600628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.72, Y:46.72, Z:10.75 [[ 8.07448713e-01 -5.87394388e-01 -5.47211986e-02 1.50715318e+02] [ 5.86118813e-01 8.09300408e-01 -3.86986602e-02 4.67247199e+01] [ 6.70172642e-02 -8.25940640e-04 9.97751474e-01 1.07530211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.76, Y:46.76, Z:10.76 [[ 8.10057539e-01 -5.83791846e-01 -5.47162062e-02 1.50761711e+02] [ 5.82507559e-01 8.11903203e-01 -3.87057177e-02 4.67583088e+01] [ 6.70203455e-02 -5.18745238e-04 9.97751474e-01 1.07604171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.81, Y:46.80, Z:10.76 [[ 8.12793859e-01 -5.79977218e-01 -5.47043839e-02 1.50806850e+02] [ 5.78683144e-01 8.14632674e-01 -3.87224195e-02 4.67956556e+01] [ 6.70220997e-02 -1.83160147e-04 9.97751474e-01 1.07635631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.86, Y:46.82, Z:10.78 [[ 8.19285526e-01 -5.70771368e-01 -5.46925330e-02 1.50857140e+02] [ 5.69455516e-01 8.21108819e-01 -3.87391508e-02 4.68239803e+01] [ 6.70197193e-02 5.93460949e-04 9.97751475e-01 1.07793967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.90, Y:46.86, Z:10.78 [[ 8.21495430e-01 -5.67587085e-01 -5.46823464e-02 1.50903526e+02] [ 5.66263210e-01 8.23312906e-01 -3.87535245e-02 4.68592286e+01] [ 6.70166815e-02 8.71242287e-04 9.97751475e-01 1.07833608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.95, Y:46.90, Z:10.78 [[ 8.19507436e-01 -5.70454011e-01 -5.46789155e-02 1.50945666e+02] [ 5.69136172e-01 8.21329293e-01 -3.87583646e-02 4.69018405e+01] [ 6.70192596e-02 6.43019370e-04 9.97751475e-01 1.07755344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:46.93, Z:10.78 [[ 8.21498767e-01 -5.67583123e-01 -5.46733444e-02 1.50993494e+02] [ 5.66258393e-01 8.23315621e-01 -3.87662217e-02 4.69347017e+01] [ 6.70164717e-02 8.87163207e-04 9.97751475e-01 1.07825973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.04, Y:46.96, Z:10.79 [[ 8.24361037e-01 -5.63418238e-01 -5.46696393e-02 1.51043196e+02] [ 5.62083985e-01 8.26170908e-01 -3.87714461e-02 4.69647415e+01] [ 6.70110054e-02 1.23274084e-03 9.97751475e-01 1.07937739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.09, Y:47.00, Z:10.79 [[ 8.23877235e-01 -5.64126384e-01 -5.46600785e-02 1.51088734e+02] [ 5.62792793e-01 8.25687594e-01 -3.87849203e-02 4.70005134e+01] [ 6.70117455e-02 1.19171463e-03 9.97751475e-01 1.07946421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.13, Y:47.04, Z:10.79 [[ 8.19635196e-01 -5.70272546e-01 -5.46568265e-02 1.51134381e+02] [ 5.68952226e-01 8.21455257e-01 -3.87895025e-02 4.70386460e+01] [ 6.70187258e-02 6.96118394e-04 9.97751475e-01 1.07930991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.18, Y:47.07, Z:10.81 [[ 8.17672496e-01 -5.73083718e-01 -5.46510889e-02 1.51184580e+02] [ 5.71769116e-01 8.19496690e-01 -3.87975847e-02 4.70669140e+01] [ 6.70206505e-02 4.75913089e-04 9.97751475e-01 1.08066488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.7 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:151.23, Y:47.10, Z:10.81 [[ 8.13831744e-01 -5.78525472e-01 -5.46458589e-02 1.51232354e+02] [ 5.77222574e-01 8.15664316e-01 -3.88049496e-02 4.71003038e+01] [ 6.70223289e-02 3.78765222e-05 9.97751475e-01 1.08106567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.28, Y:47.13, Z:10.82 [[ 8.07329677e-01 -5.87566016e-01 -5.46348847e-02 1.51280346e+02] [ 5.86282591e-01 8.09175939e-01 -3.88203945e-02 4.71337119e+01] [ 6.70187786e-02 -6.90625180e-04 9.97751475e-01 1.08163532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.33, Y:47.17, Z:10.81 [[ 7.99859588e-01 -5.97696194e-01 -5.46250814e-02 1.51326813e+02] [ 5.96435203e-01 8.01721245e-01 -3.88341841e-02 4.71708323e+01] [ 6.70051323e-02 -1.51842704e-03 9.97751475e-01 1.08135630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.38, Y:47.20, Z:10.82 [[ 7.96929752e-01 -6.01597995e-01 -5.46152356e-02 1.51376962e+02] [ 6.00345170e-01 7.98796913e-01 -3.88480260e-02 4.71998450e+01] [ 6.69973761e-02 -1.82884515e-03 9.97751476e-01 1.08246592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.43, Y:47.23, Z:10.83 [[ 7.89078491e-01 -6.11860576e-01 -5.46055824e-02 1.51425189e+02] [ 6.10631082e-01 7.90961098e-01 -3.88615900e-02 4.72340772e+01] [ 6.69687662e-02 -2.67902108e-03 9.97751476e-01 1.08297076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:47.27, Z:10.83 [[ 7.86765060e-01 -6.14833329e-01 -5.45959519e-02 1.51472604e+02] [ 6.13610011e-01 7.88651685e-01 -3.88751150e-02 4.72678083e+01] [ 6.69589058e-02 -2.91504051e-03 9.97751476e-01 1.08341902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.52, Y:47.30, Z:10.84 [[ 7.82091171e-01 -6.20768784e-01 -5.45849618e-02 1.51519275e+02] [ 6.19558703e-01 7.83986313e-01 -3.88905402e-02 4.73027000e+01] [ 6.69358963e-02 -3.40264000e-03 9.97751476e-01 1.08381920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.56, Y:47.34, Z:10.84 [[ 7.80539980e-01 -6.22719055e-01 -5.45739606e-02 1.51564977e+02] [ 6.21512635e-01 7.82437455e-01 -3.89059717e-02 4.73382515e+01] [ 6.69282008e-02 -3.55073965e-03 9.97751476e-01 1.08412650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:47.38, Z:10.84 [[ 7.80532760e-01 -6.22729070e-01 -5.45629497e-02 1.51608786e+02] [ 6.21521599e-01 7.82429566e-01 -3.89214077e-02 4.73761030e+01] [ 6.69291571e-02 -3.53261795e-03 9.97751476e-01 1.08444453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.65, Y:47.41, Z:10.85 [[ 7.82350428e-01 -6.20444915e-01 -5.45519546e-02 1.51653600e+02] [ 6.19230834e-01 7.84243010e-01 -3.89368123e-02 4.74125812e+01] [ 6.69401363e-02 -3.31802066e-03 9.97751477e-01 1.08480360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.70, Y:47.45, Z:10.85 [[ 7.87690172e-01 -6.13652580e-01 -5.45408506e-02 1.51697638e+02] [ 6.12421096e-01 7.89571476e-01 -3.89523601e-02 4.74521165e+01] [ 6.69671161e-02 -2.71957633e-03 9.97751477e-01 1.08510833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.74, Y:47.49, Z:10.85 [[ 7.92571317e-01 -6.07336030e-01 -5.45312193e-02 1.51741746e+02] [ 6.06088619e-01 7.94442099e-01 -3.89658388e-02 4.74908152e+01] [ 6.69872541e-02 -2.16754522e-03 9.97751477e-01 1.08544398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:151.79, Y:47.53, Z:10.86 [[ 7.97679856e-01 -6.00611690e-01 -5.45201316e-02 1.51786038e+02] [ 5.99347444e-01 7.99539302e-01 -3.89813463e-02 4.75290410e+01] [ 6.70036402e-02 -1.58186681e-03 9.97751477e-01 1.08580874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:47.57, Z:10.86 [[ 8.03902927e-01 -5.92257407e-01 -5.45091585e-02 1.51829979e+02] [ 5.90972792e-01 8.05748359e-01 -3.89966844e-02 4.75672471e+01] [ 6.70167401e-02 -8.63880880e-04 9.97751477e-01 1.08645036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:151.87, Y:47.61, Z:10.87 [[ 8.06567793e-01 -5.88624119e-01 -5.44980853e-02 1.51874023e+02] [ 5.87330145e-01 8.08406675e-01 -3.90121531e-02 4.76062013e+01] [ 6.70201102e-02 -5.42422099e-04 9.97751477e-01 1.08713604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.6 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:151.92, Y:47.64, Z:10.88 [[ 8.07017373e-01 -5.88008478e-01 -5.44884305e-02 1.51919947e+02] [ 5.86712191e-01 8.08854625e-01 -3.90256333e-02 4.76430614e+01] [ 6.70206223e-02 -4.74662402e-04 9.97751478e-01 1.08768673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:47.68, Z:10.88 [[ 8.06993704e-01 -5.88041860e-01 -5.44787333e-02 1.51965713e+02] [ 5.86744736e-01 8.08830364e-01 -3.90391658e-02 4.76792077e+01] [ 6.70207173e-02 -4.60749005e-04 9.97751478e-01 1.08813182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:47.72, Z:10.88 [[ 8.06651163e-01 -5.88512678e-01 -5.44676846e-02 1.52010887e+02] [ 5.87215585e-01 8.08487846e-01 -3.90545748e-02 4.77170930e+01] [ 6.70205734e-02 -4.80855126e-04 9.97751478e-01 1.08830728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:47.75, Z:10.89 [[ 8.06154024e-01 -5.89194371e-01 -5.44580841e-02 1.52056133e+02] [ 5.87897928e-01 8.07991164e-01 -3.90679573e-02 4.77530545e+01] [ 6.70202713e-02 -5.21003756e-04 9.97751478e-01 1.08869943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:152.10, Y:47.79, Z:10.89 [[ 8.05020331e-01 -5.90743438e-01 -5.44468231e-02 1.52102510e+02] [ 5.89449468e-01 8.06859215e-01 -3.90836449e-02 4.77895309e+01] [ 6.70193277e-02 -6.30522173e-04 9.97751478e-01 1.08900544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.9 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:152.15, Y:47.82, Z:10.89 [[ 8.03529149e-01 -5.92771052e-01 -5.44369917e-02 1.52150076e+02] [ 5.91480795e-01 8.05370640e-01 -3.90973336e-02 4.78247248e+01] [ 6.70177224e-02 -7.82587902e-04 9.97751478e-01 1.08937568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95999999999998 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:152.20, Y:47.86, Z:10.90 [[ 8.00564283e-01 -5.96770058e-01 -5.44272568e-02 1.52197165e+02] [ 5.95488078e-01 8.02411545e-01 -3.91108808e-02 4.78581450e+01] [ 6.70132618e-02 -1.10000830e-03 9.97751478e-01 1.08982842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01999999999998 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:47.89, Z:10.90 [[ 7.96475770e-01 -6.02216235e-01 -5.44238404e-02 1.52244902e+02] [ 6.00946559e-01 7.98331510e-01 -3.91156342e-02 4.78920185e+01] [ 6.70043367e-02 -1.55116472e-03 9.97751478e-01 1.09024445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07999999999998 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:152.29, Y:47.93, Z:10.91 [[ 7.96759633e-01 -6.01841467e-01 -5.44144827e-02 1.52291459e+02] [ 6.00570030e-01 7.98614167e-01 -3.91286476e-02 4.79264652e+01] [ 6.70054195e-02 -1.50358056e-03 9.97751479e-01 1.09122962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:152.34, Y:47.96, Z:10.92 [[ 7.96693745e-01 -6.01929023e-01 -5.44107303e-02 1.52336519e+02] [ 6.00657434e-01 7.98548175e-01 -3.91338648e-02 4.79604246e+01] [ 6.70053984e-02 -1.50450430e-03 9.97751479e-01 1.09162049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.2 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:152.38, Y:48.00, Z:10.92 [[ 7.97535563e-01 -6.00813632e-01 -5.44059383e-02 1.52382724e+02] [ 5.99538995e-01 7.99387899e-01 -3.91405259e-02 4.79955427e+01] [ 6.70076102e-02 -1.40252019e-03 9.97751479e-01 1.09214842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:152.43, Y:48.03, Z:10.93 [[ 7.98258619e-01 -5.99853641e-01 -5.43947249e-02 1.52429403e+02] [ 5.98575716e-01 8.00108688e-01 -3.91561032e-02 4.80307690e+01] [ 6.70096231e-02 -1.30266446e-03 9.97751479e-01 1.09259496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:152.48, Y:48.07, Z:10.93 [[ 7.98281453e-01 -5.99824139e-01 -5.43849688e-02 1.52476601e+02] [ 5.98545223e-01 8.00130836e-01 -3.91696491e-02 4.80650582e+01] [ 6.70099916e-02 -1.28345891e-03 9.97751479e-01 1.09305122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:152.52, Y:48.10, Z:10.93 [[ 7.97050952e-01 -6.01459297e-01 -5.43736544e-02 1.52523311e+02] [ 6.00183104e-01 7.98902215e-01 -3.91853489e-02 4.80983782e+01] [ 6.70076254e-02 -1.40142907e-03 9.97751479e-01 1.09339052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:152.57, Y:48.13, Z:10.94 [[ 7.93131625e-01 -6.06618586e-01 -5.43701839e-02 1.52571545e+02] [ 6.05354103e-01 7.94990906e-01 -3.91901637e-02 4.81315455e+01] [ 6.69972835e-02 -1.83025567e-03 9.97751479e-01 1.09387965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.5 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:152.62, Y:48.17, Z:10.94 [[ 7.89161772e-01 -6.11774996e-01 -5.43603928e-02 1.52619490e+02] [ 6.10521724e-01 7.91028628e-01 -3.92037403e-02 4.81660772e+01] [ 6.69844950e-02 -2.25010761e-03 9.97751479e-01 1.09429888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.67, Y:48.20, Z:10.95 [[ 7.85132316e-01 -6.16938615e-01 -5.43506381e-02 1.52665905e+02] [ 6.15696683e-01 7.87006735e-01 -3.92172592e-02 4.82003779e+01] [ 6.69689598e-02 -2.67277004e-03 9.97751479e-01 1.09462059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:152.71, Y:48.24, Z:10.95 [[ 7.78841376e-01 -6.24862647e-01 -5.43395296e-02 1.52711178e+02] [ 6.23638702e-01 7.80727590e-01 -3.92326451e-02 4.82365335e+01] [ 6.69393844e-02 -3.33222638e-03 9.97751480e-01 1.09501296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:152.75, Y:48.27, Z:10.95 [[ 7.72943950e-01 -6.32144048e-01 -5.43281942e-02 1.52753727e+02] [ 6.30936761e-01 7.74840868e-01 -3.92483358e-02 4.82739272e+01] [ 6.69063070e-02 -3.94089117e-03 9.97751480e-01 1.09549386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.80, Y:48.31, Z:10.96 [[ 7.69485203e-01 -6.36350138e-01 -5.43233337e-02 1.52798153e+02] [ 6.35152742e-01 7.71388381e-01 -3.92550619e-02 4.83121642e+01] [ 6.68843525e-02 -4.29742511e-03 9.97751480e-01 1.09588193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.84, Y:48.35, Z:10.96 [[ 7.67078679e-01 -6.39249960e-01 -5.43119535e-02 1.52841084e+02] [ 6.38058650e-01 7.68985672e-01 -3.92708010e-02 4.83504190e+01] [ 6.68689720e-02 -4.53041755e-03 9.97751480e-01 1.09628797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85999999999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:152.88, Y:48.39, Z:10.97 [[ 7.65254124e-01 -6.41433430e-01 -5.43072694e-02 1.52883632e+02] [ 6.40247103e-01 7.67164221e-01 -3.92772775e-02 4.83903092e+01] [ 6.68563529e-02 -4.71297335e-03 9.97751480e-01 1.09671169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.93, Y:48.43, Z:10.97 [[ 7.64366288e-01 -6.42492081e-01 -5.42964453e-02 1.52926967e+02] [ 6.41307345e-01 7.66277371e-01 -3.92922349e-02 4.84305026e+01] [ 6.68510872e-02 -4.78704948e-03 9.97751480e-01 1.09747898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.97, Y:48.47, Z:10.97 [[ 7.61944908e-01 -6.45362647e-01 -5.42863729e-02 1.52967847e+02] [ 6.44184125e-01 7.63859830e-01 -3.93061461e-02 4.84726078e+01] [ 6.68338981e-02 -5.02130178e-03 9.97751480e-01 1.09724253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.01, Y:48.52, Z:10.97 [[ 7.56805424e-01 -6.51382316e-01 -5.42828555e-02 1.53006604e+02] [ 6.50218666e-01 7.58729419e-01 -3.93110031e-02 4.85184259e+01] [ 6.67924917e-02 -5.54494552e-03 9.97751480e-01 1.09739924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.04, Y:48.57, Z:10.98 [[ 7.50764400e-01 -6.58336206e-01 -5.42794248e-02 1.53043561e+02] [ 6.57190016e-01 7.52698848e-01 -3.93157395e-02 4.85671468e+01] [ 6.67390353e-02 -6.15503842e-03 9.97751480e-01 1.09758878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.08, Y:48.61, Z:10.98 [[ 7.47771904e-01 -6.61734177e-01 -5.42683927e-02 1.53082671e+02] [ 6.60595683e-01 7.49710890e-01 -3.93309616e-02 4.86112600e+01] [ 6.67122465e-02 -6.43887787e-03 9.97751481e-01 1.09799535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.12, Y:48.66, Z:10.98 [[ 7.45661908e-01 -6.64111766e-01 -5.42575421e-02 1.53117936e+02] [ 6.62978378e-01 7.47603885e-01 -3.93459243e-02 4.86615572e+01] [ 6.66932406e-02 -6.63282026e-03 9.97751481e-01 1.09843675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.16, Y:48.71, Z:10.99 [[ 7.47276294e-01 -6.62295622e-01 -5.42461982e-02 1.53157405e+02] [ 6.61156394e-01 7.49214849e-01 -3.93615580e-02 4.87050958e+01] [ 6.67110448e-02 -6.45126162e-03 9.97751481e-01 1.09933192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.19, Y:48.76, Z:10.99 [[ 7.47771527e-01 -6.61737375e-01 -5.42345815e-02 1.53188743e+02] [ 6.60595555e-01 7.49708557e-01 -3.93775578e-02 4.87612712e+01] [ 6.67177315e-02 -6.38170693e-03 9.97751481e-01 1.09915010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.23, Y:48.81, Z:11.00 [[ 7.49119057e-01 -6.60211815e-01 -5.42309620e-02 1.53225854e+02] [ 6.59065693e-01 7.51053545e-01 -3.93825419e-02 4.88083887e+01] [ 6.67311757e-02 -6.23955384e-03 9.97751481e-01 1.09958889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45999999999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.26, Y:48.85, Z:11.00 [[ 7.50730005e-01 -6.58380354e-01 -5.42196386e-02 1.53262719e+02] [ 6.57228400e-01 7.52661024e-01 -3.93981251e-02 4.88536473e+01] [ 6.67479603e-02 -6.05733166e-03 9.97751481e-01 1.10009390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.30, Y:48.91, Z:11.00 [[ 7.54390456e-01 -6.54183307e-01 -5.42147753e-02 1.53295950e+02] [ 6.53020125e-01 7.56314734e-01 -3.94048163e-02 4.89062672e+01] [ 6.67814063e-02 -5.67672200e-03 9.97751481e-01 1.10046541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.33, Y:48.95, Z:11.01 [[ 7.57709962e-01 -6.50336509e-01 -5.42036763e-02 1.53334106e+02] [ 6.49162471e-01 7.59627635e-01 -3.94200777e-02 4.89524933e+01] [ 6.68109262e-02 -5.31800694e-03 9.97751482e-01 1.10086708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.37, Y:49.00, Z:11.01 [[ 7.63960735e-01 -6.42983019e-01 -5.41925500e-02 1.53369095e+02] [ 6.41789425e-01 7.65866298e-01 -3.94353677e-02 4.90033742e+01] [ 6.68605194e-02 -4.65313300e-03 9.97751482e-01 1.10122869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.41, Y:49.05, Z:11.02 [[ 7.69015407e-01 -6.36929873e-01 -5.41815577e-02 1.53408314e+02] [ 6.35720210e-01 7.70910809e-01 -3.94504645e-02 4.90476721e+01] [ 6.68963278e-02 -4.10629627e-03 9.97751482e-01 1.10150418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.45, Y:49.10, Z:11.02 [[ 7.75797349e-01 -6.28652534e-01 -5.41706886e-02 1.53445169e+02] [ 6.27421592e-01 7.77679001e-01 -3.94653837e-02 4.90957563e+01] [ 6.69374205e-02 -3.37071963e-03 9.97751482e-01 1.10179785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.48, Y:49.14, Z:11.02 [[ 7.80679414e-01 -6.22580407e-01 -5.41598412e-02 1.53483288e+02] [ 6.21333792e-01 7.82550719e-01 -3.94802644e-02 4.91409244e+01] [ 6.69624617e-02 -2.82990979e-03 9.97751482e-01 1.10238391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.53, Y:49.18, Z:11.03 [[ 7.83141965e-01 -6.19480216e-01 -5.41564910e-02 1.53525512e+02] [ 6.18225873e-01 7.85008099e-01 -3.94848594e-02 4.91810378e+01] [ 6.69733733e-02 -2.55869359e-03 9.97751482e-01 1.10283840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.57, Y:49.22, Z:11.03 [[ 7.88129412e-01 -6.13123364e-01 -5.41458174e-02 1.53567894e+02] [ 6.11852960e-01 7.89984649e-01 -3.94994908e-02 4.92225016e+01] [ 6.69924252e-02 -1.99856817e-03 9.97751482e-01 1.10297443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.61, Y:49.26, Z:11.03 [[ 7.92648252e-01 -6.07270972e-01 -5.41360879e-02 1.53613735e+02] [ 6.05985955e-01 7.94493398e-01 -3.95128210e-02 4.92601373e+01] [ 6.70057537e-02 -1.48594046e-03 9.97751483e-01 1.10322783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.66, Y:49.30, Z:11.04 [[ 7.99379989e-01 -5.98382789e-01 -5.41264350e-02 1.53659319e+02] [ 5.97076356e-01 8.01210033e-01 -3.95260396e-02 4.92968450e+01] [ 6.70183446e-02 -7.21289509e-04 9.97751483e-01 1.10375193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.71, Y:49.33, Z:11.04 [[ 8.02238897e-01 -5.94545329e-01 -5.41165801e-02 1.53706742e+02] [ 5.93229231e-01 8.04062003e-01 -3.95395278e-02 4.93306251e+01] [ 6.70211273e-02 -3.83390093e-04 9.97751483e-01 1.10425171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.76, Y:49.36, Z:11.05 [[ 8.02684198e-01 -5.93944899e-01 -5.41066927e-02 1.53757113e+02] [ 5.92626526e-01 8.04505660e-01 -3.95530532e-02 4.93591276e+01] [ 6.70214747e-02 -3.16450548e-04 9.97751483e-01 1.10461461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.81, Y:49.39, Z:11.05 [[ 8.00302563e-01 -5.97151155e-01 -5.40953458e-02 1.53807757e+02] [ 5.95839030e-01 8.02128530e-01 -3.95685660e-02 4.93879633e+01] [ 6.70198351e-02 -5.65293573e-04 9.97751483e-01 1.10496598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.86, Y:49.41, Z:11.05 [[ 7.95918319e-01 -6.02983378e-01 -5.40839689e-02 1.53861505e+02] [ 6.01683576e-01 7.97753078e-01 -3.95841102e-02 4.94139738e+01] [ 6.70142132e-02 -1.03571737e-03 9.97751483e-01 1.10522627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.91, Y:49.44, Z:11.06 [[ 7.93692023e-01 -6.05911673e-01 -5.40741881e-02 1.53912081e+02] [ 6.04617729e-01 7.95530918e-01 -3.95974670e-02 4.94422182e+01] [ 6.70102560e-02 -1.26601918e-03 9.97751483e-01 1.10553231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:153.97, Y:49.47, Z:11.06 [[ 7.92477008e-01 -6.07500943e-01 -5.40628930e-02 1.53965391e+02] [ 6.06209636e-01 7.94317756e-01 -3.96128824e-02 4.94678767e+01] [ 6.70079792e-02 -1.38114818e-03 9.97751484e-01 1.10565480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.02, Y:49.50, Z:11.06 [[ 7.92240573e-01 -6.07810418e-01 -5.40497053e-02 1.54016005e+02] [ 6.06518603e-01 7.94080964e-01 -3.96308681e-02 4.94964190e+01] [ 6.70078966e-02 -1.38497017e-03 9.97751484e-01 1.10645412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:49.52, Z:11.07 [[ 7.91370951e-01 -6.08943521e-01 -5.40352253e-02 1.54067302e+02] [ 6.07652995e-01 7.93212246e-01 -3.96506013e-02 4.95248228e+01] [ 6.70063792e-02 -1.45633247e-03 9.97751484e-01 1.10689947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.12, Y:49.55, Z:11.08 [[ 7.89475832e-01 -6.11399463e-01 -5.40241316e-02 1.54122385e+02] [ 6.10113631e-01 7.91320408e-01 -3.96657107e-02 4.95471588e+01] [ 6.70019921e-02 -1.64573913e-03 9.97751484e-01 1.10771306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.17, Y:49.58, Z:11.08 [[ 7.85148689e-01 -6.16946753e-01 -5.40207302e-02 1.54174722e+02] [ 6.15673632e-01 7.87002060e-01 -3.96703426e-02 4.95751400e+01] [ 6.69889150e-02 -2.11202168e-03 9.97751484e-01 1.10757272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.23, Y:49.61, Z:11.08 [[ 7.83190758e-01 -6.19431196e-01 -5.40113828e-02 1.54225560e+02] [ 6.18163077e-01 7.85047556e-01 -3.96830650e-02 4.96052559e+01] [ 6.69824325e-02 -2.30843287e-03 9.97751485e-01 1.10817607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.27, Y:49.64, Z:11.09 [[ 7.81847680e-01 -6.21126421e-01 -5.40016235e-02 1.54273490e+02] [ 6.19861412e-01 7.83706597e-01 -3.96963413e-02 4.96373341e+01] [ 6.69778750e-02 -2.43703022e-03 9.97751485e-01 1.10866780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.32, Y:49.67, Z:11.09 [[ 7.78147309e-01 -6.25756989e-01 -5.39903365e-02 1.54321874e+02] [ 6.24501976e-01 7.80012989e-01 -3.97116867e-02 4.96669800e+01] [ 6.69630292e-02 -2.81552969e-03 9.97751485e-01 1.10901794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:49.70, Z:11.09 [[ 7.76980967e-01 -6.27205549e-01 -5.39794071e-02 1.54369740e+02] [ 6.25952986e-01 7.78848292e-01 -3.97265373e-02 4.96999265e+01] [ 6.69584736e-02 -2.92180768e-03 9.97751485e-01 1.10936551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.42, Y:49.73, Z:11.10 [[ 7.76821549e-01 -6.27403934e-01 -5.39683631e-02 1.54417708e+02] [ 6.26150809e-01 7.78688497e-01 -3.97415349e-02 4.97324104e+01] [ 6.69585389e-02 -2.92025350e-03 9.97751485e-01 1.10972717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.47, Y:49.77, Z:11.10 [[ 7.76626877e-01 -6.27645865e-01 -5.39570297e-02 1.54465451e+02] [ 6.26392256e-01 7.78493500e-01 -3.97569162e-02 4.97662368e+01] [ 6.69584610e-02 -2.92197582e-03 9.97751485e-01 1.10997748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.51, Y:49.80, Z:11.10 [[ 7.75418084e-01 -6.29139499e-01 -5.39470586e-02 1.54511858e+02] [ 6.27888546e-01 7.77286489e-01 -3.97704417e-02 4.97998044e+01] [ 6.69534755e-02 -3.03402051e-03 9.97751486e-01 1.11032846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.56, Y:49.83, Z:11.11 [[ 7.73526976e-01 -6.31464112e-01 -5.39360024e-02 1.54558566e+02] [ 6.30217732e-01 7.75398433e-01 -3.97854303e-02 4.98336045e+01] [ 6.69449632e-02 -3.21632153e-03 9.97751486e-01 1.11084214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.2 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:154.60, Y:49.87, Z:11.11 [[ 7.68315272e-01 -6.37795953e-01 -5.39255404e-02 1.54604537e+02] [ 6.36563995e-01 7.70196255e-01 -3.97996055e-02 4.98701503e+01] [ 6.69172766e-02 -3.74841268e-03 9.97751486e-01 1.11079824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.65, Y:49.90, Z:11.12 [[ 7.66691462e-01 -6.39748015e-01 -5.39136267e-02 1.54652085e+02] [ 6.38519716e-01 7.68574836e-01 -3.98157377e-02 4.99041555e+01] [ 6.69086959e-02 -3.89852747e-03 9.97751486e-01 1.11172402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.70, Y:49.94, Z:11.12 [[ 7.64376019e-01 -6.42513762e-01 -5.39014551e-02 1.54697139e+02] [ 6.41291121e-01 7.66263071e-01 -3.98322084e-02 4.99389275e+01] [ 6.68954366e-02 -4.11973964e-03 9.97751486e-01 1.11196064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.74, Y:49.98, Z:11.12 [[ 7.61034069e-01 -6.46469091e-01 -5.38967550e-02 1.54741619e+02] [ 6.45255805e-01 7.62927149e-01 -3.98385671e-02 4.99776018e+01] [ 6.68736999e-02 -4.45868718e-03 9.97751486e-01 1.11213191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.79, Y:50.01, Z:11.13 [[ 7.59102011e-01 -6.48737494e-01 -5.38869223e-02 1.54785076e+02] [ 6.47528927e-01 7.60998107e-01 -3.98518627e-02 5.00141524e+01] [ 6.68612434e-02 -4.64171185e-03 9.97751486e-01 1.11253420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.83, Y:50.05, Z:11.13 [[ 7.57102597e-01 -6.51070405e-01 -5.38793550e-02 1.54827264e+02] [ 6.49866956e-01 7.59001945e-01 -3.98620910e-02 5.00537106e+01] [ 6.68475630e-02 -4.83471977e-03 9.97751486e-01 1.11306095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.87, Y:50.09, Z:11.14 [[ 7.57709338e-01 -6.50365081e-01 -5.38685479e-02 1.54869392e+02] [ 6.49158834e-01 7.59606910e-01 -3.98766901e-02 5.00942322e+01] [ 6.68533280e-02 -4.75430332e-03 9.97751487e-01 1.11361865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.91, Y:50.14, Z:11.14 [[ 7.61743431e-01 -6.45636387e-01 -5.38572291e-02 1.54908301e+02] [ 6.44417279e-01 7.63632766e-01 -3.98919714e-02 5.01385985e+01] [ 6.68828531e-02 -4.31908184e-03 9.97751487e-01 1.11405354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.95, Y:50.18, Z:11.14 [[ 7.65760311e-01 -6.40867965e-01 -5.38460597e-02 1.54949900e+02] [ 6.39636030e-01 7.67641307e-01 -3.99070421e-02 5.01791726e+01] [ 6.69096045e-02 -3.88265093e-03 9.97751487e-01 1.11444996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.99, Y:50.22, Z:11.15 [[ 7.69487644e-01 -6.36388719e-01 -5.38346013e-02 1.54988320e+02] [ 6.35144753e-01 7.71360705e-01 -3.99224935e-02 5.02236556e+01] [ 6.69321205e-02 -3.47289911e-03 9.97751487e-01 1.11499866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.03, Y:50.27, Z:11.16 [[ 7.70658237e-01 -6.34970940e-01 -5.38311019e-02 1.55029684e+02] [ 6.33723199e-01 7.72528785e-01 -3.99272116e-02 5.02651492e+01] [ 6.69386948e-02 -3.34378362e-03 9.97751487e-01 1.11554515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.07, Y:50.31, Z:11.16 [[ 7.73247584e-01 -6.31816099e-01 -5.38199874e-02 1.55068439e+02] [ 6.30559685e-01 7.75112318e-01 -3.99421878e-02 5.03081910e+01] [ 6.69526524e-02 -3.05151405e-03 9.97751487e-01 1.11581810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.11, Y:50.35, Z:11.16 [[ 7.75045926e-01 -6.29609196e-01 -5.38151860e-02 1.55110372e+02] [ 6.28347023e-01 7.76906766e-01 -3.99486558e-02 5.03486293e+01] [ 6.69614232e-02 -2.85256900e-03 9.97751487e-01 1.11607215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.15, Y:50.39, Z:11.16 [[ 7.78499748e-01 -6.25334511e-01 -5.38041888e-02 1.55149926e+02] [ 6.24061096e-01 7.80352914e-01 -3.99634617e-02 5.03909750e+01] [ 6.69767873e-02 -2.46555612e-03 9.97751488e-01 1.11621416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:155.19, Y:50.43, Z:11.16 [[ 7.81773775e-01 -6.21237212e-01 -5.37967602e-02 1.55193403e+02] [ 6.19953394e-01 7.83619749e-01 -3.99734591e-02 5.04302424e+01] [ 6.69892041e-02 -2.10128206e-03 9.97751488e-01 1.11648733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.23, Y:50.47, Z:11.17 [[ 7.86795046e-01 -6.14866333e-01 -5.37861424e-02 1.55234810e+02] [ 6.13566587e-01 7.88629839e-01 -3.99877408e-02 5.04709485e+01] [ 6.70044724e-02 -1.53922346e-03 9.97751488e-01 1.11701343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.28, Y:50.51, Z:11.17 [[ 7.89062783e-01 -6.11954392e-01 -5.37749639e-02 1.55279888e+02] [ 6.10646851e-01 7.90892030e-01 -4.00027679e-02 5.05076873e+01] [ 6.70100599e-02 -1.27281695e-03 9.97751488e-01 1.11744184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.33, Y:50.54, Z:11.18 [[ 7.90321728e-01 -6.10328653e-01 -5.37633902e-02 1.55325860e+02] [ 6.09016291e-01 7.92147519e-01 -4.00183169e-02 5.05422464e+01] [ 6.70128616e-02 -1.11543512e-03 9.97751488e-01 1.11784267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.37, Y:50.57, Z:11.18 [[ 7.90632040e-01 -6.09926930e-01 -5.37598139e-02 1.55373075e+02] [ 6.08613314e-01 7.92456929e-01 -4.00231206e-02 5.05748835e+01] [ 6.70135161e-02 -1.07537703e-03 9.97751488e-01 1.11825971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.42, Y:50.61, Z:11.19 [[ 7.90170559e-01 -6.10525692e-01 -5.37481862e-02 1.55420883e+02] [ 6.09212398e-01 7.91995679e-01 -4.00387297e-02 5.06079015e+01] [ 6.70130044e-02 -1.10663602e-03 9.97751488e-01 1.11866727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.47, Y:50.64, Z:11.19 [[ 7.89896986e-01 -6.10880617e-01 -5.37366138e-02 1.55468742e+02] [ 6.09567087e-01 7.91721936e-01 -4.00542552e-02 5.06401631e+01] [ 6.70128240e-02 -1.11733570e-03 9.97751489e-01 1.11906022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.52, Y:50.67, Z:11.20 [[ 7.90667547e-01 -6.09883966e-01 -5.37250210e-02 1.55517887e+02] [ 6.08567080e-01 7.92490076e-01 -4.00697988e-02 5.06701450e+01] [ 6.70144737e-02 -1.01338962e-03 9.97751489e-01 1.11950388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.57, Y:50.70, Z:11.20 [[ 7.92149559e-01 -6.07958250e-01 -5.37200454e-02 1.55568047e+02] [ 6.06636480e-01 7.93968550e-01 -4.00764682e-02 5.07003274e+01] [ 6.70168460e-02 -8.41982694e-04 9.97751489e-01 1.11983776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.62, Y:50.73, Z:11.20 [[ 7.92528668e-01 -6.07464983e-01 -5.37085227e-02 1.55617549e+02] [ 6.06141035e-01 7.94346074e-01 -4.00919045e-02 5.07310935e+01] [ 6.70175822e-02 -7.80955882e-04 9.97751489e-01 1.12017237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.67, Y:50.76, Z:11.21 [[ 7.92238671e-01 -6.07844165e-01 -5.36969261e-02 1.55669727e+02] [ 6.06520035e-01 7.94055944e-01 -4.01074303e-02 5.07588143e+01] [ 6.70174308e-02 -7.93604207e-04 9.97751489e-01 1.12052620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.72, Y:50.79, Z:11.21 [[ 7.91847775e-01 -6.08354330e-01 -5.36852857e-02 1.55717469e+02] [ 6.07030315e-01 7.93665131e-01 -4.01230053e-02 5.07908003e+01] [ 6.70171434e-02 -8.17283431e-04 9.97751489e-01 1.12093732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.77, Y:50.82, Z:11.21 [[ 7.90435946e-01 -6.10188619e-01 -5.36736773e-02 1.55768078e+02] [ 6.08867768e-01 7.92255603e-01 -4.01385283e-02 5.08204406e+01] [ 6.70153447e-02 -9.53236427e-04 9.97751490e-01 1.12134780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:155.82, Y:50.85, Z:11.22 [[ 7.86541099e-01 -6.15201986e-01 -5.36620440e-02 1.55821159e+02] [ 6.13891671e-01 7.88368357e-01 -4.01540751e-02 5.08451213e+01] [ 6.70083242e-02 -1.35985145e-03 9.97751490e-01 1.12153657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.87, Y:50.87, Z:11.22 [[ 7.83424876e-01 -6.19165990e-01 -5.36557615e-02 1.55871670e+02] [ 6.17864344e-01 7.85258320e-01 -4.01624684e-02 5.08740752e+01] [ 6.70008676e-02 -1.68770508e-03 9.97751490e-01 1.12225503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:50.90, Z:11.23 [[ 7.81453700e-01 -6.21652556e-01 -5.36489936e-02 1.55922867e+02] [ 6.20356124e-01 7.83290833e-01 -4.01715068e-02 5.09014062e+01] [ 6.69954848e-02 -1.88930916e-03 9.97751490e-01 1.12273658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.97, Y:50.93, Z:11.23 [[ 7.81432623e-01 -6.21680036e-01 -5.36375631e-02 1.55971820e+02] [ 6.20382622e-01 7.83269064e-01 -4.01867632e-02 5.09314403e+01] [ 6.69959522e-02 -1.87256419e-03 9.97751490e-01 1.12311985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.02, Y:50.96, Z:11.23 [[ 7.82439680e-01 -6.20412512e-01 -5.36326617e-02 1.56021486e+02] [ 6.19111675e-01 7.84273697e-01 -4.01933035e-02 5.09601375e+01] [ 6.69991143e-02 -1.75577156e-03 9.97751490e-01 1.12343712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.07, Y:50.99, Z:11.24 [[ 7.84195983e-01 -6.18191487e-01 -5.36278447e-02 1.56069991e+02] [ 6.16885016e-01 7.86025991e-01 -4.01997295e-02 5.09916936e+01] [ 6.70040104e-02 -1.55774745e-03 9.97751490e-01 1.12364752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.12, Y:51.02, Z:11.24 [[ 7.87767023e-01 -6.13635406e-01 -5.36162807e-02 1.56118473e+02] [ 6.12317301e-01 7.89588668e-01 -4.02151471e-02 5.10224880e+01] [ 6.70122458e-02 -1.15000959e-03 9.97751490e-01 1.12396972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.17, Y:51.05, Z:11.24 [[ 7.89950481e-01 -6.10822451e-01 -5.36113032e-02 1.56167054e+02] [ 6.09497407e-01 7.91767086e-01 -4.02217816e-02 5.10547697e+01] [ 6.70160325e-02 -9.02734593e-04 9.97751490e-01 1.12446006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.22, Y:51.08, Z:11.25 [[ 7.93012957e-01 -6.06842219e-01 -5.36001134e-02 1.56217551e+02] [ 6.05507049e-01 7.94822132e-01 -4.02366877e-02 5.10845229e+01] [ 6.70198773e-02 -5.47031837e-04 9.97751491e-01 1.12484757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:51.12, Z:11.25 [[ 7.95161195e-01 -6.04025593e-01 -5.35887775e-02 1.56266823e+02] [ 6.02682997e-01 7.96964867e-01 -4.02517797e-02 5.11159814e+01] [ 6.70214780e-02 -2.90391841e-04 9.97751491e-01 1.12510642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:51.14, Z:11.25 [[ 7.98141966e-01 -6.00082432e-01 -5.35768279e-02 1.56316665e+02] [ 5.98729858e-01 7.99938167e-01 -4.02676788e-02 5.11437512e+01] [ 6.70220762e-02 6.12777703e-05 9.97751491e-01 1.12537858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.37, Y:51.17, Z:11.26 [[ 7.99000771e-01 -5.98938930e-01 -5.35716866e-02 1.56366605e+02] [ 5.97583327e-01 8.00794687e-01 -4.02745176e-02 5.11743431e+01] [ 6.70218985e-02 1.65823865e-04 9.97751491e-01 1.12581945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.42, Y:51.20, Z:11.26 [[ 7.98849583e-01 -5.99141627e-01 -5.35598248e-02 1.56418937e+02] [ 5.97785422e-01 8.00643043e-01 -4.02902861e-02 5.12014615e+01] [ 6.70218887e-02 1.68595840e-04 9.97751491e-01 1.12618485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.6 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:156.47, Y:51.23, Z:11.26 [[ 7.97639646e-01 -6.00752542e-01 -5.35479051e-02 1.56469209e+02] [ 5.99398895e-01 7.99435038e-01 -4.03061219e-02 5.12310663e+01] [ 6.70220767e-02 5.32056664e-05 9.97751491e-01 1.12616878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.52, Y:51.26, Z:11.27 [[ 7.96765277e-01 -6.01912772e-01 -5.35360505e-02 1.56519893e+02] [ 6.00560682e-01 7.98561842e-01 -4.03218614e-02 5.12597465e+01] [ 6.70220904e-02 -2.45879727e-05 9.97751491e-01 1.12684654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.57, Y:51.29, Z:11.27 [[ 7.94302378e-01 -6.05160219e-01 -5.35242050e-02 1.56571912e+02] [ 6.03814415e-01 7.96103656e-01 -4.03375794e-02 5.12863174e+01] [ 6.70215136e-02 -2.78451275e-04 9.97751492e-01 1.12707528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.62, Y:51.31, Z:11.27 [[ 7.91702142e-01 -6.08559089e-01 -5.35121820e-02 1.56621809e+02] [ 6.07219940e-01 7.93508372e-01 -4.03535229e-02 5.13145102e+01] [ 6.70198676e-02 -5.45693454e-04 9.97751492e-01 1.12734200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:51.34, Z:11.28 [[ 7.85092351e-01 -6.17063205e-01 -5.35070248e-02 1.56674587e+02] [ 6.15743151e-01 7.86912583e-01 -4.03603600e-02 5.13406068e+01] [ 6.70102442e-02 -1.25997413e-03 9.97751492e-01 1.12767318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.72, Y:51.37, Z:11.28 [[ 7.79038465e-01 -6.24689792e-01 -5.34951740e-02 1.56723981e+02] [ 6.23386474e-01 7.80870718e-01 -4.03760614e-02 5.13705123e+01] [ 6.69953283e-02 -1.89366298e-03 9.97751492e-01 1.12823681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.78, Y:51.40, Z:11.29 [[ 7.67903902e-01 -6.38328381e-01 -5.34834039e-02 1.56775736e+02] [ 6.37056489e-01 7.69758108e-01 -4.03916464e-02 5.13981832e+01] [ 6.69524180e-02 -3.05504661e-03 9.97751492e-01 1.12890144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.82, Y:51.43, Z:11.29 [[ 7.60102025e-01 -6.47599952e-01 -5.34716099e-02 1.56824772e+02] [ 6.46349563e-01 7.61970798e-01 -4.04072536e-02 5.14298317e+01] [ 6.69115408e-02 -3.84771635e-03 9.97751493e-01 1.12938229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.87, Y:51.46, Z:11.30 [[ 7.51761691e-01 -6.57264326e-01 -5.34599383e-02 1.56872312e+02] [ 6.56036840e-01 7.53645587e-01 -4.04226897e-02 5.14631564e+01] [ 6.68582384e-02 -4.68345939e-03 9.97751493e-01 1.12972472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.92, Y:51.50, Z:11.30 [[ 7.49192385e-01 -6.60192433e-01 -5.34483131e-02 1.56917251e+02] [ 6.58971219e-01 7.51080352e-01 -4.04380551e-02 5.15004414e+01] [ 6.68408758e-02 -4.92501715e-03 9.97751493e-01 1.13005184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:51.54, Z:11.30 [[ 7.48746288e-01 -6.60699265e-01 -5.34366675e-02 1.56960946e+02] [ 6.59478241e-01 7.50634378e-01 -4.04534382e-02 5.15393166e+01] [ 6.68389566e-02 -4.95095788e-03 9.97751493e-01 1.13049428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.00, Y:51.58, Z:11.31 [[ 7.49764970e-01 -6.59543991e-01 -5.34248391e-02 1.56999968e+02] [ 6.58318953e-01 7.51650459e-01 -4.04690535e-02 5.15835696e+01] [ 6.68479258e-02 -4.82830545e-03 9.97751493e-01 1.13083912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.04, Y:51.63, Z:11.31 [[ 7.51016018e-01 -6.58120034e-01 -5.34131262e-02 1.57037960e+02] [ 6.56890330e-01 7.52898466e-01 -4.04845068e-02 5.16284370e+01] [ 6.68583257e-02 -4.68205302e-03 9.97751493e-01 1.13103577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.08, Y:51.67, Z:11.31 [[ 7.50861190e-01 -6.58297083e-01 -5.34080882e-02 1.57078856e+02] [ 6.57067353e-01 7.52743622e-01 -4.04911520e-02 5.16712789e+01] [ 6.68578049e-02 -4.68947656e-03 9.97751493e-01 1.13122465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.12, Y:51.72, Z:11.31 [[ 7.49948904e-01 -6.59337116e-01 -5.33967056e-02 1.57117804e+02] [ 6.58108937e-01 7.51832347e-01 -4.05061569e-02 5.17167473e+01] [ 6.68525832e-02 -4.76330114e-03 9.97751494e-01 1.13143026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.16, Y:51.76, Z:11.32 [[ 7.49553220e-01 -6.59787818e-01 -5.33854477e-02 1.57158087e+02] [ 6.58559723e-01 7.51436718e-01 -4.05209890e-02 5.17589289e+01] [ 6.68510405e-02 -4.78486793e-03 9.97751494e-01 1.13174062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.20, Y:51.80, Z:11.32 [[ 7.50502727e-01 -6.58708462e-01 -5.33743302e-02 1.57198419e+02] [ 6.57476625e-01 7.52383779e-01 -4.05356277e-02 5.18013531e+01] [ 6.68591412e-02 -4.67027541e-03 9.97751494e-01 1.13225392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.24, Y:51.84, Z:11.33 [[ 7.53123381e-01 -6.55711534e-01 -5.33625002e-02 1.57238382e+02] [ 6.54471113e-01 7.54998784e-01 -4.05511951e-02 5.18433720e+01] [ 6.68785091e-02 -4.38416173e-03 9.97751494e-01 1.13272524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.28, Y:51.89, Z:11.33 [[ 7.57159698e-01 -6.51046867e-01 -5.33588711e-02 1.57277550e+02] [ 6.49794550e-01 7.59027177e-01 -4.05559700e-02 5.18861235e+01] [ 6.69046705e-02 -3.96495768e-03 9.97751494e-01 1.13316754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.31, Y:51.93, Z:11.34 [[ 7.66675081e-01 -6.39814552e-01 -5.33540816e-02 1.57314008e+02] [ 6.38534405e-01 7.68523595e-01 -4.05622698e-02 5.19333792e+01] [ 6.69562011e-02 -2.97033525e-03 9.97751494e-01 1.13371765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.35, Y:51.98, Z:11.34 [[ 7.74398671e-01 -6.30445304e-01 -5.33424583e-02 1.57354498e+02] [ 6.29141724e-01 7.76230735e-01 -4.05775497e-02 5.19765666e+01] [ 6.69879812e-02 -2.13676566e-03 9.97751494e-01 1.13406758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:52.02, Z:11.34 [[ 7.83778630e-01 -6.18746211e-01 -5.33308995e-02 1.57391922e+02] [ 6.17414236e-01 7.85590155e-01 -4.05927357e-02 5.20207796e+01] [ 6.70128310e-02 -1.11153775e-03 9.97751495e-01 1.13447511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:157.43, Y:52.06, Z:11.35 [[ 7.87761894e-01 -6.13667291e-01 -5.33259375e-02 1.57434826e+02] [ 6.12323193e-01 7.89564442e-01 -4.05992532e-02 5.20609685e+01] [ 6.70186977e-02 -6.70163772e-04 9.97751495e-01 1.13470633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.48, Y:52.10, Z:11.35 [[ 7.91996797e-01 -6.08192966e-01 -5.33140694e-02 1.57477495e+02] [ 6.06835360e-01 7.93789192e-01 -4.06148321e-02 5.20987475e+01] [ 6.70217873e-02 -1.86045559e-04 9.97751495e-01 1.13527707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.52, Y:52.13, Z:11.35 [[ 7.95594865e-01 -6.03479052e-01 -5.33089549e-02 1.57522602e+02] [ 6.02110376e-01 7.97378822e-01 -4.06215440e-02 5.21347253e+01] [ 6.70216825e-02 2.20416975e-04 9.97751495e-01 1.13537999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.57, Y:52.17, Z:11.36 [[ 7.97110538e-01 -6.01476681e-01 -5.32972112e-02 1.57569978e+02] [ 6.00102494e-01 7.98890252e-01 -4.06369465e-02 5.21686852e+01] [ 6.70207982e-02 4.08348898e-04 9.97751495e-01 1.13564115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.62, Y:52.20, Z:11.36 [[ 7.98439139e-01 -5.99712951e-01 -5.32852426e-02 1.57617621e+02] [ 5.98333786e-01 8.00214998e-01 -4.06526342e-02 5.21999028e+01] [ 6.70195616e-02 5.76293270e-04 9.97751495e-01 1.13594146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.67, Y:52.23, Z:11.36 [[ 7.98250724e-01 -5.99964435e-01 -5.32771759e-02 1.57667831e+02] [ 5.98585124e-01 8.00026470e-01 -4.06632032e-02 5.22288919e+01] [ 6.70196268e-02 5.68506458e-04 9.97751495e-01 1.13649168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:52.26, Z:11.37 [[ 7.97998247e-01 -6.00301283e-01 -5.32650669e-02 1.57716579e+02] [ 5.98921663e-01 7.99773753e-01 -4.06790588e-02 5.22588328e+01] [ 6.70196936e-02 5.60215258e-04 9.97751496e-01 1.13689800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.77, Y:52.29, Z:11.37 [[ 7.97197133e-01 -6.01365206e-01 -5.32599302e-02 1.57769230e+02] [ 5.99987506e-01 7.98974129e-01 -4.06857830e-02 5.22850210e+01] [ 6.70203206e-02 4.79296882e-04 9.97751496e-01 1.13719137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.82, Y:52.32, Z:11.37 [[ 7.96504860e-01 -6.02282845e-01 -5.32483090e-02 1.57819790e+02] [ 6.00906176e-01 7.98282655e-01 -4.07009868e-02 5.23151086e+01] [ 6.70207076e-02 4.21296003e-04 9.97751496e-01 1.13746523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.87, Y:52.34, Z:11.38 [[ 7.95704617e-01 -6.03340723e-01 -5.32365937e-02 1.57869820e+02] [ 6.01965393e-01 7.97483447e-01 -4.07163046e-02 5.23442693e+01] [ 6.70211069e-02 3.51564504e-04 9.97751496e-01 1.13789293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.92, Y:52.37, Z:11.38 [[ 7.92324509e-01 -6.07773790e-01 -5.32249262e-02 1.57922564e+02] [ 6.06407388e-01 7.94110207e-01 -4.07315508e-02 5.23696407e+01] [ 6.70220262e-02 -3.38252777e-06 9.97751496e-01 1.13843723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:52.40, Z:11.39 [[ 7.87394140e-01 -6.14148877e-01 -5.32130165e-02 1.57974036e+02] [ 6.12795881e-01 7.89190016e-01 -4.07471042e-02 5.23983411e+01] [ 6.70199696e-02 -5.24686287e-04 9.97751496e-01 1.13892850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:52.42, Z:11.39 [[ 7.76620642e-01 -6.27718100e-01 -5.32011846e-02 1.58027909e+02] [ 6.26395410e-01 7.78438954e-01 -4.07625466e-02 5.24226372e+01] [ 6.70012628e-02 -1.66794280e-03 9.97751496e-01 1.13943838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.08, Y:52.45, Z:11.40 [[ 7.68604361e-01 -6.37509380e-01 -5.31895357e-02 1.58077766e+02] [ 6.36208790e-01 7.70438545e-01 -4.07777411e-02 5.24502601e+01] [ 6.69754610e-02 -2.49770047e-03 9.97751497e-01 1.13988457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:52.48, Z:11.40 [[ 7.59291919e-01 -6.48573193e-01 -5.31845424e-02 1.58129012e+02] [ 6.47298847e-01 7.61144433e-01 -4.07842526e-02 5.24789634e+01] [ 6.69326913e-02 -3.45913950e-03 9.97751497e-01 1.14035273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.18, Y:52.51, Z:11.41 [[ 7.56484540e-01 -6.51846443e-01 -5.31728902e-02 1.58176401e+02] [ 6.50579047e-01 7.58341816e-01 -4.07994387e-02 5.25115753e+01] [ 6.69181951e-02 -3.72902363e-03 9.97751497e-01 1.14085220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.22, Y:52.55, Z:11.41 [[ 7.56207251e-01 -6.52169046e-01 -5.31613564e-02 1.58222729e+02] [ 6.50901391e-01 7.58064350e-01 -4.08144616e-02 5.25464104e+01] [ 6.69176576e-02 -3.73860903e-03 9.97751497e-01 1.14144682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.27, Y:52.58, Z:11.42 [[ 7.57751550e-01 -6.50375048e-01 -5.31496507e-02 1.58267647e+02] [ 6.49101932e-01 7.59604909e-01 -4.08296994e-02 5.25831039e+01] [ 6.69273533e-02 -3.56077291e-03 9.97751497e-01 1.14187793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.31, Y:52.62, Z:11.42 [[ 7.60976302e-01 -6.46599892e-01 -5.31380101e-02 1.58310612e+02] [ 6.45316524e-01 7.62822576e-01 -4.08448435e-02 5.26221682e+01] [ 6.69451452e-02 -3.20887797e-03 9.97751497e-01 1.14223141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.35, Y:52.66, Z:11.43 [[ 7.63335001e-01 -6.43814641e-01 -5.31261230e-02 1.58353123e+02] [ 6.42523462e-01 7.65175821e-01 -4.08602991e-02 5.26598180e+01] [ 6.69572835e-02 -2.94468405e-03 9.97751498e-01 1.14253209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:52.70, Z:11.43 [[ 7.66366270e-01 -6.40203795e-01 -5.31210057e-02 1.58395389e+02] [ 6.38903480e-01 7.68200648e-01 -4.08669508e-02 5.27002792e+01] [ 6.69707680e-02 -2.62014273e-03 9.97751498e-01 1.14273054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.44, Y:52.74, Z:11.43 [[ 7.67839701e-01 -6.38436829e-01 -5.31094088e-02 1.58439061e+02] [ 6.37131252e-01 7.69670338e-01 -4.08820162e-02 5.27379065e+01] [ 6.69773214e-02 -2.44682896e-03 9.97751498e-01 1.14314906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:52.78, Z:11.44 [[ 7.68931435e-01 -6.37122495e-01 -5.30977848e-02 1.58482971e+02] [ 6.35812748e-01 7.70759090e-01 -4.08971079e-02 5.27752053e+01] [ 6.69820678e-02 -2.31317665e-03 9.97751498e-01 1.14354761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.53, Y:52.81, Z:11.44 [[ 7.71202375e-01 -6.34372713e-01 -5.30863189e-02 1.58526605e+02] [ 6.33055426e-01 7.73024603e-01 -4.09119858e-02 5.28143066e+01] [ 6.69904781e-02 -2.05516162e-03 9.97751498e-01 1.14371465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.57, Y:52.85, Z:11.44 [[ 7.73385104e-01 -6.31710795e-01 -5.30749634e-02 1.58571540e+02] [ 6.30386225e-01 7.75202045e-01 -4.09267121e-02 5.28511872e+01] [ 6.69976660e-02 -1.80561634e-03 9.97751498e-01 1.14391217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.62, Y:52.89, Z:11.44 [[ 7.77057945e-01 -6.27188322e-01 -5.30637226e-02 1.58616511e+02] [ 6.25852181e-01 7.78866393e-01 -4.09412811e-02 5.28882421e+01] [ 6.70074437e-02 -1.39629876e-03 9.97751499e-01 1.14430817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.66, Y:52.92, Z:11.45 [[ 7.78227676e-01 -6.25737279e-01 -5.30522471e-02 1.58662212e+02] [ 6.24396753e-01 7.80032877e-01 -4.09561458e-02 5.29243647e+01] [ 6.70102842e-02 -1.25244465e-03 9.97751499e-01 1.14473755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.71, Y:52.96, Z:11.45 [[ 7.81205691e-01 -6.22016379e-01 -5.30404848e-02 1.58706991e+02] [ 6.20666220e-01 7.83003697e-01 -4.09713731e-02 5.29601973e+01] [ 6.70157608e-02 -9.13367346e-04 9.97751499e-01 1.14513301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.75, Y:52.99, Z:11.45 [[ 7.84682977e-01 -6.17624375e-01 -5.30354273e-02 1.58752592e+02] [ 6.16263709e-01 7.86473045e-01 -4.09779187e-02 5.29949425e+01] [ 6.70198955e-02 -5.29133859e-04 9.97751499e-01 1.14546393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.80, Y:53.03, Z:11.46 [[ 7.85595509e-01 -6.16463678e-01 -5.30304629e-02 1.58798578e+02] [ 6.15099933e-01 7.87383233e-01 -4.09843423e-02 5.30296046e+01] [ 6.70206557e-02 -4.21918942e-04 9.97751499e-01 1.14603155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.85, Y:53.06, Z:11.46 [[ 7.84369468e-01 -6.18023926e-01 -5.30185396e-02 1.58846072e+02] [ 6.16662695e-01 7.86159106e-01 -4.09997608e-02 5.30635024e+01] [ 6.70198408e-02 -5.35594945e-04 9.97751499e-01 1.14641048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.89, Y:53.10, Z:11.47 [[ 7.81847059e-01 -6.21212896e-01 -5.30067294e-02 1.58893069e+02] [ 6.19857930e-01 7.83641445e-01 -4.10150240e-02 5.30962005e+01] [ 6.70173319e-02 -7.89165683e-04 9.97751499e-01 1.14681193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.94, Y:53.13, Z:11.47 [[ 7.75951245e-01 -6.28562241e-01 -5.30016529e-02 1.58941599e+02] [ 6.27223818e-01 7.77758004e-01 -4.10215831e-02 5.31283975e+01] [ 6.70070779e-02 -1.41315066e-03 9.97751499e-01 1.14732897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.99, Y:53.16, Z:11.48 [[ 7.70846420e-01 -6.34813270e-01 -5.29897083e-02 1.58988686e+02] [ 6.33488435e-01 7.72663165e-01 -4.10370067e-02 5.31620821e+01] [ 6.69940322e-02 -1.93513766e-03 9.97751500e-01 1.14773072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.04, Y:53.20, Z:11.48 [[ 7.65689873e-01 -6.41024475e-01 -5.29777396e-02 1.59035563e+02] [ 6.39713304e-01 7.67516505e-01 -4.10524523e-02 5.31961906e+01] [ 6.69769162e-02 -2.45711786e-03 9.97751500e-01 1.14814215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:53.23, Z:11.49 [[ 7.58420746e-01 -6.49609570e-01 -5.29658191e-02 1.59081917e+02] [ 6.48317990e-01 7.60261282e-01 -4.10678263e-02 5.32306468e+01] [ 6.69459146e-02 -3.19200189e-03 9.97751500e-01 1.14854997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.13, Y:53.27, Z:11.49 [[ 7.54798390e-01 -6.53815940e-01 -5.29538217e-02 1.59126874e+02] [ 6.52533532e-01 7.56645328e-01 -4.10832903e-02 5.32669556e+01] [ 6.69281718e-02 -3.54454294e-03 9.97751500e-01 1.14881407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.17, Y:53.31, Z:11.49 [[ 7.53088791e-01 -6.55785349e-01 -5.29419311e-02 1.59168455e+02] [ 6.54506698e-01 7.54938333e-01 -4.10986073e-02 5.33058972e+01] [ 6.69197578e-02 -3.69994803e-03 9.97751500e-01 1.14915711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.21, Y:53.35, Z:11.50 [[ 7.53888424e-01 -6.54866584e-01 -5.29339359e-02 1.59210053e+02] [ 6.53584959e-01 7.55735906e-01 -4.11089024e-02 5.33450118e+01] [ 6.69249225e-02 -3.60529869e-03 9.97751500e-01 1.14960113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.25, Y:53.39, Z:11.50 [[ 7.55118161e-01 -6.53448615e-01 -5.29289221e-02 1.59251881e+02] [ 6.52163070e-01 7.56962917e-01 -4.11153568e-02 5.33857581e+01] [ 6.69320042e-02 -3.47133569e-03 9.97751500e-01 1.15003195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.29, Y:53.43, Z:11.50 [[ 7.57185106e-01 -6.51053370e-01 -5.29171521e-02 1.59290500e+02] [ 6.49760933e-01 7.59025040e-01 -4.11304997e-02 5.34296390e+01] [ 6.69435939e-02 -3.24009640e-03 9.97751501e-01 1.15042348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:53.47, Z:11.51 [[ 7.58159368e-01 -6.49919542e-01 -5.29052195e-02 1.59329946e+02] [ 6.48623286e-01 7.59996613e-01 -4.11458427e-02 5.34710390e+01] [ 6.69492748e-02 -3.12045120e-03 9.97751501e-01 1.15086799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.37, Y:53.51, Z:11.51 [[ 7.58520162e-01 -6.49498841e-01 -5.29000852e-02 1.59370750e+02] [ 6.48201108e-01 7.60356364e-01 -4.11524426e-02 5.35129160e+01] [ 6.69513802e-02 -3.07493643e-03 9.97751501e-01 1.15127811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.41, Y:53.56, Z:11.52 [[ 7.58197901e-01 -6.49875962e-01 -5.28883439e-02 1.59408040e+02] [ 6.48578093e-01 7.60034007e-01 -4.11675268e-02 5.35580554e+01] [ 6.69507260e-02 -3.08908881e-03 9.97751501e-01 1.15155752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:159.44, Y:53.60, Z:11.52 [[ 7.58438219e-01 -6.49595894e-01 -5.28832935e-02 1.59444949e+02] [ 6.48296896e-01 7.60273526e-01 -4.11740134e-02 5.36032582e+01] [ 6.69522381e-02 -3.05612966e-03 9.97751501e-01 1.15166677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.48, Y:53.65, Z:11.52 [[ 7.57747289e-01 -6.50402349e-01 -5.28756048e-02 1.59484355e+02] [ 6.49104618e-01 7.59583492e-01 -4.11838850e-02 5.36459239e+01] [ 6.69495321e-02 -3.11482204e-03 9.97751501e-01 1.15225884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:53.69, Z:11.52 [[ 7.59921205e-01 -6.47862229e-01 -5.28610884e-02 1.59523069e+02] [ 6.46557067e-01 7.61752133e-01 -4.12025089e-02 5.36917486e+01] [ 6.69605961e-02 -2.86704998e-03 9.97751501e-01 1.15222832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:53.74, Z:11.53 [[ 7.58881860e-01 -6.49080277e-01 -5.28499423e-02 1.59563130e+02] [ 6.47777061e-01 7.60714174e-01 -4.12168009e-02 5.37360282e+01] [ 6.69567128e-02 -2.95629779e-03 9.97751502e-01 1.15290232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.60, Y:53.78, Z:11.53 [[ 7.59447616e-01 -6.48419293e-01 -5.28369201e-02 1.59603521e+02] [ 6.47113324e-01 7.61277968e-01 -4.12334876e-02 5.37770806e+01] [ 6.69601721e-02 -2.87680116e-03 9.97751502e-01 1.15321739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85999999999999 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:159.64, Y:53.82, Z:11.54 [[ 7.60960374e-01 -6.46643959e-01 -5.28289572e-02 1.59643026e+02] [ 6.45333014e-01 7.62787166e-01 -4.12436873e-02 5.38209116e+01] [ 6.69672318e-02 -2.70745841e-03 9.97751502e-01 1.15352564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.68, Y:53.86, Z:11.54 [[ 7.62022017e-01 -6.45393657e-01 -5.28154594e-02 1.59684282e+02] [ 6.44078519e-01 7.63845792e-01 -4.12609650e-02 5.38623960e+01] [ 6.69724315e-02 -2.57553903e-03 9.97751502e-01 1.15414998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.72, Y:53.91, Z:11.54 [[ 7.64561954e-01 -6.42383931e-01 -5.28006099e-02 1.59724132e+02] [ 6.41060302e-01 7.66379576e-01 -4.12799588e-02 5.39055198e+01] [ 6.69828912e-02 -2.28728902e-03 9.97751502e-01 1.15447205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:53.94, Z:11.55 [[ 7.64957807e-01 -6.41913465e-01 -5.27888060e-02 1.59766133e+02] [ 6.40587679e-01 7.66773855e-01 -4.12950481e-02 5.39448634e+01] [ 6.69849237e-02 -2.22688929e-03 9.97751503e-01 1.15495351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.81, Y:53.98, Z:11.56 [[ 7.64415860e-01 -6.42559713e-01 -5.27769685e-02 1.59809350e+02] [ 6.41234420e-01 7.66232268e-01 -4.13101715e-02 5.39841139e+01] [ 6.69836682e-02 -2.26425849e-03 9.97751503e-01 1.15550936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.85, Y:54.02, Z:11.56 [[ 7.62989533e-01 -6.44253683e-01 -5.27651793e-02 1.59850590e+02] [ 6.42931383e-01 7.64808121e-01 -4.13252244e-02 5.40249808e+01] [ 6.69791656e-02 -2.39367606e-03 9.97751503e-01 1.15587174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:54.06, Z:11.56 [[ 7.64321167e-01 -6.42674301e-01 -5.27531630e-02 1.59892876e+02] [ 6.41347187e-01 7.66136244e-01 -4.13405579e-02 5.40641161e+01] [ 6.69846243e-02 -2.23562921e-03 9.97751503e-01 1.15593476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.94, Y:54.10, Z:11.56 [[ 7.65938037e-01 -6.40746886e-01 -5.27480018e-02 1.59937433e+02] [ 6.39414750e-01 7.67749432e-01 -4.13471423e-02 5.41015318e+01] [ 6.69903011e-02 -2.05850141e-03 9.97751503e-01 1.15625336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.98, Y:54.14, Z:11.57 [[ 7.68203037e-01 -6.38030552e-01 -5.27362079e-02 1.59980966e+02] [ 6.36690980e-01 7.70008939e-01 -4.13621794e-02 5.41376316e+01] [ 6.69976856e-02 -1.80211605e-03 9.97751503e-01 1.15660994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.03, Y:54.17, Z:11.57 [[ 7.71098669e-01 -6.34528625e-01 -5.27282395e-02 1.60025548e+02] [ 6.33180155e-01 7.72897937e-01 -4.13723349e-02 5.41741702e+01] [ 6.70054783e-02 -1.48432253e-03 9.97751503e-01 1.15700912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.07, Y:54.21, Z:11.57 [[ 7.74578262e-01 -6.30277300e-01 -5.27166151e-02 1.60071057e+02] [ 6.28917946e-01 7.76369321e-01 -4.13871415e-02 5.42101147e+01] [ 6.70129384e-02 -1.09684515e-03 9.97751504e-01 1.15742756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.12, Y:54.25, Z:11.58 [[ 7.79471587e-01 -6.24216514e-01 -5.27047393e-02 1.60115903e+02] [ 6.22842209e-01 7.81251199e-01 -4.14022593e-02 5.42451632e+01] [ 6.70196147e-02 -5.54851497e-04 9.97751504e-01 1.15778793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.16, Y:54.28, Z:11.58 [[ 7.87545019e-01 -6.13999667e-01 -5.26996329e-02 1.60162616e+02] [ 6.12601839e-01 7.89306215e-01 -4.14087581e-02 5.42772696e+01] [ 6.70211114e-02 3.27369144e-04 9.97751504e-01 1.15801551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:54.31, Z:11.58 [[ 7.92176555e-01 -6.08012813e-01 -5.26946396e-02 1.60210418e+02] [ 6.06601253e-01 7.93926765e-01 -4.14151112e-02 5.43102422e+01] [ 6.70166030e-02 8.43445684e-04 9.97751504e-01 1.15848263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.26, Y:54.34, Z:11.59 [[ 7.95463650e-01 -6.03706971e-01 -5.26827810e-02 1.60258664e+02] [ 6.02284940e-01 7.97205362e-01 -4.14301908e-02 5.43419873e+01] [ 6.70106905e-02 1.22616517e-03 9.97751504e-01 1.15902732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.31, Y:54.37, Z:11.60 [[ 7.96410608e-01 -6.02458239e-01 -5.26708110e-02 1.60309478e+02] [ 6.01032472e-01 7.98149263e-01 -4.14454028e-02 5.43684461e+01] [ 6.70082934e-02 1.35069066e-03 9.97751504e-01 1.15963402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.36, Y:54.40, Z:11.60 [[ 7.94866700e-01 -6.04494470e-01 -5.26627483e-02 1.60361066e+02] [ 6.03072479e-01 7.96608445e-01 -4.14556451e-02 5.43966119e+01] [ 6.70112983e-02 1.19225762e-03 9.97751504e-01 1.15997526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.41, Y:54.42, Z:11.60 [[ 7.92975486e-01 -6.06974247e-01 -5.26511471e-02 1.60413355e+02] [ 6.05556725e-01 7.94720870e-01 -4.14703742e-02 5.44244079e+01] [ 6.70144145e-02 1.00173386e-03 9.97751505e-01 1.16017215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.47, Y:54.45, Z:11.60 [[ 7.89782647e-01 -6.11123936e-01 -5.26393878e-02 1.60468360e+02] [ 6.09714592e-01 7.91534640e-01 -4.14852951e-02 5.44472076e+01] [ 6.70185558e-02 6.69363363e-04 9.97751505e-01 1.16014228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.52, Y:54.47, Z:11.60 [[ 7.87389906e-01 -6.14204171e-01 -5.26343390e-02 1.60520604e+02] [ 6.12801252e-01 7.89147048e-01 -4.14916999e-02 5.44735548e+01] [ 6.70206084e-02 4.15756795e-04 9.97751505e-01 1.16046355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.58, Y:54.50, Z:11.61 [[ 7.84910460e-01 -6.17369999e-01 -5.26294090e-02 1.60576744e+02] [ 6.15973749e-01 7.86672906e-01 -4.14979523e-02 5.44960539e+01] [ 6.70217209e-02 1.53842463e-04 9.97751505e-01 1.16099692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.63, Y:54.52, Z:11.61 [[ 7.83621921e-01 -6.19005744e-01 -5.26172414e-02 1.60628512e+02] [ 6.17612138e-01 7.85386457e-01 -4.15133745e-02 5.45245027e+01] [ 6.70218861e-02 3.37433350e-05 9.97751505e-01 1.16145264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.68, Y:54.55, Z:11.62 [[ 7.82844721e-01 -6.19989398e-01 -5.26050351e-02 1.60680646e+02] [ 6.18596969e-01 7.84610187e-01 -4.15288363e-02 5.45501806e+01] [ 6.70218847e-02 -3.06850691e-05 9.97751505e-01 1.16191355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.73, Y:54.58, Z:11.62 [[ 7.82790877e-01 -6.20057823e-01 -5.25997956e-02 1.60730366e+02] [ 6.18665103e-01 7.84556114e-01 -4.15354715e-02 5.45788916e+01] [ 6.70218853e-02 -2.80698073e-05 9.97751505e-01 1.16220621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.78, Y:54.61, Z:11.63 [[ 7.82886776e-01 -6.19937170e-01 -5.25946886e-02 1.60780812e+02] [ 6.18543743e-01 7.84651455e-01 -4.15419373e-02 5.46085016e+01] [ 6.70218900e-02 -9.48220496e-06 9.97751505e-01 1.16262791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.83, Y:54.64, Z:11.63 [[ 7.83145025e-01 -6.19611791e-01 -5.25841987e-02 1.60831527e+02] [ 6.18216739e-01 7.84908420e-01 -4.15552114e-02 5.46374382e+01] [ 6.70218792e-02 3.53252078e-05 9.97751505e-01 1.16333960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.88, Y:54.67, Z:11.64 [[ 7.82566936e-01 -6.20342790e-01 -5.25719941e-02 1.60880032e+02] [ 6.18948348e-01 7.84330812e-01 -4.15706458e-02 5.46695864e+01] [ 6.70218852e-02 -7.53603814e-06 9.97751506e-01 1.16381904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.93, Y:54.70, Z:11.64 [[ 7.81087561e-01 -6.22205500e-01 -5.25598454e-02 1.60929131e+02] [ 6.20814232e-01 7.82853941e-01 -4.15860004e-02 5.47009406e+01] [ 6.70217203e-02 -1.47592418e-04 9.97751506e-01 1.16420787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.98, Y:54.73, Z:11.64 [[ 7.77575286e-01 -6.26590320e-01 -5.25475521e-02 1.60980186e+02] [ 6.25207963e-01 7.79348649e-01 -4.16015283e-02 5.47300063e+01] [ 6.70199786e-02 -5.04827709e-04 9.97751506e-01 1.16445820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.03, Y:54.76, Z:11.65 [[ 7.74920583e-01 -6.29871512e-01 -5.25354050e-02 1.61027800e+02] [ 6.28495623e-01 7.76698969e-01 -4.16168623e-02 5.47623525e+01] [ 6.70174708e-02 -7.68508954e-04 9.97751506e-01 1.16475774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.08, Y:54.79, Z:11.65 [[ 7.71115605e-01 -6.34524470e-01 -5.25301908e-02 1.61077188e+02] [ 6.33158863e-01 7.72901898e-01 -4.16234428e-02 5.47939498e+01] [ 6.70117771e-02 -1.16346953e-03 9.97751506e-01 1.16509231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.12, Y:54.83, Z:11.66 [[ 7.68827919e-01 -6.37295421e-01 -5.25183561e-02 1.61124713e+02] [ 6.35935232e-01 7.70618341e-01 -4.16383698e-02 5.48275697e+01] [ 6.70075509e-02 -1.38553178e-03 9.97751506e-01 1.16579103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.17, Y:54.86, Z:11.66 [[ 7.64123274e-01 -6.42929674e-01 -5.25076802e-02 1.61170923e+02] [ 6.41581759e-01 7.65922954e-01 -4.16518283e-02 5.48609903e+01] [ 6.69960339e-02 -1.86083840e-03 9.97751506e-01 1.16613130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.22, Y:54.90, Z:11.66 [[ 7.59973763e-01 -6.47829734e-01 -5.25025222e-02 1.61216850e+02] [ 6.46492971e-01 7.61781742e-01 -4.16583290e-02 5.48966926e+01] [ 6.69829670e-02 -2.28327449e-03 9.97751507e-01 1.16637785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.26, Y:54.93, Z:11.67 [[ 7.55611635e-01 -6.52913296e-01 -5.24908046e-02 1.61263163e+02] [ 6.51587669e-01 7.57427795e-01 -4.16730883e-02 5.49324039e+01] [ 6.69669078e-02 -2.71369063e-03 9.97751507e-01 1.16665533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:54.97, Z:11.67 [[ 7.50548020e-01 -6.58728737e-01 -5.24797069e-02 1.61308371e+02] [ 6.57416201e-01 7.52373662e-01 -4.16870591e-02 5.49699281e+01] [ 6.69448131e-02 -3.21286986e-03 9.97751507e-01 1.16698395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:55.01, Z:11.67 [[ 7.48338270e-01 -6.61238834e-01 -5.24694067e-02 1.61351753e+02] [ 6.59931514e-01 7.50167651e-01 -4.17000195e-02 5.50080208e+01] [ 6.69345238e-02 -3.42049465e-03 9.97751507e-01 1.16744195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.39, Y:55.05, Z:11.68 [[ 7.47007006e-01 -6.62743355e-01 -5.24574010e-02 1.61394449e+02] [ 6.61438664e-01 7.48838262e-01 -4.17151169e-02 5.50467475e+01] [ 6.69285255e-02 -3.53586869e-03 9.97751507e-01 1.16788818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.44, Y:55.09, Z:11.68 [[ 7.45801025e-01 -6.64100473e-01 -5.24537229e-02 1.61435961e+02] [ 6.62798790e-01 7.47634421e-01 -4.17197413e-02 5.50879876e+01] [ 6.69223087e-02 -3.65163823e-03 9.97751507e-01 1.16832661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.48, Y:55.13, Z:11.69 [[ 7.44758281e-01 -6.65270613e-01 -5.24415244e-02 1.61477450e+02] [ 6.63970737e-01 7.46592958e-01 -4.17350692e-02 5.51282692e+01] [ 6.69175879e-02 -3.73709918e-03 9.97751507e-01 1.16872122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.52, Y:55.17, Z:11.69 [[ 7.43690564e-01 -6.66464923e-01 -5.24294860e-02 1.61517861e+02] [ 6.65166932e-01 7.45526575e-01 -4.17501869e-02 5.51697774e+01] [ 6.69126102e-02 -3.82514032e-03 9.97751508e-01 1.16916884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.56, Y:55.21, Z:11.70 [[ 7.43183330e-01 -6.67031464e-01 -5.24172211e-02 1.61557327e+02] [ 6.65733792e-01 7.45019567e-01 -4.17655798e-02 5.52122214e+01] [ 6.69108111e-02 -3.85643267e-03 9.97751508e-01 1.16952416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.60, Y:55.25, Z:11.70 [[ 7.43262899e-01 -6.66943214e-01 -5.24119522e-02 1.61596312e+02] [ 6.65644861e-01 7.45098653e-01 -4.17721907e-02 5.52546010e+01] [ 6.69117541e-02 -3.84002715e-03 9.97751508e-01 1.16990783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.64, Y:55.30, Z:11.70 [[ 7.43446110e-01 -6.66739385e-01 -5.24068050e-02 1.61635510e+02] [ 6.65440076e-01 7.45281189e-01 -4.17786473e-02 5.52987292e+01] [ 6.69132755e-02 -3.81341542e-03 9.97751508e-01 1.17045287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:55.35, Z:11.71 [[ 7.44238483e-01 -6.65855725e-01 -5.23949714e-02 1.61671353e+02] [ 6.64553198e-01 7.46071278e-01 -4.17934827e-02 5.53465625e+01] [ 6.69188130e-02 -3.71492763e-03 9.97751508e-01 1.17084502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.71, Y:55.39, Z:11.71 [[ 7.44268517e-01 -6.65823076e-01 -5.23832543e-02 1.61710642e+02] [ 6.64519440e-01 7.46100524e-01 -4.18081635e-02 5.53906027e+01] [ 6.69200135e-02 -3.69319097e-03 9.97751508e-01 1.17121318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.75, Y:55.44, Z:11.71 [[ 7.43886497e-01 -6.66250785e-01 -5.23714631e-02 1.61746562e+02] [ 6.64947168e-01 7.45718517e-01 -4.18229288e-02 5.54382373e+01] [ 6.69189289e-02 -3.71274402e-03 9.97751508e-01 1.17131757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.79, Y:55.48, Z:11.72 [[ 7.43352456e-01 -6.66846860e-01 -5.23678388e-02 1.61785702e+02] [ 6.65544394e-01 7.45185294e-01 -4.18274664e-02 5.54820291e+01] [ 6.69162580e-02 -3.76057164e-03 9.97751508e-01 1.17157624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.82, Y:55.53, Z:11.72 [[ 7.42706045e-01 -6.67567632e-01 -5.23563630e-02 1.61824709e+02] [ 6.66265937e-01 7.44539430e-01 -4.18418259e-02 5.55259508e+01] [ 6.69136253e-02 -3.80708423e-03 9.97751509e-01 1.17204677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.86, Y:55.57, Z:11.73 [[ 7.42804578e-01 -6.67458932e-01 -5.23443792e-02 1.61861772e+02] [ 6.66155918e-01 7.44637026e-01 -4.18568124e-02 5.55739044e+01] [ 6.69152662e-02 -3.77808617e-03 9.97751509e-01 1.17263249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.90, Y:55.62, Z:11.73 [[ 7.45962663e-01 -6.63928374e-01 -5.23337389e-02 1.61903154e+02] [ 6.62615754e-01 7.47788243e-01 -4.18701118e-02 5.56162567e+01] [ 6.69333099e-02 -3.44361975e-03 9.97751509e-01 1.17341741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:161.94, Y:55.67, Z:11.73 [[ 7.48808091e-01 -6.60718341e-01 -5.23231925e-02 1.61937761e+02] [ 6.59396975e-01 7.50627351e-01 -4.18832871e-02 5.56663082e+01] [ 6.69482753e-02 -3.13921060e-03 9.97751509e-01 1.17294591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.98, Y:55.71, Z:11.74 [[ 7.51972746e-01 -6.57115373e-01 -5.23103893e-02 1.61977944e+02] [ 6.55784178e-01 7.53784825e-01 -4.18992716e-02 5.57097981e+01] [ 6.69634331e-02 -2.79721530e-03 9.97751509e-01 1.17358051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.02, Y:55.75, Z:11.74 [[ 7.54316657e-01 -6.54424438e-01 -5.22975776e-02 1.62018063e+02] [ 6.53085672e-01 7.56123149e-01 -4.19152567e-02 5.57514759e+01] [ 6.69737774e-02 -2.53742233e-03 9.97751509e-01 1.17388328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.06, Y:55.80, Z:11.74 [[ 7.54001338e-01 -6.54788116e-01 -5.22924992e-02 1.62056560e+02] [ 6.53449782e-01 7.55808152e-01 -4.19215914e-02 5.57951831e+01] [ 6.69728571e-02 -2.56158620e-03 9.97751509e-01 1.17425118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.10, Y:55.84, Z:11.75 [[ 7.51423797e-01 -6.57745407e-01 -5.22805637e-02 1.62098362e+02] [ 6.56413150e-01 7.53235095e-01 -4.19364710e-02 5.58353822e+01] [ 6.69630766e-02 -2.80558726e-03 9.97751510e-01 1.17461668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.14, Y:55.88, Z:11.75 [[ 7.47958012e-01 -6.61684835e-01 -5.22684673e-02 1.62140210e+02] [ 6.60361065e-01 7.49775521e-01 -4.19515423e-02 5.58756561e+01] [ 6.69483166e-02 -3.13806858e-03 9.97751510e-01 1.17505783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.18, Y:55.92, Z:11.75 [[ 7.44648811e-01 -6.65407735e-01 -5.22560453e-02 1.62179942e+02] [ 6.64091967e-01 7.46472122e-01 -4.19670098e-02 5.59185053e+01] [ 6.69328540e-02 -3.45213596e-03 9.97751510e-01 1.17546874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.22, Y:55.96, Z:11.76 [[ 7.43900646e-01 -6.66244350e-01 -5.22522322e-02 1.62221548e+02] [ 6.64930301e-01 7.45725195e-01 -4.19717568e-02 5.59591749e+01] [ 6.69292519e-02 -3.52127547e-03 9.97751510e-01 1.17592345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.26, Y:56.00, Z:11.76 [[ 7.45499728e-01 -6.64455532e-01 -5.22398424e-02 1.62258927e+02] [ 6.63136028e-01 7.47320337e-01 -4.19871721e-02 5.60026694e+01] [ 6.69385054e-02 -3.34069620e-03 9.97751510e-01 1.17631784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.30, Y:56.04, Z:11.77 [[ 7.47282697e-01 -6.62450092e-01 -5.22345282e-02 1.62297434e+02] [ 6.61125241e-01 7.49099418e-01 -4.19937822e-02 5.60448729e+01] [ 6.69476396e-02 -3.15233825e-03 9.97751510e-01 1.17670660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51999999999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.34, Y:56.09, Z:11.77 [[ 7.47903063e-01 -6.61750034e-01 -5.22293068e-02 1.62338464e+02] [ 6.60423031e-01 7.49718212e-01 -4.20002753e-02 5.60857118e+01] [ 6.69509461e-02 -3.08130256e-03 9.97751510e-01 1.17712095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.38, Y:56.13, Z:11.77 [[ 7.47889658e-01 -6.61766157e-01 -5.22169716e-02 1.62379857e+02] [ 6.60438126e-01 7.49704056e-01 -4.20156055e-02 5.61265614e+01] [ 6.69517812e-02 -3.06304203e-03 9.97751511e-01 1.17736970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:162.42, Y:56.17, Z:11.78 [[ 7.44922580e-01 -6.65105263e-01 -5.22047778e-02 1.62420415e+02] [ 6.63784304e-01 7.46742133e-01 -4.20307510e-02 5.61679739e+01] [ 6.69383808e-02 -3.34305664e-03 9.97751511e-01 1.17758561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.7 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:162.46, Y:56.21, Z:11.78 [[ 7.41603765e-01 -6.68804751e-01 -5.21925333e-02 1.62463628e+02] [ 6.67491801e-01 7.43429105e-01 -4.20459503e-02 5.62066873e+01] [ 6.69219797e-02 -3.65665294e-03 9.97751511e-01 1.17785424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:162.51, Y:56.25, Z:11.78 [[ 7.37177994e-01 -6.73680793e-01 -5.21803978e-02 1.62506355e+02] [ 6.72378850e-01 7.39011200e-01 -4.20610055e-02 5.62463624e+01] [ 6.68975900e-02 -4.07854817e-03 9.97751511e-01 1.17833928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:56.29, Z:11.79 [[ 7.32243497e-01 -6.79041946e-01 -5.21679610e-02 1.62547437e+02] [ 6.77752324e-01 7.34085391e-01 -4.20764252e-02 5.62867630e+01] [ 6.68673957e-02 -4.54676802e-03 9.97751511e-01 1.17876257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:162.59, Y:56.33, Z:11.79 [[ 7.30724278e-01 -6.80677491e-01 -5.21553664e-02 1.62588984e+02] [ 6.79390885e-01 7.32568281e-01 -4.20920309e-02 5.63258154e+01] [ 6.68584651e-02 -4.67621159e-03 9.97751511e-01 1.17916404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:162.63, Y:56.37, Z:11.80 [[ 7.31002249e-01 -6.80379611e-01 -5.21468762e-02 1.62630855e+02] [ 6.79091510e-01 7.32845207e-01 -4.21025466e-02 5.63665482e+01] [ 6.68613026e-02 -4.63544466e-03 9.97751512e-01 1.17959968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.0 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:162.67, Y:56.41, Z:11.80 [[ 7.34975190e-01 -6.76086867e-01 -5.21346202e-02 1.62670644e+02] [ 6.74786925e-01 7.36809816e-01 -4.21177175e-02 5.64086050e+01] [ 6.68885355e-02 -4.22428257e-03 9.97751512e-01 1.17992526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:162.71, Y:56.45, Z:11.80 [[ 7.38472284e-01 -6.72266275e-01 -5.21223674e-02 1.62712131e+02] [ 6.70955772e-01 7.40299380e-01 -4.21328754e-02 5.64495884e+01] [ 6.69106675e-02 -3.85784251e-03 9.97751512e-01 1.18022549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:162.75, Y:56.49, Z:11.81 [[ 7.44784645e-01 -6.65267156e-01 -5.21099204e-02 1.62751426e+02] [ 6.63938396e-01 7.46598506e-01 -4.21482642e-02 5.64930349e+01] [ 6.69450446e-02 -3.20639698e-03 9.97751512e-01 1.18056891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:162.79, Y:56.53, Z:11.81 [[ 7.48268884e-01 -6.61346762e-01 -5.20973904e-02 1.62792841e+02] [ 6.60007419e-01 7.50074946e-01 -4.21637463e-02 5.65342621e+01] [ 6.69618043e-02 -2.83484482e-03 9.97751512e-01 1.18096556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23999999999998 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:162.84, Y:56.57, Z:11.81 [[ 7.49333921e-01 -6.60140089e-01 -5.20935545e-02 1.62836031e+02] [ 6.58797509e-01 7.51137578e-01 -4.21684850e-02 5.65723522e+01] [ 6.69665338e-02 -2.72082779e-03 9.97751512e-01 1.18139126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29999999999998 meters Centerline goodness : 0.997983 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:56.61, Z:11.82 [[ 7.51138689e-01 -6.58086797e-01 -5.20810683e-02 1.62876288e+02] [ 6.56738220e-01 7.52937865e-01 -4.21839007e-02 5.66132384e+01] [ 6.69744765e-02 -2.51766822e-03 9.97751513e-01 1.18166961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35999999999999 meters Centerline goodness : 0.997762 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:56.65, Z:11.82 [[ 7.52143624e-01 -6.56938421e-01 -5.20757071e-02 1.62918360e+02] [ 6.55586640e-01 7.53940394e-01 -4.21905181e-02 5.66528552e+01] [ 6.69785515e-02 -2.40680870e-03 9.97751513e-01 1.18196350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42 meters Centerline goodness : 0.997626 with order 1 Centerline is valid? [True, True] Translation: X:162.96, Y:56.69, Z:11.83 [[ 7.54080507e-01 -6.54715191e-01 -5.20635039e-02 1.62960133e+02] [ 6.53357073e-01 7.55872492e-01 -4.22055716e-02 5.66923111e+01] [ 6.69859993e-02 -2.18965972e-03 9.97751513e-01 1.18257240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48 meters Centerline goodness : 0.997051 with order 1 Centerline is valid? [True, True] Translation: X:163.00, Y:56.73, Z:11.83 [[ 7.59069247e-01 -6.48925703e-01 -5.20510355e-02 1.63001313e+02] [ 6.47552860e-01 7.60849976e-01 -4.22209430e-02 5.67322468e+01] [ 6.70012842e-02 -1.65717747e-03 9.97751513e-01 1.18283566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54 meters Centerline goodness : 0.997074 with order 1 Centerline is valid? [True, True] Translation: X:163.04, Y:56.77, Z:11.83 [[ 7.60831228e-01 -6.46859405e-01 -5.20456821e-02 1.63044865e+02] [ 6.45481274e-01 7.62607868e-01 -4.22275411e-02 5.67701736e+01] [ 6.70057287e-02 -1.46648122e-03 9.97751513e-01 1.18323577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.6 meters Centerline goodness : 0.996594 with order 1 Centerline is valid? [True, True] Translation: X:163.09, Y:56.81, Z:11.84 [[ 7.61704683e-01 -6.45831634e-01 -5.20334206e-02 1.63089051e+02] [ 6.44450075e-01 7.63478657e-01 -4.22426445e-02 5.68077593e+01] [ 6.70080422e-02 -1.35652163e-03 9.97751513e-01 1.18364934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66 meters Centerline goodness : 0.996802 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:56.84, Z:11.84 [[ 7.61921813e-01 -6.45576460e-01 -5.20210064e-02 1.63134321e+02] [ 6.44193264e-01 7.63694511e-01 -4.22579268e-02 5.68439022e+01] [ 6.70088799e-02 -1.31434570e-03 9.97751513e-01 1.18407825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72 meters Centerline goodness : 0.997014 with order 1 Centerline is valid? [True, True] Translation: X:163.18, Y:56.88, Z:11.84 [[ 7.63080825e-01 -6.44207068e-01 -5.20087392e-02 1.63181003e+02] [ 6.42819662e-01 7.64850230e-01 -4.22730193e-02 5.68779835e+01] [ 6.70114739e-02 -1.17450972e-03 9.97751514e-01 1.18439776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78 meters Centerline goodness : 0.996718 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:56.91, Z:11.85 [[ 7.65208478e-01 -6.41679337e-01 -5.19962859e-02 1.63227372e+02] [ 6.40285045e-01 7.66972462e-01 -4.22883314e-02 5.69131400e+01] [ 6.70152679e-02 -9.33054531e-04 9.97751514e-01 1.18459021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84 meters Centerline goodness : 0.997305 with order 1 Centerline is valid? [True, True] Translation: X:163.27, Y:56.95, Z:11.85 [[ 7.68973410e-01 -6.37163681e-01 -5.19840237e-02 1.63273888e+02] [ 6.35758011e-01 7.70728340e-01 -4.23033997e-02 5.69471155e+01] [ 6.70197502e-02 -5.19070010e-04 9.97751514e-01 1.18505702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.9 meters Centerline goodness : 0.997231 with order 1 Centerline is valid? [True, True] Translation: X:163.32, Y:56.98, Z:11.86 [[ 7.71713881e-01 -6.33842743e-01 -5.19717572e-02 1.63320137e+02] [ 6.32428505e-01 7.73461914e-01 -4.23184644e-02 5.69815435e+01] [ 6.70214263e-02 -2.10674297e-04 9.97751514e-01 1.18551826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95999999999998 meters Centerline goodness : 0.997675 with order 1 Centerline is valid? [True, True] Translation: X:163.37, Y:57.01, Z:11.86 [[ 7.73796094e-01 -6.31300108e-01 -5.19593977e-02 1.63369895e+02] [ 6.29879108e-01 7.75538634e-01 -4.23336341e-02 5.70122743e+01] [ 6.70217481e-02 2.94616415e-05 9.97751514e-01 1.18621604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01999999999998 meters Centerline goodness : 0.997912 with order 1 Centerline is valid? [True, True] Translation: X:163.42, Y:57.04, Z:11.87 [[ 7.73244216e-01 -6.31976856e-01 -5.19483977e-02 1.63417898e+02] [ 6.30556474e-01 7.74987260e-01 -4.23471282e-02 5.70429796e+01] [ 6.70217513e-02 -1.17265083e-05 9.97751515e-01 1.18663160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07999999999998 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:163.47, Y:57.07, Z:11.87 [[ 7.71248337e-01 -6.34411480e-01 -5.19430031e-02 1.63466031e+02] [ 6.32996155e-01 7.72995490e-01 -4.23537442e-02 5.70740927e+01] [ 6.70214087e-02 -2.14466456e-04 9.97751515e-01 1.18715300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:163.52, Y:57.10, Z:11.87 [[ 7.65787918e-01 -6.40992461e-01 -5.19377462e-02 1.63518177e+02] [ 6.39591712e-01 7.67546778e-01 -4.23601896e-02 5.71033510e+01] [ 6.70172120e-02 -7.80030583e-04 9.97751515e-01 1.18710718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.2 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:163.57, Y:57.13, Z:11.88 [[ 7.59945404e-01 -6.47909386e-01 -5.19269630e-02 1.63567319e+02] [ 6.46523740e-01 7.61716186e-01 -4.23734040e-02 5.71338724e+01] [ 6.70077344e-02 -1.37054067e-03 9.97751515e-01 1.18769243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:163.62, Y:57.16, Z:11.88 [[ 7.50932036e-01 -6.58335758e-01 -5.19144306e-02 1.63618426e+02] [ 6.56973622e-01 7.52720966e-01 -4.23887527e-02 5.71629503e+01] [ 6.69831120e-02 -2.27533917e-03 9.97751515e-01 1.18819887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:163.67, Y:57.20, Z:11.89 [[ 7.45952794e-01 -6.63973357e-01 -5.19019321e-02 1.63665784e+02] [ 6.62623674e-01 7.47751137e-01 -4.24040507e-02 5.71962467e+01] [ 6.69648887e-02 -2.76002884e-03 9.97751515e-01 1.18879944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:163.71, Y:57.23, Z:11.89 [[ 7.41943155e-01 -6.68451838e-01 -5.18892576e-02 1.63713430e+02] [ 6.67111924e-01 7.43748790e-01 -4.24195547e-02 5.72301120e+01] [ 6.69480018e-02 -3.14304424e-03 9.97751515e-01 1.18912679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:163.76, Y:57.27, Z:11.90 [[ 7.41633484e-01 -6.68796368e-01 -5.18767084e-02 1.63758617e+02] [ 6.67456224e-01 7.43438947e-01 -4.24348962e-02 5.72653518e+01] [ 6.69474699e-02 -3.15429195e-03 9.97751516e-01 1.18962509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.5 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:163.80, Y:57.30, Z:11.90 [[ 7.43741025e-01 -6.66452170e-01 -5.18728548e-02 1.63802670e+02] [ 6.65106006e-01 7.45542004e-01 -4.24396063e-02 5.73031643e+01] [ 6.69573599e-02 -2.93687101e-03 9.97751516e-01 1.19002717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:163.85, Y:57.34, Z:11.90 [[ 7.45997781e-01 -6.63926037e-01 -5.18606667e-02 1.63846036e+02] [ 6.62572741e-01 7.47793407e-01 -4.24544949e-02 5.73419707e+01] [ 6.69677091e-02 -2.69050507e-03 9.97751516e-01 1.19049427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:163.89, Y:57.38, Z:11.91 [[ 7.48702789e-01 -6.60875100e-01 -5.18481949e-02 1.63888132e+02] [ 6.59513433e-01 7.50492075e-01 -4.24697207e-02 5.73813077e+01] [ 6.69788403e-02 -2.39738269e-03 9.97751516e-01 1.19091411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:163.93, Y:57.42, Z:11.91 [[ 7.51002138e-01 -6.58262009e-01 -5.18354727e-02 1.63930698e+02] [ 6.56893045e-01 7.52785847e-01 -4.24852429e-02 5.74200285e+01] [ 6.69874316e-02 -2.14385326e-03 9.97751516e-01 1.19141018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73999999999998 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:163.97, Y:57.46, Z:11.91 [[ 7.55014564e-01 -6.53656252e-01 -5.18315731e-02 1.63974269e+02] [ 6.52276078e-01 7.56789613e-01 -4.24899999e-02 5.74602043e+01] [ 6.69994502e-02 -1.72792647e-03 9.97751516e-01 1.19133862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79999999999998 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:164.02, Y:57.50, Z:11.92 [[ 7.61761410e-01 -6.45781816e-01 -5.18208461e-02 1.64015313e+02] [ 6.44382396e-01 7.63521326e-01 -4.25030785e-02 5.75004931e+01] [ 6.70140364e-02 -1.01523595e-03 9.97751516e-01 1.19181793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85999999999999 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:57.54, Z:11.92 [[ 7.65635573e-01 -6.41184900e-01 -5.18082318e-02 1.64059397e+02] [ 6.39773872e-01 7.67386196e-01 -4.25184489e-02 5.75388404e+01] [ 6.70191093e-02 -5.91916097e-04 9.97751516e-01 1.19211914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:57.58, Z:11.92 [[ 7.68630244e-01 -6.37592874e-01 -5.17964690e-02 1.64103375e+02] [ 6.36172700e-01 7.70373455e-01 -4.25327737e-02 5.75761552e+01] [ 6.70212182e-02 -2.59523249e-04 9.97751517e-01 1.19238704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:164.15, Y:57.61, Z:11.93 [[ 7.71828211e-01 -6.33718883e-01 -5.17840643e-02 1.64148643e+02] [ 6.32288946e-01 7.73563422e-01 -4.25478712e-02 5.76123929e+01] [ 6.70216474e-02 9.71559433e-05 9.97751517e-01 1.19275898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:164.20, Y:57.65, Z:11.93 [[ 7.72929990e-01 -6.32374917e-01 -5.17802584e-02 1.64195470e+02] [ 6.30941652e-01 7.74662453e-01 -4.25525024e-02 5.76476276e+01] [ 6.70213572e-02 2.19783429e-04 9.97751517e-01 1.19331554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.1 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:57.68, Z:11.94 [[ 7.73127978e-01 -6.32133704e-01 -5.17697704e-02 1.64241754e+02] [ 6.30699045e-01 7.74859286e-01 -4.25652584e-02 5.76833468e+01] [ 6.70212218e-02 2.57247478e-04 9.97751517e-01 1.19373016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:164.29, Y:57.71, Z:11.94 [[ 7.72208114e-01 -6.33257924e-01 -5.17593560e-02 1.64290976e+02] [ 6.31824936e-01 7.73940806e-01 -4.25779185e-02 5.77145809e+01] [ 6.70214820e-02 1.76162360e-04 9.97751517e-01 1.19392076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:164.34, Y:57.75, Z:11.95 [[ 7.69329693e-01 -6.36752714e-01 -5.17475140e-02 1.64338478e+02] [ 6.35326629e-01 7.71068071e-01 -4.25923060e-02 5.77474697e+01] [ 6.70216222e-02 -1.09048012e-04 9.97751517e-01 1.19462437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:164.39, Y:57.78, Z:11.95 [[ 7.64536347e-01 -6.42500385e-01 -5.17438792e-02 1.64388794e+02] [ 6.41087070e-01 7.66285122e-01 -4.25967213e-02 5.77766716e+01] [ 6.70189747e-02 -6.05590231e-04 9.97751517e-01 1.19496057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:164.44, Y:57.81, Z:11.95 [[ 7.61302710e-01 -6.46329590e-01 -5.17324266e-02 1.64437941e+02] [ 6.44924125e-01 7.63057801e-01 -4.26106257e-02 5.78099639e+01] [ 6.70153399e-02 -9.23905182e-04 9.97751517e-01 1.19532968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.4 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:164.49, Y:57.84, Z:11.96 [[ 7.57070425e-01 -6.51282780e-01 -5.17214862e-02 1.64487525e+02] [ 6.49887890e-01 7.58833930e-01 -4.26239012e-02 5.78402200e+01] [ 6.70082315e-02 -1.34387255e-03 9.97751518e-01 1.19575556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45999999999998 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:164.54, Y:57.87, Z:11.96 [[ 7.55096483e-01 -6.53571328e-01 -5.17089997e-02 1.64535787e+02] [ 6.52180746e-01 7.56863387e-01 -4.26390438e-02 5.78723815e+01] [ 6.70043051e-02 -1.52702202e-03 9.97751518e-01 1.19614956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.58, Y:57.90, Z:11.97 [[ 7.54090948e-01 -6.54732239e-01 -5.16965985e-02 1.64584419e+02] [ 6.53343347e-01 7.55859181e-01 -4.26540740e-02 5.79034871e+01] [ 6.70023460e-02 -1.61057756e-03 9.97751518e-01 1.19672625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.63, Y:57.94, Z:11.97 [[ 7.54815323e-01 -6.53897986e-01 -5.16841647e-02 1.64631890e+02] [ 6.52506109e-01 7.56581207e-01 -4.26691347e-02 5.79364757e+01] [ 6.70045290e-02 -1.51691650e-03 9.97751518e-01 1.19708226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.68, Y:57.97, Z:11.98 [[ 7.56501403e-01 -6.51947583e-01 -5.16718232e-02 1.64678444e+02] [ 6.50550132e-01 7.58262880e-01 -4.26840750e-02 5.79702028e+01] [ 6.70086050e-02 -1.32454877e-03 9.97751518e-01 1.19753367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.73, Y:58.00, Z:11.98 [[ 7.61756507e-01 -6.45800525e-01 -5.16595205e-02 1.64726265e+02] [ 6.44387848e-01 7.63505796e-01 -4.26989595e-02 5.80034040e+01] [ 6.70173538e-02 -7.62557027e-04 9.97751519e-01 1.19807557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:58.04, Z:11.98 [[ 7.65493170e-01 -6.41367910e-01 -5.16469835e-02 1.64772304e+02] [ 6.39944080e-01 7.67233393e-01 -4.27141184e-02 5.80378379e+01] [ 6.70207552e-02 -3.53815357e-04 9.97751519e-01 1.19849793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.82, Y:58.07, Z:11.99 [[ 7.70873882e-01 -6.34891580e-01 -5.16346659e-02 1.64820826e+02] [ 6.33452132e-01 7.72601209e-01 -4.27290032e-02 5.80704337e+01] [ 6.70212897e-02 2.30583356e-04 9.97751519e-01 1.19893280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.87, Y:58.10, Z:11.99 [[ 7.74136330e-01 -6.30909976e-01 -5.16289114e-02 1.64868118e+02] [ 6.29461181e-01 7.75855824e-01 -4.27359552e-02 5.81036640e+01] [ 6.70191321e-02 5.85060008e-04 9.97751519e-01 1.19919753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:58.13, Z:11.99 [[ 7.77168062e-01 -6.27172635e-01 -5.16167650e-02 1.64918869e+02] [ 6.25714597e-01 7.78879726e-01 -4.27506207e-02 5.81340044e+01] [ 6.70152712e-02 9.27053653e-04 9.97751519e-01 1.19923733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.97, Y:58.16, Z:11.99 [[ 7.77323616e-01 -6.26980847e-01 -5.16044040e-02 1.64968931e+02] [ 6.25521397e-01 7.79034075e-01 -4.27655366e-02 5.81643110e+01] [ 6.70147615e-02 9.63002661e-04 9.97751519e-01 1.19943897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.02, Y:58.19, Z:12.00 [[ 7.75407556e-01 -6.29349975e-01 -5.15919628e-02 1.65022452e+02] [ 6.27894753e-01 7.77121615e-01 -4.27805402e-02 5.81882148e+01] [ 6.70171614e-02 7.78031409e-04 9.97751520e-01 1.19985965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.07, Y:58.22, Z:12.00 [[ 7.73336073e-01 -6.31894088e-01 -5.15866174e-02 1.65073614e+02] [ 6.30444076e-01 7.75054540e-01 -4.27869850e-02 5.82170741e+01] [ 6.70192849e-02 5.66241623e-04 9.97751520e-01 1.20038906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.13, Y:58.24, Z:12.01 [[ 7.71077524e-01 -6.34649159e-01 -5.15741795e-02 1.65127461e+02] [ 6.33204285e-01 7.72800313e-01 -4.28019721e-02 5.82416254e+01] [ 6.70207777e-02 3.46647213e-04 9.97751520e-01 1.20072100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:58.27, Z:12.01 [[ 7.69336382e-01 -6.36759698e-01 -5.15617887e-02 1.65179045e+02] [ 6.35318550e-01 7.71062289e-01 -4.28168936e-02 5.82702174e+01] [ 6.70214230e-02 1.82433143e-04 9.97751520e-01 1.20117147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.23, Y:58.29, Z:12.02 [[ 7.67063945e-01 -6.39496355e-01 -5.15491705e-02 1.65233928e+02] [ 6.38060344e-01 7.68794128e-01 -4.28320797e-02 5.82947384e+01] [ 6.70216585e-02 -3.65374375e-05 9.97751520e-01 1.20179291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.28, Y:58.32, Z:12.02 [[ 7.65823437e-01 -6.40982397e-01 -5.15366786e-02 1.65284677e+02] [ 6.39548732e-01 7.67555565e-01 -4.28471051e-02 5.83245401e+01] [ 6.70215046e-02 -1.46900111e-04 9.97751520e-01 1.20238706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:58.35, Z:12.03 [[ 7.64308951e-01 -6.42787992e-01 -5.15308176e-02 1.65337039e+02] [ 6.41357944e-01 7.66044065e-01 -4.28541528e-02 5.83512221e+01] [ 6.70210118e-02 -2.95886645e-04 9.97751520e-01 1.20285972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.39, Y:58.38, Z:12.03 [[ 7.63263006e-01 -6.44030300e-01 -5.15223880e-02 1.65386630e+02] [ 6.42602391e-01 7.64999882e-01 -4.28642851e-02 5.83815777e+01] [ 6.70205191e-02 -3.91686649e-04 9.97751520e-01 1.20323726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.44, Y:58.41, Z:12.04 [[ 7.62635534e-01 -6.44774178e-01 -5.15102143e-02 1.65435762e+02] [ 6.43346976e-01 7.64372990e-01 -4.28789094e-02 5.84112227e+01] [ 6.70202300e-02 -4.37960609e-04 9.97751521e-01 1.20370976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.49, Y:58.44, Z:12.04 [[ 7.60277828e-01 -6.47552963e-01 -5.15051876e-02 1.65486963e+02] [ 6.46131702e-01 7.62020147e-01 -4.28849464e-02 5.84400809e+01] [ 6.70182648e-02 -6.74660676e-04 9.97751521e-01 1.20383086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:165.54, Y:58.47, Z:12.04 [[ 7.58103522e-01 -6.50098107e-01 -5.14927181e-02 1.65535533e+02] [ 6.48681679e-01 7.59849772e-01 -4.28999136e-02 5.84727992e+01] [ 6.70158828e-02 -8.79807227e-04 9.97751521e-01 1.20399189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.59, Y:58.50, Z:12.05 [[ 7.55143705e-01 -6.53534822e-01 -5.14803021e-02 1.65586581e+02] [ 6.52125325e-01 7.56895554e-01 -4.29148077e-02 5.85019088e+01] [ 6.70115330e-02 -1.16476181e-03 9.97751521e-01 1.20454165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.63, Y:58.54, Z:12.05 [[ 7.52698924e-01 -6.56350040e-01 -5.14680050e-02 1.65634587e+02] [ 6.54946086e-01 7.54455219e-01 -4.29295506e-02 5.85353530e+01] [ 6.70071173e-02 -1.39574191e-03 9.97751521e-01 1.20502066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.68, Y:58.57, Z:12.05 [[ 7.50027454e-01 -6.59402100e-01 -5.14557038e-02 1.65683310e+02] [ 6.58004282e-01 7.51788636e-01 -4.29442900e-02 5.85678905e+01] [ 6.70013683e-02 -1.64867691e-03 9.97751521e-01 1.20549874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.73, Y:58.60, Z:12.06 [[ 7.49608842e-01 -6.59878794e-01 -5.14447365e-02 1.65728955e+02] [ 6.58481196e-01 7.51370198e-01 -4.29574241e-02 5.86015546e+01] [ 6.70007351e-02 -1.67412665e-03 9.97751522e-01 1.20574299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.78, Y:58.64, Z:12.06 [[ 7.51121033e-01 -6.58157418e-01 -5.14393493e-02 1.65776778e+02] [ 6.56755341e-01 7.52878826e-01 -4.29638741e-02 5.86353042e+01] [ 6.70045894e-02 -1.51199786e-03 9.97751522e-01 1.20626050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.82, Y:58.67, Z:12.06 [[ 7.50782193e-01 -6.58544767e-01 -5.14284741e-02 1.65819857e+02] [ 6.57142707e-01 7.52539999e-01 -4.29768879e-02 5.86733242e+01] [ 6.70041885e-02 -1.52956448e-03 9.97751522e-01 1.20637838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.87, Y:58.71, Z:12.07 [[ 7.53678647e-01 -6.55228300e-01 -5.14234570e-02 1.65865165e+02] [ 6.53818094e-01 7.55429925e-01 -4.29828902e-02 5.87095170e+01] [ 6.70104244e-02 -1.22630012e-03 9.97751522e-01 1.20677771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.91, Y:58.75, Z:12.07 [[ 7.55959097e-01 -6.52596914e-01 -5.14111907e-02 1.65909967e+02] [ 6.51179615e-01 7.57704639e-01 -4.29975568e-02 5.87467738e+01] [ 6.70145706e-02 -9.73525136e-04 9.97751522e-01 1.20723158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.95, Y:58.78, Z:12.08 [[ 7.58620604e-01 -6.49502083e-01 -5.13986679e-02 1.65954141e+02] [ 6.48076648e-01 7.60359508e-01 -4.30125212e-02 5.87840602e+01] [ 6.70181880e-02 -6.80091592e-04 9.97751522e-01 1.20760445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.00, Y:58.82, Z:12.08 [[ 7.61247843e-01 -6.46421840e-01 -5.13860630e-02 1.65999347e+02] [ 6.44988352e-01 7.62980114e-01 -4.30275748e-02 5.88209150e+01] [ 6.70205082e-02 -3.88763552e-04 9.97751522e-01 1.20799697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.04, Y:58.86, Z:12.08 [[ 7.61634901e-01 -6.45966741e-01 -5.13735974e-02 1.66043932e+02] [ 6.44531214e-01 7.63365483e-01 -4.30424531e-02 5.88569926e+01] [ 6.70208242e-02 -3.29252629e-04 9.97751523e-01 1.20838864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.09, Y:58.89, Z:12.09 [[ 7.59290174e-01 -6.48721616e-01 -5.13682362e-02 1.66089540e+02] [ 6.47291935e-01 7.61025589e-01 -4.30488505e-02 5.88927721e+01] [ 6.70192620e-02 -5.63675793e-04 9.97751523e-01 1.20872802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:58.93, Z:12.09 [[ 7.56219316e-01 -6.52299742e-01 -5.13555464e-02 1.66133980e+02] [ 6.50877244e-01 7.57960623e-01 -4.30639835e-02 5.89278642e+01] [ 6.70161073e-02 -8.60340345e-04 9.97751523e-01 1.20911350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:58.96, Z:12.10 [[ 7.50523738e-01 -6.58845419e-01 -5.13500989e-02 1.66179126e+02] [ 6.57437660e-01 7.52276982e-01 -4.30704783e-02 5.89632615e+01] [ 6.70062847e-02 -1.43407250e-03 9.97751523e-01 1.20977382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.22, Y:59.00, Z:12.10 [[ 7.43727015e-01 -6.66509248e-01 -5.13376037e-02 1.66224592e+02] [ 6.65118521e-01 7.45493799e-01 -4.30853667e-02 5.90000496e+01] [ 6.69886606e-02 -2.10183987e-03 9.97751523e-01 1.21004857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.27, Y:59.04, Z:12.10 [[ 7.39631695e-01 -6.71051799e-01 -5.13267761e-02 1.66268609e+02] [ 6.69671026e-01 7.41406269e-01 -4.30982616e-02 5.90378059e+01] [ 6.69751596e-02 -2.49521450e-03 9.97751523e-01 1.21030606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.31, Y:59.08, Z:12.11 [[ 7.36617895e-01 -6.74358975e-01 -5.13229862e-02 1.66312082e+02] [ 6.72985854e-01 7.38398396e-01 -4.31027743e-02 5.90760595e+01] [ 6.69635534e-02 -2.78936884e-03 9.97751523e-01 1.21078985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.35, Y:59.12, Z:12.11 [[ 7.36612916e-01 -6.74365375e-01 -5.13103660e-02 1.66353963e+02] [ 6.72991225e-01 7.38392624e-01 -4.31177924e-02 5.91160689e+01] [ 6.69643420e-02 -2.77030327e-03 9.97751523e-01 1.21126963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.40, Y:59.16, Z:12.12 [[ 7.38953664e-01 -6.71799915e-01 -5.13064986e-02 1.66395992e+02] [ 6.70419266e-01 7.40728335e-01 -4.31223938e-02 5.91566968e+01] [ 6.69737977e-02 -2.53141428e-03 9.97751523e-01 1.21171672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.44, Y:59.20, Z:12.12 [[ 7.43082948e-01 -6.67230584e-01 -5.12940603e-02 1.66436272e+02] [ 6.65837999e-01 7.44848268e-01 -4.31371841e-02 5.91997711e+01] [ 6.69887405e-02 -2.09902858e-03 9.97751524e-01 1.21215501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.48, Y:59.24, Z:12.13 [[ 7.44686706e-01 -6.65441019e-01 -5.12831350e-02 1.66477031e+02] [ 6.64043299e-01 7.46447962e-01 -4.31501686e-02 5.92409170e+01] [ 6.69940838e-02 -1.92086519e-03 9.97751524e-01 1.21255098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.52, Y:59.28, Z:12.13 [[ 7.45710405e-01 -6.64294615e-01 -5.12704154e-02 1.66516695e+02] [ 6.62893150e-01 7.47468682e-01 -4.31652766e-02 5.92822221e+01] [ 6.69974906e-02 -1.79801126e-03 9.97751524e-01 1.21281381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.56, Y:59.32, Z:12.13 [[ 7.46613073e-01 -6.63280351e-01 -5.12649470e-02 1.66558753e+02] [ 6.61876051e-01 7.48369087e-01 -4.31717701e-02 5.93230236e+01] [ 6.70000884e-02 -1.69843270e-03 9.97751524e-01 1.21310135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:59.37, Z:12.13 [[ 7.50468166e-01 -6.58915948e-01 -5.12572467e-02 1.66598790e+02] [ 6.57500809e-01 7.52215458e-01 -4.31809106e-02 5.93653219e+01] [ 6.70090839e-02 -1.29578238e-03 9.97751524e-01 1.21330475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.64, Y:59.41, Z:12.14 [[ 7.55691400e-01 -6.52919945e-01 -5.12450236e-02 1.66639474e+02] [ 6.51489957e-01 7.57426559e-01 -4.31954116e-02 5.94065931e+01] [ 6.70174877e-02 -7.43217159e-04 9.97751524e-01 1.21365364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.68, Y:59.45, Z:12.14 [[ 7.59104199e-01 -6.48949946e-01 -5.12326293e-02 1.66681820e+02] [ 6.47509890e-01 7.60831012e-01 -4.32101071e-02 5.94457085e+01] [ 6.70205698e-02 -3.72660374e-04 9.97751524e-01 1.21404663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.73, Y:59.48, Z:12.14 [[ 7.62602664e-01 -6.44836144e-01 -5.12203573e-02 1.66725277e+02] [ 6.43385795e-01 7.64320841e-01 -4.32246491e-02 5.94840897e+01] [ 6.70216026e-02 8.78218934e-06 9.97751525e-01 1.21447474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.77, Y:59.52, Z:12.15 [[ 7.67981951e-01 -6.38421074e-01 -5.12079608e-02 1.66770258e+02] [ 6.36955396e-01 7.69687069e-01 -4.32393302e-02 5.95200975e+01] [ 6.70190049e-02 5.89838218e-04 9.97751525e-01 1.21486028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.4 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:166.82, Y:59.56, Z:12.15 [[ 7.71303019e-01 -6.34405773e-01 -5.11953947e-02 1.66816163e+02] [ 6.32930232e-01 7.72999609e-01 -4.32542034e-02 5.95563076e+01] [ 6.70147364e-02 9.58984655e-04 9.97751525e-01 1.21491296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.86, Y:59.59, Z:12.16 [[ 7.74169574e-01 -6.30905548e-01 -5.11826265e-02 1.66863344e+02] [ 6.29421339e-01 7.75858586e-01 -4.32693067e-02 5.95904571e+01] [ 6.70093259e-02 1.28234343e-03 9.97751525e-01 1.21575669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51999999999998 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:166.91, Y:59.62, Z:12.16 [[ 7.74778464e-01 -6.30158552e-01 -5.11715865e-02 1.66913994e+02] [ 6.28671854e-01 7.76465284e-01 -4.32823591e-02 5.96211349e+01] [ 6.70077092e-02 1.36410351e-03 9.97751525e-01 1.21588202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.96, Y:59.65, Z:12.17 [[ 7.75313870e-01 -6.29500720e-01 -5.11590221e-02 1.66962628e+02] [ 6.28011611e-01 7.76998564e-01 -4.32972049e-02 5.96528322e+01] [ 6.70061084e-02 1.44046365e-03 9.97751525e-01 1.21677810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.01, Y:59.68, Z:12.17 [[ 7.75119326e-01 -6.29741270e-01 -5.11464880e-02 1.67014435e+02] [ 6.28251707e-01 7.76803619e-01 -4.33120062e-02 5.96815959e+01] [ 6.70061348e-02 1.43910467e-03 9.97751526e-01 1.21703760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.06, Y:59.71, Z:12.17 [[ 7.75525140e-01 -6.29242479e-01 -5.11337321e-02 1.67063916e+02] [ 6.27750842e-01 7.77207595e-01 -4.33270605e-02 5.97116315e+01] [ 6.70047520e-02 1.50198130e-03 9.97751526e-01 1.21749280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.12, Y:59.74, Z:12.18 [[ 7.76406674e-01 -6.28154901e-01 -5.11282507e-02 1.67117067e+02] [ 6.26660481e-01 7.78086658e-01 -4.33335279e-02 5.97381913e+01] [ 6.70023776e-02 1.60438601e-03 9.97751526e-01 1.21791976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.17, Y:59.77, Z:12.18 [[ 7.76827163e-01 -6.27635839e-01 -5.11156825e-02 1.67167247e+02] [ 6.26139322e-01 7.78505279e-01 -4.33483482e-02 5.97685291e+01] [ 6.70008055e-02 1.66863552e-03 9.97751526e-01 1.21823154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.22, Y:59.79, Z:12.19 [[ 7.76205124e-01 -6.28405976e-01 -5.11031713e-02 1.67220517e+02] [ 6.26910155e-01 7.77883860e-01 -4.33630926e-02 5.97946511e+01] [ 6.70019587e-02 1.62155759e-03 9.97751526e-01 1.21853562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.27, Y:59.83, Z:12.19 [[ 7.75567393e-01 -6.29193918e-01 -5.10904215e-02 1.67268289e+02] [ 6.27698815e-01 7.77246768e-01 -4.33781092e-02 5.98280402e+01] [ 6.70031075e-02 1.57325003e-03 9.97751526e-01 1.21889067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.32, Y:59.86, Z:12.19 [[ 7.74116797e-01 -6.30978807e-01 -5.10776884e-02 1.67318922e+02] [ 6.29486587e-01 7.75798734e-01 -4.33930972e-02 5.98560928e+01] [ 6.70061307e-02 1.43860561e-03 9.97751527e-01 1.21923450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.37, Y:59.89, Z:12.19 [[ 7.67872512e-01 -6.38563570e-01 -5.10722219e-02 1.67370975e+02] [ 6.37087540e-01 7.69568676e-01 -4.33995302e-02 5.98863798e+01] [ 6.70169411e-02 7.87830086e-04 9.97751527e-01 1.21926392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:59.91, Z:12.20 [[ 7.70981575e-01 -6.34807230e-01 -5.10606587e-02 1.67426470e+02] [ 6.33322037e-01 7.72669721e-01 -4.34131303e-02 5.99101182e+01] [ 6.70119939e-02 1.13288315e-03 9.97751527e-01 1.22007857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.48, Y:59.94, Z:12.21 [[ 7.70989861e-01 -6.34797490e-01 -5.10566533e-02 1.67480529e+02] [ 6.33311964e-01 7.72677713e-01 -4.34178405e-02 5.99351232e+01] [ 6.70118742e-02 1.13992543e-03 9.97751527e-01 1.22064150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23999999999998 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:167.53, Y:59.96, Z:12.21 [[ 7.72698557e-01 -6.32716911e-01 -5.10514592e-02 1.67533111e+02] [ 6.31226437e-01 7.74382041e-01 -4.34239469e-02 5.99631777e+01] [ 6.70083987e-02 1.32859034e-03 9.97751527e-01 1.22088592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.58, Y:59.99, Z:12.21 [[ 7.75308933e-01 -6.29516590e-01 -5.10384396e-02 1.67582123e+02] [ 6.28018162e-01 7.76985341e-01 -4.34392442e-02 5.99936432e+01] [ 6.70018442e-02 1.62576703e-03 9.97751527e-01 1.22137692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.63, Y:60.03, Z:12.21 [[ 7.74792730e-01 -6.30152257e-01 -5.10329191e-02 1.67633012e+02] [ 6.28654778e-01 7.76469986e-01 -4.34457287e-02 6.00252292e+01] [ 6.70029540e-02 1.57934629e-03 9.97751527e-01 1.22118686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.69, Y:60.05, Z:12.22 [[ 7.77511495e-01 -6.26795596e-01 -5.10211415e-02 1.67686575e+02] [ 6.25289971e-01 7.79181442e-01 -4.34595556e-02 6.00509254e+01] [ 6.69949846e-02 1.88729590e-03 9.97751527e-01 1.22199470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.74, Y:60.08, Z:12.22 [[ 7.75803388e-01 -6.28908870e-01 -5.10170221e-02 1.67741551e+02] [ 6.27407477e-01 7.77477141e-01 -4.34643908e-02 6.00772630e+01] [ 6.69997094e-02 1.71136056e-03 9.97751527e-01 1.22235772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.79, Y:60.11, Z:12.23 [[ 7.74174610e-01 -6.30913680e-01 -5.10058963e-02 1.67792698e+02] [ 6.29415762e-01 7.75851474e-01 -4.34774431e-02 6.01062634e+01] [ 6.70035134e-02 1.55521753e-03 9.97751527e-01 1.22273893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.84, Y:60.14, Z:12.23 [[ 7.70425176e-01 -6.35487125e-01 -5.10015868e-02 1.67842460e+02] [ 6.33998830e-01 7.72110586e-01 -4.34824978e-02 6.01387620e+01] [ 6.70114326e-02 1.16506474e-03 9.97751527e-01 1.22313880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.90, Y:60.16, Z:12.24 [[ 7.71152675e-01 -6.34605066e-01 -5.09898194e-02 1.67895915e+02] [ 6.33113932e-01 7.72835573e-01 -4.34962925e-02 6.01631073e+01] [ 6.70097139e-02 1.25991725e-03 9.97751528e-01 1.22411182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.94, Y:60.20, Z:12.24 [[ 7.70749303e-01 -6.35095643e-01 -5.09807464e-02 1.67944199e+02] [ 6.33604877e-01 7.72432526e-01 -4.35069242e-02 6.01975867e+01] [ 6.70102447e-02 1.23128196e-03 9.97751528e-01 1.22427711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.00, Y:60.23, Z:12.25 [[ 7.75721795e-01 -6.29013348e-01 -5.09696535e-02 1.67996064e+02] [ 6.27508535e-01 7.77392472e-01 -4.35199159e-02 6.02268746e+01] [ 6.69980330e-02 1.77545471e-03 9.97751528e-01 1.22491744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.04, Y:60.26, Z:12.25 [[ 7.78354116e-01 -6.25754019e-01 -5.09585931e-02 1.68044468e+02] [ 6.24241365e-01 7.80017697e-01 -4.35328630e-02 6.02613434e+01] [ 6.69894684e-02 2.07352135e-03 9.97751528e-01 1.22511774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.09, Y:60.30, Z:12.25 [[ 7.80249722e-01 -6.23389695e-01 -5.09476230e-02 1.68093082e+02] [ 6.21871164e-01 7.81907941e-01 -4.35456978e-02 6.02951743e+01] [ 6.69822902e-02 2.29366091e-03 9.97751528e-01 1.22534421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.14, Y:60.33, Z:12.26 [[ 7.81084242e-01 -6.22344645e-01 -5.09367245e-02 1.68143751e+02] [ 6.20823066e-01 7.82739665e-01 -4.35584424e-02 6.03264526e+01] [ 6.69785580e-02 2.40011947e-03 9.97751528e-01 1.22561738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01999999999998 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:168.19, Y:60.36, Z:12.26 [[ 7.79165016e-01 -6.24746690e-01 -5.09259369e-02 1.68191864e+02] [ 6.23229393e-01 7.80824364e-01 -4.35710509e-02 6.03596550e+01] [ 6.69850822e-02 2.21049787e-03 9.97751528e-01 1.22579479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.24, Y:60.39, Z:12.27 [[ 7.73410649e-01 -6.31857432e-01 -5.09131942e-02 1.68242502e+02] [ 6.30354419e-01 7.75082946e-01 -4.35859359e-02 6.03897755e+01] [ 6.70020461e-02 1.61647004e-03 9.97751529e-01 1.22656388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.29, Y:60.42, Z:12.27 [[ 7.70211861e-01 -6.35753066e-01 -5.09090121e-02 1.68291848e+02] [ 6.34258191e-01 7.71891435e-01 -4.35908201e-02 6.04207786e+01] [ 6.70092280e-02 1.28470876e-03 9.97751529e-01 1.22731722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.34, Y:60.45, Z:12.28 [[ 7.63125381e-01 -6.44242456e-01 -5.09049234e-02 1.68341651e+02] [ 6.42765951e-01 7.64821127e-01 -4.35955943e-02 6.04527550e+01] [ 6.70192936e-02 5.48953016e-04 9.97751529e-01 1.22784517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.39, Y:60.49, Z:12.28 [[ 7.59414251e-01 -6.48613749e-01 -5.08940124e-02 1.68388475e+02] [ 6.47146152e-01 7.61117712e-01 -4.36083282e-02 6.04889890e+01] [ 6.70212956e-02 1.80921640e-04 9.97751529e-01 1.22838307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:60.53, Z:12.28 [[ 7.56502331e-01 -6.52008559e-01 -5.08828366e-02 1.68432509e+02] [ 6.50547729e-01 7.58211599e-01 -4.36213644e-02 6.05290980e+01] [ 6.70214599e-02 -1.02049972e-04 9.97751529e-01 1.22831524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:168.48, Y:60.57, Z:12.29 [[ 7.59298418e-01 -6.48751149e-01 -5.08710049e-02 1.68477001e+02] [ 6.47282063e-01 7.61000594e-01 -4.36351582e-02 6.05673313e+01] [ 6.70212240e-02 2.04217564e-04 9.97751529e-01 1.22858425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.52, Y:60.61, Z:12.29 [[ 7.61561743e-01 -6.46093781e-01 -5.08580157e-02 1.68516216e+02] [ 6.44617744e-01 7.63257896e-01 -4.36502922e-02 6.06102397e+01] [ 6.70199644e-02 4.58413242e-04 9.97751529e-01 1.22910953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.5 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:168.56, Y:60.65, Z:12.29 [[ 7.62359642e-01 -6.45152498e-01 -5.08530270e-02 1.68558921e+02] [ 6.43673979e-01 7.64053632e-01 -4.36561033e-02 6.06490484e+01] [ 6.70192841e-02 5.48881049e-04 9.97751529e-01 1.22927314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:168.60, Y:60.69, Z:12.30 [[ 7.61270249e-01 -6.46438592e-01 -5.08404834e-02 1.68603008e+02] [ 6.44961960e-01 7.62965884e-01 -4.36707063e-02 6.06879460e+01] [ 6.70199843e-02 4.55031680e-04 9.97751530e-01 1.22981867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:168.65, Y:60.72, Z:12.30 [[ 7.56329357e-01 -6.52213362e-01 -5.08294726e-02 1.68647386e+02] [ 6.50748815e-01 7.58035441e-01 -4.36835184e-02 6.07248771e+01] [ 6.70215160e-02 -3.80916950e-05 9.97751530e-01 1.23042613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.69, Y:60.76, Z:12.31 [[ 7.51908894e-01 -6.57304931e-01 -5.08256161e-02 1.68691709e+02] [ 6.55851633e-01 7.53624571e-01 -4.36880049e-02 6.07626388e+01] [ 6.70197741e-02 -4.84663915e-04 9.97751530e-01 1.23128517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.74, Y:60.80, Z:12.32 [[ 7.46375374e-01 -6.63582452e-01 -5.08146671e-02 1.68735421e+02] [ 6.62142716e-01 7.48102446e-01 -4.37007363e-02 6.08010368e+01] [ 6.70136185e-02 -1.02940827e-03 9.97751530e-01 1.23167205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.78, Y:60.84, Z:12.32 [[ 7.44553135e-01 -6.65627357e-01 -5.08020825e-02 1.68779198e+02] [ 6.64191366e-01 7.46283322e-01 -4.37153610e-02 6.08397691e+01] [ 6.70108871e-02 -1.19389551e-03 9.97751530e-01 1.23182153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.82, Y:60.88, Z:12.32 [[ 7.44861360e-01 -6.65283377e-01 -5.07895826e-02 1.68822883e+02] [ 6.63845598e-01 7.46590061e-01 -4.37298789e-02 6.08786265e+01] [ 6.70117591e-02 -1.14374377e-03 9.97751530e-01 1.23197129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:60.92, Z:12.32 [[ 7.43874054e-01 -6.66387950e-01 -5.07788477e-02 1.68863965e+02] [ 6.64951888e-01 7.45604181e-01 -4.37423406e-02 6.09213369e+01] [ 6.70102899e-02 -1.22669843e-03 9.97751530e-01 1.23156744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.91, Y:60.96, Z:12.33 [[ 7.50545137e-01 -6.58866187e-01 -5.07675590e-02 1.68908093e+02] [ 6.57411895e-01 7.52259970e-01 -4.37554384e-02 6.09586264e+01] [ 6.70193813e-02 -5.34765634e-04 9.97751530e-01 1.23265838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:168.95, Y:61.00, Z:12.33 [[ 7.52846295e-01 -6.56236417e-01 -5.07564873e-02 1.68951778e+02] [ 6.54775269e-01 7.54555289e-01 -4.37682779e-02 6.09979359e+01] [ 6.70209138e-02 -2.83306803e-04 9.97751531e-01 1.23286725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.1 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:61.04, Z:12.33 [[ 7.56642605e-01 -6.51856459e-01 -5.07456925e-02 1.68994719e+02] [ 6.50384578e-01 7.58342365e-01 -4.37807901e-02 6.10360815e+01] [ 6.70213992e-02 1.22195236e-04 9.97751531e-01 1.23341086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:61.07, Z:12.34 [[ 7.58854590e-01 -6.49280474e-01 -5.07402957e-02 1.69038803e+02] [ 6.47802405e-01 7.60548972e-01 -4.37870438e-02 6.10749315e+01] [ 6.70205523e-02 3.58313572e-04 9.97751531e-01 1.23413597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.08, Y:61.11, Z:12.34 [[ 7.61097961e-01 -6.46650156e-01 -5.07293765e-02 1.69082056e+02] [ 6.45165390e-01 7.62786475e-01 -4.37996906e-02 6.11139515e+01] [ 6.70187591e-02 6.07017217e-04 9.97751531e-01 1.23448381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.13, Y:61.15, Z:12.35 [[ 7.62763353e-01 -6.44685865e-01 -5.07168973e-02 1.69125273e+02] [ 6.43195790e-01 7.64447184e-01 -4.38141359e-02 6.11519793e+01] [ 6.70167434e-02 7.98922391e-04 9.97751531e-01 1.23483996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.17, Y:61.19, Z:12.34 [[ 7.60928218e-01 -6.46851852e-01 -5.07043178e-02 1.69165757e+02] [ 6.45365601e-01 7.62615425e-01 -4.38286888e-02 6.11945591e+01] [ 6.70185634e-02 6.27663600e-04 9.97751531e-01 1.23426264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.21, Y:61.23, Z:12.35 [[ 7.64966455e-01 -6.42072174e-01 -5.06916900e-02 1.69211673e+02] [ 6.40574414e-01 7.66643454e-01 -4.38432891e-02 6.12284002e+01] [ 6.70130083e-02 1.06684575e-03 9.97751531e-01 1.23534014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.26, Y:61.27, Z:12.36 [[ 7.65090578e-01 -6.41924938e-01 -5.06831401e-02 1.69255934e+02] [ 6.40426202e-01 7.66766705e-01 -4.38531706e-02 6.12663288e+01] [ 6.70125882e-02 1.09283679e-03 9.97751532e-01 1.23559447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.30, Y:61.30, Z:12.36 [[ 7.64714333e-01 -6.42374066e-01 -5.06709788e-02 1.69300859e+02] [ 6.40875383e-01 7.66390508e-01 -4.38672181e-02 6.13042125e+01] [ 6.70129205e-02 1.07210749e-03 9.97751532e-01 1.23580537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.35, Y:61.34, Z:12.36 [[ 7.63560539e-01 -6.43745927e-01 -5.06604851e-02 1.69346386e+02] [ 6.42249453e-01 7.65238685e-01 -4.38793336e-02 6.13403951e+01] [ 6.70145053e-02 9.67858789e-04 9.97751532e-01 1.23592513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.39, Y:61.38, Z:12.36 [[ 7.61807772e-01 -6.45819485e-01 -5.06567995e-02 1.69391364e+02] [ 6.44327296e-01 7.63489729e-01 -4.38835881e-02 6.13762772e+01] [ 6.70168224e-02 7.91299785e-04 9.97751532e-01 1.23640763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.44, Y:61.41, Z:12.37 [[ 7.59025566e-01 -6.49088025e-01 -5.06450910e-02 1.69436913e+02] [ 6.47602178e-01 7.60713128e-01 -4.38970964e-02 6.14115322e+01] [ 6.70194653e-02 5.21147159e-04 9.97751532e-01 1.23696884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.48, Y:61.45, Z:12.37 [[ 7.54195298e-01 -6.54694627e-01 -5.06398922e-02 1.69479631e+02] [ 6.53220923e-01 7.55893474e-01 -4.39030930e-02 6.14525673e+01] [ 6.70214831e-02 3.24692266e-05 9.97751532e-01 1.23686943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.53, Y:61.49, Z:12.38 [[ 7.55361584e-01 -6.53349528e-01 -5.06287730e-02 1.69527128e+02] [ 6.51871940e-01 7.57056382e-01 -4.39159119e-02 6.14855718e+01] [ 6.70212760e-02 1.68916275e-04 9.97751532e-01 1.23797079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:61.53, Z:12.38 [[ 7.51600320e-01 -6.57673231e-01 -5.06248872e-02 1.69569514e+02] [ 6.56205092e-01 7.53303310e-01 -4.39203908e-02 6.15268105e+01] [ 6.70211604e-02 -2.09728905e-04 9.97751532e-01 1.23784659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.61, Y:61.57, Z:12.38 [[ 7.51332532e-01 -6.57979965e-01 -5.06141533e-02 1.69612731e+02] [ 6.56511687e-01 7.53035403e-01 -4.39327571e-02 6.15656365e+01] [ 6.70211233e-02 -2.20673572e-04 9.97751532e-01 1.23823519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.66, Y:61.60, Z:12.39 [[ 7.54855701e-01 -6.53936014e-01 -5.06019700e-02 1.69656573e+02] [ 6.52457673e-01 7.56549843e-01 -4.39467855e-02 6.16021544e+01] [ 6.70212982e-02 1.57837928e-04 9.97751533e-01 1.23925224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.70, Y:61.64, Z:12.40 [[ 7.56249460e-01 -6.52323978e-01 -5.05982406e-02 1.69698286e+02] [ 6.50841739e-01 7.57940192e-01 -4.39510790e-02 6.16409834e+01] [ 6.70207828e-02 3.06532886e-04 9.97751533e-01 1.23952188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12 meters Centerline goodness : 0.998537 with order 1 Centerline is valid? [True, True] Translation: X:169.74, Y:61.68, Z:12.39 [[ 7.55948818e-01 -6.52672973e-01 -5.05902580e-02 1.69741764e+02] [ 6.51190900e-01 7.57639695e-01 -4.39602654e-02 6.16807390e+01] [ 6.70208648e-02 2.87795025e-04 9.97751533e-01 1.23915455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.78, Y:61.72, Z:12.40 [[ 7.56731004e-01 -6.51766917e-01 -5.05773944e-02 1.69784529e+02] [ 6.50281830e-01 7.58419234e-01 -4.39750604e-02 6.17187236e+01] [ 6.70203583e-02 3.87730964e-04 9.97751533e-01 1.24002773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.83, Y:61.76, Z:12.41 [[ 7.56024369e-01 -6.52587101e-01 -5.05690571e-02 1.69827172e+02] [ 6.51103204e-01 7.57713645e-01 -4.39846458e-02 6.17574511e+01] [ 6.70206771e-02 3.27788933e-04 9.97751533e-01 1.24062937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29999999999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:169.87, Y:61.79, Z:12.41 [[ 7.55354626e-01 -6.53362586e-01 -5.05640123e-02 1.69872193e+02] [ 6.51880036e-01 7.57045084e-01 -4.39904444e-02 6.17933851e+01] [ 6.70209475e-02 2.66715542e-04 9.97751533e-01 1.24149925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35999999999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:169.92, Y:61.83, Z:12.42 [[ 7.55156218e-01 -6.53592866e-01 -5.05514819e-02 1.69915712e+02] [ 6.52109867e-01 7.56846283e-01 -4.40048390e-02 6.18321484e+01] [ 6.70209500e-02 2.65407659e-04 9.97751533e-01 1.24205909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.96, Y:61.87, Z:12.42 [[ 7.54504818e-01 -6.54345772e-01 -5.05379993e-02 1.69956976e+02] [ 6.52863423e-01 7.56195452e-01 -4.40203179e-02 6.18726585e+01] [ 6.70211141e-02 2.19130705e-04 9.97751533e-01 1.24212306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.00, Y:61.91, Z:12.42 [[ 7.54305913e-01 -6.54575995e-01 -5.05258081e-02 1.69999739e+02] [ 6.53093224e-01 7.55996177e-01 -4.40343063e-02 6.19117332e+01] [ 6.70211176e-02 2.17274655e-04 9.97751533e-01 1.24244156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.04, Y:61.95, Z:12.43 [[ 7.53954479e-01 -6.54981736e-01 -5.05130530e-02 1.70043592e+02] [ 6.53498895e-01 7.55644682e-01 -4.40489332e-02 6.19501639e+01] [ 6.70211666e-02 2.00666100e-04 9.97751534e-01 1.24270525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.09, Y:61.99, Z:12.43 [[ 7.52513932e-01 -6.56637267e-01 -5.05003223e-02 1.70086997e+02] [ 6.55157165e-01 7.54206533e-01 -4.40635237e-02 6.19907241e+01] [ 6.70214247e-02 7.27674560e-05 9.97751534e-01 1.24288824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.13, Y:62.03, Z:12.43 [[ 7.51522520e-01 -6.57772620e-01 -5.04884328e-02 1.70131307e+02] [ 6.56294161e-01 7.53216556e-01 -4.40771425e-02 6.20273890e+01] [ 6.70214610e-02 -1.02983889e-05 9.97751534e-01 1.24337003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.18, Y:62.07, Z:12.44 [[ 7.50803577e-01 -6.58593447e-01 -5.04842586e-02 1.70175330e+02] [ 6.57116518e-01 7.52498948e-01 -4.40819230e-02 6.20653002e+01] [ 6.70214171e-02 -7.71746895e-05 9.97751534e-01 1.24377080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.22, Y:62.10, Z:12.44 [[ 7.49181105e-01 -6.60439457e-01 -5.04717330e-02 1.70219116e+02] [ 6.58965739e-01 7.50879268e-01 -4.40962596e-02 6.21035515e+01] [ 6.70210876e-02 -2.23058346e-04 9.97751534e-01 1.24431039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:62.14, Z:12.45 [[ 7.48092292e-01 -6.61673481e-01 -5.04591693e-02 1.70262176e+02] [ 6.60201595e-01 7.49792042e-01 -4.41106315e-02 6.21419546e+01] [ 6.70207187e-02 -3.14400670e-04 9.97751534e-01 1.24477074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:62.18, Z:12.45 [[ 7.47710506e-01 -6.62105842e-01 -5.04465330e-02 1.70306803e+02] [ 6.60633965e-01 7.49410263e-01 -4.41250782e-02 6.21806742e+01] [ 6.70206216e-02 -3.33908556e-04 9.97751535e-01 1.24530695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:62.22, Z:12.46 [[ 7.48431865e-01 -6.61291158e-01 -5.04355741e-02 1.70350505e+02] [ 6.59816587e-01 7.50129285e-01 -4.41376007e-02 6.22193006e+01] [ 6.70210063e-02 -2.44241559e-04 9.97751535e-01 1.24588491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.39, Y:62.26, Z:12.46 [[ 7.50200930e-01 -6.59284398e-01 -5.04246760e-02 1.70393275e+02] [ 6.57804449e-01 7.51893663e-01 -4.41500477e-02 6.22587296e+01] [ 6.70214320e-02 -4.81694368e-05 9.97751535e-01 1.24620222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.44, Y:62.30, Z:12.46 [[ 7.52665457e-01 -6.56470362e-01 -5.04120456e-02 1.70435502e+02] [ 6.54983118e-01 7.54351784e-01 -4.41644648e-02 6.22983009e+01] [ 6.70210788e-02 2.22028232e-04 9.97751535e-01 1.24648806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:170.48, Y:62.34, Z:12.46 [[ 7.56430901e-01 -6.52128958e-01 -5.03995443e-02 1.70478859e+02] [ 6.50631087e-01 7.58107795e-01 -4.41787265e-02 6.23382247e+01] [ 6.70185143e-02 6.26643620e-04 9.97751535e-01 1.24649610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.52, Y:62.38, Z:12.46 [[ 7.55142809e-01 -6.53620933e-01 -5.03886336e-02 1.70517830e+02] [ 6.52125544e-01 7.56821918e-01 -4.41911673e-02 6.23829017e+01] [ 6.70194943e-02 5.10927095e-04 9.97751535e-01 1.24614477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.56, Y:62.42, Z:12.47 [[ 7.60863780e-01 -6.46952626e-01 -5.03846041e-02 1.70564182e+02] [ 6.45442220e-01 7.62529393e-01 -4.41957611e-02 6.24164017e+01] [ 6.70123053e-02 1.10660310e-03 9.97751535e-01 1.24747532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:170.61, Y:62.46, Z:12.48 [[ 7.60150037e-01 -6.47791423e-01 -5.03804782e-02 1.70607997e+02] [ 6.46282544e-01 7.61817033e-01 -4.42004638e-02 6.24553705e+01] [ 6.70133879e-02 1.03896061e-03 9.97751535e-01 1.24762348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:170.65, Y:62.49, Z:12.48 [[ 7.59291898e-01 -6.48798036e-01 -5.03678741e-02 1.70652021e+02] [ 6.47290414e-01 7.60960031e-01 -4.42148221e-02 6.24940217e+01] [ 6.70144287e-02 9.69314097e-04 9.97751536e-01 1.24813708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:62.53, Z:12.48 [[ 7.57238719e-01 -6.51194064e-01 -5.03568657e-02 1.70695442e+02] [ 6.49690887e-01 7.58910859e-01 -4.42273561e-02 6.25320460e+01] [ 6.70169639e-02 7.74269798e-04 9.97751536e-01 1.24844774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.74, Y:62.57, Z:12.49 [[ 7.55709915e-01 -6.52968043e-01 -5.03513623e-02 1.70738842e+02] [ 6.51468374e-01 7.57385202e-01 -4.42336206e-02 6.25702989e+01] [ 6.70185174e-02 6.25465544e-04 9.97751536e-01 1.24899659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:170.78, Y:62.61, Z:12.49 [[ 7.53458472e-01 -6.55565678e-01 -5.03385893e-02 1.70782612e+02] [ 6.54070815e-01 7.55138047e-01 -4.42481517e-02 6.26080932e+01] [ 6.70201536e-02 4.14142651e-04 9.97751536e-01 1.24907149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:170.83, Y:62.65, Z:12.49 [[ 7.50081214e-01 -6.59428136e-01 -5.03259995e-02 1.70826719e+02] [ 6.57940961e-01 7.51767601e-01 -4.42624663e-02 6.26457478e+01] [ 6.70213715e-02 8.89079433e-05 9.97751536e-01 1.24927331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:62.68, Z:12.50 [[ 7.48380317e-01 -6.61358810e-01 -5.03132739e-02 1.70869978e+02] [ 6.59875013e-01 7.50069677e-01 -4.42769268e-02 6.26831373e+01] [ 6.70213967e-02 -6.44918161e-05 9.97751536e-01 1.25002639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73999999999998 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:170.91, Y:62.72, Z:12.50 [[ 7.45506899e-01 -6.64596574e-01 -5.03076256e-02 1.70913619e+02] [ 6.63119681e-01 7.47202298e-01 -4.42833435e-02 6.27199448e+01] [ 6.70205318e-02 -3.46438571e-04 9.97751536e-01 1.25023395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79999999999998 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:62.76, Z:12.50 [[ 7.40855341e-01 -6.69778587e-01 -5.02991970e-02 1.70955037e+02] [ 6.68312902e-01 7.42560438e-01 -4.42929150e-02 6.27631853e+01] [ 6.70166398e-02 -8.00959639e-04 9.97751536e-01 1.25001069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85999999999999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:171.00, Y:62.80, Z:12.51 [[ 7.43306465e-01 -6.67058232e-01 -5.02873069e-02 1.71001757e+02] [ 6.65585394e-01 7.45005386e-01 -4.43064102e-02 6.27979016e+01] [ 6.70192702e-02 -5.37255765e-04 9.97751537e-01 1.25083793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:171.05, Y:62.84, Z:12.51 [[ 7.43081792e-01 -6.67309380e-01 -5.02756683e-02 1.71045162e+02] [ 6.65836222e-01 7.44780436e-01 -4.43196129e-02 6.28363315e+01] [ 6.70192276e-02 -5.42263660e-04 9.97751537e-01 1.25112746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.09, Y:62.88, Z:12.52 [[ 7.43733086e-01 -6.66584380e-01 -5.02629231e-02 1.71088921e+02] [ 6.65108589e-01 7.45429444e-01 -4.43340626e-02 6.28757500e+01] [ 6.70198564e-02 -4.57592696e-04 9.97751537e-01 1.25197145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.13, Y:62.92, Z:12.52 [[ 7.45349605e-01 -6.64777198e-01 -5.02517869e-02 1.71132269e+02] [ 6.63296444e-01 7.47041631e-01 -4.43466816e-02 6.29157279e+01] [ 6.70208397e-02 -2.78049955e-04 9.97751537e-01 1.25241256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.1 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:171.18, Y:62.95, Z:12.52 [[ 7.46980378e-01 -6.62945125e-01 -5.02401764e-02 1.71175669e+02] [ 6.61459336e-01 7.48667985e-01 -4.43598313e-02 6.29548128e+01] [ 6.70213455e-02 -9.59101682e-05 9.97751537e-01 1.25227488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:171.22, Y:63.00, Z:12.53 [[ 7.51438335e-01 -6.57888752e-01 -5.02276704e-02 1.71218236e+02] [ 6.56390661e-01 7.53115030e-01 -4.43739871e-02 6.29952249e+01] [ 6.70203605e-02 3.75341201e-04 9.97751537e-01 1.25257965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:171.26, Y:63.04, Z:12.52 [[ 7.50229517e-01 -6.59267747e-01 -5.02166223e-02 1.71258024e+02] [ 6.57771902e-01 7.51908216e-01 -4.43864863e-02 6.30401945e+01] [ 6.70208697e-02 2.68968961e-04 9.97751538e-01 1.25210041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:171.30, Y:63.07, Z:12.53 [[ 7.55144137e-01 -6.53633554e-01 -5.02046809e-02 1.71304814e+02] [ 6.52124287e-01 7.56810779e-01 -4.43999889e-02 6.30733433e+01] [ 6.70167662e-02 7.88699618e-04 9.97751538e-01 1.25304599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:171.35, Y:63.11, Z:12.54 [[ 7.56456219e-01 -6.52114943e-01 -5.02005062e-02 1.71349296e+02] [ 6.50602017e-01 7.58119540e-01 -4.44047085e-02 6.31118652e+01] [ 6.70149586e-02 9.29667266e-04 9.97751538e-01 1.25361635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.4 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:63.15, Z:12.54 [[ 7.56675712e-01 -6.51861105e-01 -5.01893089e-02 1.71392223e+02] [ 6.50346783e-01 7.58337761e-01 -4.44173609e-02 6.31493749e+01] [ 6.70143981e-02 9.69082557e-04 9.97751538e-01 1.25392103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45999999999998 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:171.44, Y:63.19, Z:12.54 [[ 7.55538809e-01 -6.53179157e-01 -5.01806365e-02 1.71436482e+02] [ 6.51667084e-01 7.57202905e-01 -4.44271564e-02 6.31862013e+01] [ 6.70158163e-02 8.65371834e-04 9.97751538e-01 1.25436296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51999999999998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:171.48, Y:63.22, Z:12.55 [[ 7.53853813e-01 -6.55124128e-01 -5.01677610e-02 1.71481499e+02] [ 6.53615381e-01 7.55520926e-01 -4.44416909e-02 6.32233764e+01] [ 6.70176172e-02 7.12117913e-04 9.97751538e-01 1.25492264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57999999999998 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:63.26, Z:12.55 [[ 7.50235158e-01 -6.59266019e-01 -5.01549950e-02 1.71526753e+02] [ 6.57765514e-01 7.51909692e-01 -4.44560934e-02 6.32592711e+01] [ 6.70204185e-02 3.62298219e-04 9.97751538e-01 1.25519264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:63.30, Z:12.56 [[ 7.49052185e-01 -6.60610768e-01 -5.01421722e-02 1.71571025e+02] [ 6.59112301e-01 7.50728543e-01 -4.44705516e-02 6.32974669e+01] [ 6.70208851e-02 2.61441317e-04 9.97751539e-01 1.25557069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.7 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:171.62, Y:63.33, Z:12.56 [[ 7.46499554e-01 -6.63494889e-01 -5.01293244e-02 1.71615892e+02] [ 6.62001926e-01 7.48180815e-01 -4.44850296e-02 6.33349876e+01] [ 6.70213885e-02 2.23454370e-05 9.97751539e-01 1.25584817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.66, Y:63.37, Z:12.57 [[ 7.45163111e-01 -6.64996318e-01 -5.01182136e-02 1.71659846e+02] [ 6.63505901e-01 7.46846629e-01 -4.44975438e-02 6.33723134e+01] [ 6.70213217e-02 -9.58023710e-05 9.97751539e-01 1.25666579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:171.70, Y:63.41, Z:12.57 [[ 7.41086251e-01 -6.69537617e-01 -5.01053757e-02 1.71704162e+02] [ 6.68056539e-01 7.42777991e-01 -4.45119950e-02 6.34093805e+01] [ 6.70196253e-02 -4.85996352e-04 9.97751539e-01 1.25657795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:171.74, Y:63.45, Z:12.56 [[ 7.34486467e-01 -6.76771362e-01 -5.01014371e-02 1.71743821e+02] [ 6.75306639e-01 7.36192387e-01 -4.45164276e-02 6.34536815e+01] [ 6.70117399e-02 -1.13711950e-03 9.97751539e-01 1.25640463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:171.79, Y:63.49, Z:12.58 [[ 7.37339193e-01 -6.73663069e-01 -5.00897504e-02 1.71791731e+02] [ 6.72190261e-01 7.39038138e-01 -4.45295736e-02 6.34862945e+01] [ 6.70161651e-02 -8.36442507e-04 9.97751539e-01 1.25771864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.0 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:171.83, Y:63.53, Z:12.58 [[ 7.32651691e-01 -6.78758376e-01 -5.00855892e-02 1.71830688e+02] [ 6.77297061e-01 7.34360532e-01 -4.45342535e-02 6.35320427e+01] [ 6.70088775e-02 -1.29472627e-03 9.97751539e-01 1.25751637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:171.87, Y:63.57, Z:12.58 [[ 7.34086871e-01 -6.77206833e-01 -5.00736633e-02 1.71872894e+02] [ 6.75740992e-01 7.35791830e-01 -4.45476588e-02 6.35724660e+01] [ 6.70117713e-02 -1.13497550e-03 9.97751539e-01 1.25759140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.92, Y:63.61, Z:12.59 [[ 7.43321257e-01 -6.67058135e-01 -5.00694868e-02 1.71919267e+02] [ 6.65568694e-01 7.45005638e-01 -4.45523526e-02 6.36064425e+01] [ 6.70210592e-02 -2.07972210e-04 9.97751539e-01 1.25904291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:171.96, Y:63.65, Z:12.59 [[ 7.45774197e-01 -6.64314905e-01 -5.00655050e-02 1.71962210e+02] [ 6.62818967e-01 7.47452812e-01 -4.45568266e-02 6.36475688e+01] [ 6.70213665e-02 4.49652421e-05 9.97751539e-01 1.25921086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23999999999998 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:172.00, Y:63.70, Z:12.59 [[ 7.45320662e-01 -6.64824529e-01 -5.00545271e-02 1.71999676e+02] [ 6.63328912e-01 7.46999562e-01 -4.45691557e-02 6.36952212e+01] [ 6.70213777e-02 1.56976377e-05 9.97751540e-01 1.25851347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29999999999998 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:172.04, Y:63.73, Z:12.59 [[ 7.47296458e-01 -6.62603727e-01 -5.00430392e-02 1.72042015e+02] [ 6.61102256e-01 7.48970125e-01 -4.45820507e-02 6.37345979e+01] [ 6.70209743e-02 2.32442415e-04 9.97751540e-01 1.25901801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35999999999999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:172.09, Y:63.77, Z:12.60 [[ 7.50282032e-01 -6.59222203e-01 -5.00295851e-02 1.72085070e+02] [ 6.57712184e-01 7.51947989e-01 -4.45971437e-02 6.37726240e+01] [ 6.70190732e-02 5.55367886e-04 9.97751540e-01 1.26006340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:63.81, Z:12.61 [[ 7.54415757e-01 -6.54488550e-01 -5.00160326e-02 1.72130742e+02] [ 6.52967071e-01 7.56071255e-01 -4.46123378e-02 6.38070885e+01] [ 6.70139488e-02 9.97428211e-04 9.97751540e-01 1.26107404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:172.17, Y:63.85, Z:12.61 [[ 7.54319500e-01 -6.54599805e-01 -5.00118719e-02 1.72172887e+02] [ 6.53078262e-01 7.55974938e-01 -4.46170015e-02 6.38470056e+01] [ 6.70140023e-02 9.93807884e-04 9.97751540e-01 1.26132414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.22, Y:63.89, Z:12.62 [[ 7.54136130e-01 -6.54812029e-01 -4.99990477e-02 1.72215753e+02] [ 6.53289999e-01 7.55791121e-01 -4.46313681e-02 6.38867438e+01] [ 6.70139930e-02 9.94249370e-04 9.97751540e-01 1.26189019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.6 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:172.26, Y:63.93, Z:12.62 [[ 7.52189306e-01 -6.57048300e-01 -4.99877855e-02 1.72259285e+02] [ 6.55530353e-01 7.53848043e-01 -4.46439784e-02 6.39262953e+01] [ 6.70164444e-02 8.12212441e-04 9.97751540e-01 1.26172762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:63.96, Z:12.62 [[ 7.49040808e-01 -6.60636226e-01 -4.99764422e-02 1.72302879e+02] [ 6.59125378e-01 7.50706013e-01 -4.46566730e-02 6.39647612e+01] [ 6.70194316e-02 5.08929093e-04 9.97751541e-01 1.26181693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:172.35, Y:64.00, Z:12.62 [[ 7.45919512e-01 -6.64158742e-01 -4.99724586e-02 1.72347262e+02] [ 6.62655459e-01 7.47591550e-01 -4.46611303e-02 6.40018770e+01] [ 6.70210679e-02 1.99086001e-04 9.97751541e-01 1.26235289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:172.39, Y:64.04, Z:12.63 [[ 7.42380091e-01 -6.68113639e-01 -4.99596440e-02 1.72392325e+02] [ 6.66618299e-01 7.44059236e-01 -4.46754607e-02 6.40392863e+01] [ 6.70212191e-02 -1.37840293e-04 9.97751541e-01 1.26314185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:64.08, Z:12.64 [[ 7.37362312e-01 -6.73648261e-01 -4.99483810e-02 1.72437922e+02] [ 6.72164671e-01 7.39051847e-01 -4.46880495e-02 6.40769305e+01] [ 6.70184701e-02 -6.22253565e-04 9.97751541e-01 1.26361364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.9 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:172.48, Y:64.12, Z:12.64 [[ 7.35733955e-01 -6.75427138e-01 -4.99372548e-02 1.72482155e+02] [ 6.73946789e-01 7.37426330e-01 -4.47004791e-02 6.41157871e+01] [ 6.70169632e-02 -7.67392272e-04 9.97751541e-01 1.26435447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95999999999998 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:172.53, Y:64.15, Z:12.65 [[ 7.34875084e-01 -6.76362330e-01 -4.99260292e-02 1.72525450e+02] [ 6.74883284e-01 7.36568598e-01 -4.47130135e-02 6.41546597e+01] [ 6.70161434e-02 -8.35762968e-04 9.97751541e-01 1.26466940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01999999999998 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:172.57, Y:64.19, Z:12.65 [[ 7.35094675e-01 -6.76124612e-01 -4.99132029e-02 1.72568034e+02] [ 6.74644046e-01 7.36786860e-01 -4.47273270e-02 6.41935563e+01] [ 6.70166387e-02 -7.94825201e-04 9.97751541e-01 1.26489065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07999999999998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:172.61, Y:64.24, Z:12.65 [[ 7.34158749e-01 -6.77141046e-01 -4.99092649e-02 1.72607782e+02] [ 6.75662524e-01 7.35852721e-01 -4.47317208e-02 6.42379228e+01] [ 6.70155526e-02 -8.81635724e-04 9.97751541e-01 1.26504054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:172.65, Y:64.28, Z:12.65 [[ 7.34026051e-01 -6.77285771e-01 -4.98973007e-02 1.72649591e+02] [ 6.75806677e-01 7.35719522e-01 -4.47450626e-02 6.42804310e+01] [ 6.70156125e-02 -8.76887338e-04 9.97751542e-01 1.26495878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.2 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.69, Y:64.32, Z:12.66 [[ 7.36300388e-01 -6.74813436e-01 -4.98855132e-02 1.72691611e+02] [ 6.73327765e-01 7.37988093e-01 -4.47582005e-02 6.43203954e+01] [ 6.70183498e-02 -6.33820753e-04 9.97751542e-01 1.26589608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:172.74, Y:64.36, Z:12.67 [[ 7.39613219e-01 -6.71181855e-01 -4.98718723e-02 1.72737455e+02] [ 6.69686872e-01 7.41292679e-01 -4.47733947e-02 6.43562043e+01] [ 6.70207440e-02 -2.83543592e-04 9.97751542e-01 1.26661510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:172.78, Y:64.40, Z:12.67 [[ 7.40472106e-01 -6.70235048e-01 -4.98602005e-02 1.72779952e+02] [ 6.68737043e-01 7.42148871e-01 -4.47863888e-02 6.43969834e+01] [ 6.70210990e-02 -1.80291379e-04 9.97751542e-01 1.26714089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:172.82, Y:64.44, Z:12.67 [[ 7.42110331e-01 -6.68421514e-01 -4.98491349e-02 1.72820427e+02] [ 6.66918583e-01 7.43782684e-01 -4.47987019e-02 6.44374803e+01] [ 6.70213395e-02 2.65113112e-07 9.97751542e-01 1.26741777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:172.86, Y:64.48, Z:12.68 [[ 7.43929893e-01 -6.66396450e-01 -4.98405980e-02 1.72861869e+02] [ 6.64888331e-01 7.45597568e-01 -4.48081976e-02 6.44778003e+01] [ 6.70210525e-02 1.95725625e-04 9.97751542e-01 1.26797486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.5 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:172.90, Y:64.53, Z:12.67 [[ 7.43163237e-01 -6.67252276e-01 -4.98277444e-02 1.72898984e+02] [ 6.65745119e-01 7.44831781e-01 -4.48224866e-02 6.45252617e+01] [ 6.70211938e-02 1.37846601e-04 9.97751543e-01 1.26724249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.95, Y:64.56, Z:12.69 [[ 7.48703570e-01 -6.61030489e-01 -4.98162254e-02 1.72945064e+02] [ 6.59508616e-01 7.50358702e-01 -4.48352853e-02 6.45599971e+01] [ 6.70175288e-02 7.14108258e-04 9.97751543e-01 1.26890295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:172.99, Y:64.60, Z:12.69 [[ 7.49897391e-01 -6.59676802e-01 -4.98038149e-02 1.72986899e+02] [ 6.58151026e-01 7.51548926e-01 -4.48490669e-02 6.46010807e+01] [ 6.70158926e-02 8.53766446e-04 9.97751543e-01 1.26893972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:173.03, Y:64.64, Z:12.69 [[ 7.51354883e-01 -6.58017145e-01 -4.97923322e-02 1.73028212e+02] [ 6.56486877e-01 7.53002256e-01 -4.48618117e-02 6.46413038e+01] [ 6.70135797e-02 1.01912863e-03 9.97751543e-01 1.26938372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73999999999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:173.07, Y:64.68, Z:12.70 [[ 7.51001002e-01 -6.58421438e-01 -4.97865944e-02 1.73070885e+02] [ 6.56891635e-01 7.52648807e-01 -4.48681783e-02 6.46812315e+01] [ 6.70139914e-02 9.91649498e-04 9.97751543e-01 1.26966718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79999999999998 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:173.11, Y:64.72, Z:12.70 [[ 7.50444808e-01 -6.59056271e-01 -4.97737125e-02 1.73113147e+02] [ 6.57526914e-01 7.52093027e-01 -4.48824642e-02 6.47210716e+01] [ 6.70145316e-02 9.54256634e-04 9.97751543e-01 1.26993284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85999999999999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:64.76, Z:12.70 [[ 7.49657940e-01 -6.59952157e-01 -4.97606691e-02 1.73156788e+02] [ 6.58423811e-01 7.51307096e-01 -4.48969206e-02 6.47602365e+01] [ 6.70153634e-02 8.93723647e-04 9.97751543e-01 1.27037004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:173.20, Y:64.80, Z:12.71 [[ 7.48454606e-01 -6.61317452e-01 -4.97486772e-02 1.73200040e+02] [ 6.59791232e-01 7.50105729e-01 -4.49102045e-02 6.47986000e+01] [ 6.70166698e-02 7.89508407e-04 9.97751544e-01 1.27076124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:64.84, Z:12.71 [[ 7.47056562e-01 -6.62897317e-01 -4.97357089e-02 1.73243821e+02] [ 6.61373633e-01 7.48710025e-01 -4.49245616e-02 6.48360540e+01] [ 6.70179952e-02 6.67301998e-04 9.97751544e-01 1.27145008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:64.87, Z:12.71 [[ 7.44661138e-01 -6.65588038e-01 -4.97227609e-02 1.73288869e+02] [ 6.64069372e-01 7.46319212e-01 -4.49388880e-02 6.48739607e+01] [ 6.70198380e-02 4.44880904e-04 9.97751544e-01 1.27143875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.1 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:173.33, Y:64.91, Z:12.72 [[ 7.41073827e-01 -6.69580724e-01 -4.97115394e-02 1.73333542e+02] [ 6.68070158e-01 7.42739284e-01 -4.49512979e-02 6.49102502e+01] [ 6.70212357e-02 1.01434358e-04 9.97751544e-01 1.27184781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:173.38, Y:64.95, Z:12.72 [[ 7.38405167e-01 -6.72523502e-01 -4.96985771e-02 1.73377972e+02] [ 6.71018609e-01 7.40075752e-01 -4.49656245e-02 6.49476221e+01] [ 6.70211511e-02 -1.45820601e-04 9.97751544e-01 1.27246651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:173.42, Y:64.98, Z:12.73 [[ 7.33159253e-01 -6.78238864e-01 -4.96945985e-02 1.73423638e+02] [ 6.76746696e-01 7.34841212e-01 -4.49700212e-02 6.49845046e+01] [ 6.70180550e-02 -6.60468158e-04 9.97751544e-01 1.27310130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:173.46, Y:65.03, Z:12.72 [[ 7.23409287e-01 -6.88629500e-01 -4.96831460e-02 1.73462585e+02] [ 6.87160612e-01 7.25111614e-01 -4.49826704e-02 6.50300780e+01] [ 6.70022200e-02 -1.59941951e-03 9.97751544e-01 1.27222431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:173.51, Y:65.06, Z:12.74 [[ 7.25489582e-01 -6.86438357e-01 -4.96714138e-02 1.73512349e+02] [ 6.84963440e-01 7.27186689e-01 -4.49956218e-02 6.50600758e+01] [ 6.70071116e-02 -1.37924760e-03 9.97751545e-01 1.27407749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.4 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:173.56, Y:65.10, Z:12.74 [[ 7.20196444e-01 -6.91990058e-01 -4.96673142e-02 1.73555588e+02] [ 6.90527907e-01 7.21904562e-01 -4.50001465e-02 6.50985120e+01] [ 6.69947147e-02 -1.88772103e-03 9.97751545e-01 1.27433165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45999999999998 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:173.60, Y:65.14, Z:12.75 [[ 7.16265186e-01 -6.96059348e-01 -4.96544757e-02 1.73598517e+02] [ 6.94605919e-01 7.17980731e-01 -4.50143084e-02 6.51385343e+01] [ 6.69835870e-02 -2.24811072e-03 9.97751545e-01 1.27466946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51999999999998 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:173.64, Y:65.18, Z:12.75 [[ 7.14400051e-01 -6.97974344e-01 -4.96425369e-02 1.73640483e+02] [ 6.96524600e-01 7.16118711e-01 -4.50274710e-02 6.51783860e+01] [ 6.69779691e-02 -2.40962062e-03 9.97751545e-01 1.27516856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57999999999998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:173.68, Y:65.22, Z:12.76 [[ 7.13257720e-01 -6.99142549e-01 -4.96298428e-02 1.73682281e+02] [ 6.97694648e-01 7.14977933e-01 -4.50414583e-02 6.52185554e+01] [ 6.69746423e-02 -2.50030785e-03 9.97751545e-01 1.27569004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:173.72, Y:65.26, Z:12.76 [[ 7.13642201e-01 -6.98751008e-01 -4.96169046e-02 1.73722610e+02] [ 6.97301175e-01 7.15360786e-01 -4.50557063e-02 6.52607269e+01] [ 6.69767080e-02 -2.44427246e-03 9.97751545e-01 1.27597619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.7 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:173.76, Y:65.30, Z:12.76 [[ 7.16251514e-01 -6.96077014e-01 -4.96040217e-02 1.73763042e+02] [ 6.94619783e-01 7.17963831e-01 -4.50698853e-02 6.53029270e+01] [ 6.69860046e-02 -2.17456122e-03 9.97751545e-01 1.27645188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:173.80, Y:65.35, Z:12.77 [[ 7.22491420e-01 -6.89598938e-01 -4.95928635e-02 1.73800846e+02] [ 6.88125506e-01 7.24189814e-01 -4.50821599e-02 6.53469181e+01] [ 6.70032562e-02 -1.55464057e-03 9.97751546e-01 1.27675520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:65.40, Z:12.76 [[ 7.24071309e-01 -6.87940808e-01 -4.95800775e-02 1.73836622e+02] [ 6.86462524e-01 7.25765482e-01 -4.50962172e-02 6.53956213e+01] [ 6.70070369e-02 -1.38198814e-03 9.97751546e-01 1.27593056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:65.44, Z:12.76 [[ 7.35807317e-01 -6.75374388e-01 -4.95684205e-02 1.73875652e+02] [ 6.73866296e-01 7.37475011e-01 -4.51090266e-02 6.54384535e+01] [ 6.70209527e-02 -2.10936086e-04 9.97751546e-01 1.27645468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:173.92, Y:65.48, Z:12.78 [[ 7.45316494e-01 -6.64866607e-01 -4.95552106e-02 1.73917300e+02] [ 6.63334040e-01 7.46961724e-01 -4.51235339e-02 6.54772018e+01] [ 6.70169764e-02 7.59655956e-04 9.97751546e-01 1.27774963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.0 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:173.96, Y:65.52, Z:12.78 [[ 7.49832903e-01 -6.59769152e-01 -4.95508148e-02 1.73957757e+02] [ 6.58225084e-01 7.51467344e-01 -4.51283605e-02 6.55190702e+01] [ 6.70101193e-02 1.22314034e-03 9.97751546e-01 1.27800729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:174.00, Y:65.56, Z:12.79 [[ 7.53407813e-01 -6.55684874e-01 -4.95379984e-02 1.73999587e+02] [ 6.54131023e-01 7.55032957e-01 -4.51424249e-02 6.55602305e+01] [ 6.70020265e-02 1.60631406e-03 9.97751546e-01 1.27858650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:174.04, Y:65.60, Z:12.79 [[ 7.53522146e-01 -6.55554338e-01 -4.95265995e-02 1.74041860e+02] [ 6.53999385e-01 7.55146235e-01 -4.51549273e-02 6.55992535e+01] [ 6.70013337e-02 1.63487214e-03 9.97751546e-01 1.27906586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:174.08, Y:65.64, Z:12.79 [[ 7.52383635e-01 -6.56861691e-01 -4.95134737e-02 1.74084419e+02] [ 6.55308614e-01 7.54009518e-01 -4.51693156e-02 6.56380150e+01] [ 6.70036234e-02 1.53804804e-03 9.97751547e-01 1.27934901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23999999999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:174.13, Y:65.68, Z:12.80 [[ 7.50947486e-01 -6.58503370e-01 -4.95094515e-02 1.74128715e+02] [ 6.56953557e-01 7.52576480e-01 -4.51737237e-02 6.56761143e+01] [ 6.70066981e-02 1.39768398e-03 9.97751547e-01 1.27979093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.17, Y:65.71, Z:12.80 [[ 7.49007520e-01 -6.60709976e-01 -4.94981201e-02 1.74173708e+02] [ 6.59164143e-01 7.50640291e-01 -4.51861365e-02 6.57137654e+01] [ 6.70102144e-02 1.21737018e-03 9.97751547e-01 1.28028556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35999999999999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:65.75, Z:12.80 [[ 7.43100626e-01 -6.67347377e-01 -4.94867440e-02 1.74219710e+02] [ 6.65815302e-01 7.44746313e-01 -4.51985919e-02 6.57508371e+01] [ 6.70182319e-02 6.38070538e-04 9.97751547e-01 1.28009445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:174.26, Y:65.79, Z:12.80 [[ 7.39730920e-01 -6.71081488e-01 -4.94752705e-02 1.74264312e+02] [ 6.69556881e-01 7.41383528e-01 -4.52111476e-02 6.57866656e+01] [ 6.70205148e-02 3.17575981e-04 9.97751547e-01 1.28049190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:174.31, Y:65.82, Z:12.81 [[ 7.37640027e-01 -6.73379731e-01 -4.94664322e-02 1.74308202e+02] [ 6.71859625e-01 7.39296776e-01 -4.52208157e-02 6.58242856e+01] [ 6.70211545e-02 1.22185111e-04 9.97751547e-01 1.28087332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:174.35, Y:65.87, Z:12.80 [[ 7.28361833e-01 -6.83405738e-01 -4.94533857e-02 1.74350326e+02] [ 6.81907466e-01 7.30038352e-01 -4.52350788e-02 6.58655127e+01] [ 6.70167806e-02 -7.75128002e-04 9.97751547e-01 1.28049631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.40, Y:65.90, Z:12.82 [[ 7.29215761e-01 -6.82494893e-01 -4.94478994e-02 1.74400697e+02] [ 6.80994119e-01 7.30890043e-01 -4.52410753e-02 6.58951238e+01] [ 6.70177801e-02 -6.83223575e-04 9.97751547e-01 1.28249122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:174.44, Y:65.93, Z:12.83 [[ 7.25875572e-01 -6.86047154e-01 -4.94363885e-02 1.74444309e+02] [ 6.84553717e-01 7.27556400e-01 -4.52536501e-02 6.59328822e+01] [ 6.70138987e-02 -9.93344403e-04 9.97751548e-01 1.28262771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:174.49, Y:65.97, Z:12.83 [[ 7.22982508e-01 -6.89096243e-01 -4.94232884e-02 1.74487792e+02] [ 6.87608916e-01 7.24668746e-01 -4.52679527e-02 6.59703648e+01] [ 6.70094886e-02 -1.25595582e-03 9.97751548e-01 1.28296039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:174.53, Y:66.01, Z:12.83 [[ 7.19097169e-01 -6.93150277e-01 -4.94161379e-02 1.74532665e+02] [ 6.91671919e-01 7.20791275e-01 -4.52757571e-02 6.60074323e+01] [ 6.70016247e-02 -1.62208616e-03 9.97751548e-01 1.28344778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.58, Y:66.05, Z:12.84 [[ 7.17240049e-01 -6.95072693e-01 -4.94030708e-02 1.74576375e+02] [ 6.93597895e-01 7.18937254e-01 -4.52900110e-02 6.60456016e+01] [ 6.69975580e-02 -1.78205623e-03 9.97751548e-01 1.28407653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.62, Y:66.09, Z:12.84 [[ 7.10553976e-01 -7.01907172e-01 -4.93899782e-02 1.74616653e+02] [ 7.00447698e-01 7.12264378e-01 -4.53042843e-02 6.60900311e+01] [ 6.69781241e-02 -2.40395725e-03 9.97751548e-01 1.28355437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95999999999998 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:174.66, Y:66.12, Z:12.85 [[ 7.13407548e-01 -6.99007491e-01 -4.93781172e-02 1.74664110e+02] [ 6.97540171e-01 7.15111222e-01 -4.53172082e-02 6.61225264e+01] [ 6.69879138e-02 -2.11358195e-03 9.97751548e-01 1.28454726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.71, Y:66.16, Z:12.85 [[ 7.14100438e-01 -6.98299917e-01 -4.93739826e-02 1.74707731e+02] [ 6.96830598e-01 7.15802389e-01 -4.53217125e-02 6.61604115e+01] [ 6.69901628e-02 -2.04104711e-03 9.97751548e-01 1.28529833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07999999999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:66.20, Z:12.85 [[ 7.16644884e-01 -6.95689302e-01 -4.93609672e-02 1.74750132e+02] [ 6.94212807e-01 7.18340613e-01 -4.53358834e-02 6.62005934e+01] [ 6.69976766e-02 -1.77728670e-03 9.97751549e-01 1.28545024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:174.79, Y:66.24, Z:12.86 [[ 7.20225062e-01 -6.91983120e-01 -4.93479623e-02 1.74792104e+02] [ 6.90496928e-01 7.21912299e-01 -4.53500348e-02 6.62407366e+01] [ 6.70063595e-02 -1.41238474e-03 9.97751549e-01 1.28576790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.2 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:174.83, Y:66.28, Z:12.86 [[ 7.28015936e-01 -6.83782778e-01 -4.93346811e-02 1.74832251e+02] [ 6.82276595e-01 7.29685351e-01 -4.53644784e-02 6.62815735e+01] [ 6.70182431e-02 -6.33835062e-04 9.97751549e-01 1.28601366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:66.32, Z:12.86 [[ 7.34401843e-01 -6.76920044e-01 -4.93273512e-02 1.74873650e+02] [ 6.75397725e-01 7.36056557e-01 -4.53724473e-02 6.63228962e+01] [ 6.70212392e-02 6.02816869e-06 9.97751549e-01 1.28629157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:174.91, Y:66.36, Z:12.87 [[ 7.43162826e-01 -6.67290871e-01 -4.93143777e-02 1.74914381e+02] [ 6.65746179e-01 7.44796675e-01 -4.53865435e-02 6.63649148e+01] [ 6.70152106e-02 8.98733374e-04 9.97751549e-01 1.28655865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.96, Y:66.40, Z:12.87 [[ 7.47292687e-01 -6.62663563e-01 -4.93015433e-02 1.74956789e+02] [ 6.61107838e-01 7.48916032e-01 -4.54004807e-02 6.64045808e+01] [ 6.70079605e-02 1.33381049e-03 9.97751549e-01 1.28732476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:175.00, Y:66.45, Z:12.87 [[ 7.49093340e-01 -6.60628331e-01 -4.92887018e-02 1.75000362e+02] [ 6.59067279e-01 7.50711564e-01 -4.54144177e-02 6.64451600e+01] [ 6.70036494e-02 1.53506724e-03 9.97751550e-01 1.28729839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.5 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.04, Y:66.48, Z:12.88 [[ 7.49371586e-01 -6.60313496e-01 -4.92779090e-02 1.75043669e+02] [ 6.58750996e-01 7.50988411e-01 -4.54261256e-02 6.64831175e+01] [ 6.70026224e-02 1.57917620e-03 9.97751550e-01 1.28798509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:175.09, Y:66.52, Z:12.88 [[ 7.46785732e-01 -6.63237556e-01 -4.92647409e-02 1.75089229e+02] [ 6.61680446e-01 7.48407748e-01 -4.54404021e-02 6.65210687e+01] [ 6.70078950e-02 1.33672823e-03 9.97751550e-01 1.28778337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:175.14, Y:66.56, Z:12.88 [[ 7.44658833e-01 -6.65625527e-01 -4.92532272e-02 1.75135272e+02] [ 6.64072794e-01 7.46285039e-01 -4.54528785e-02 6.65584289e+01] [ 6.70115428e-02 1.13915922e-03 9.97751550e-01 1.28818107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:175.18, Y:66.59, Z:12.89 [[ 7.41743892e-01 -6.68873125e-01 -4.92416732e-02 1.75182376e+02] [ 6.67326682e-01 7.43376081e-01 -4.54653922e-02 6.65933690e+01] [ 6.70156609e-02 8.63394554e-04 9.97751550e-01 1.28873952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73999999999998 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:175.23, Y:66.63, Z:12.89 [[ 7.40045643e-01 -6.70752555e-01 -4.92286019e-02 1.75228066e+02] [ 6.69209317e-01 7.41680862e-01 -4.54795409e-02 6.66300194e+01] [ 6.70174302e-02 7.12697035e-04 9.97751550e-01 1.28910717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79999999999998 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:175.28, Y:66.66, Z:12.90 [[ 7.38026853e-01 -6.72974147e-01 -4.92154694e-02 1.75275386e+02] [ 6.71434884e-01 7.39665814e-01 -4.54937478e-02 6.66645892e+01] [ 6.70191163e-02 5.30624541e-04 9.97751550e-01 1.28953520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85999999999999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:175.32, Y:66.70, Z:12.90 [[ 7.36907810e-01 -6.74199738e-01 -4.92096865e-02 1.75322592e+02] [ 6.72662782e-01 7.38548936e-01 -4.55000022e-02 6.67004574e+01] [ 6.70198512e-02 4.27782348e-04 9.97751551e-01 1.29018194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.36, Y:66.74, Z:12.90 [[ 7.32013904e-01 -6.79510974e-01 -4.91983736e-02 1.75363630e+02] [ 6.77985105e-01 7.33665342e-01 -4.55122314e-02 6.67424468e+01] [ 6.70212023e-02 -4.01783339e-05 9.97751551e-01 1.28991045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.41, Y:66.77, Z:12.91 [[ 7.38994967e-01 -6.71912646e-01 -4.91918193e-02 1.75413849e+02] [ 6.70369326e-01 7.40630109e-01 -4.55193145e-02 6.67718762e+01] [ 6.70179455e-02 6.61857627e-04 9.97751551e-01 1.29143908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:175.46, Y:66.81, Z:12.91 [[ 7.40513732e-01 -6.70238763e-01 -4.91875413e-02 1.75457784e+02] [ 6.68691440e-01 7.42145086e-01 -4.55239368e-02 6.68094247e+01] [ 6.70161991e-02 8.19812510e-04 9.97751551e-01 1.29123939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.1 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:175.50, Y:66.85, Z:12.92 [[ 7.40295621e-01 -6.70480112e-01 -4.91814425e-02 1.75500995e+02] [ 6.68932883e-01 7.41927064e-01 -4.55305246e-02 6.68489539e+01] [ 6.70163545e-02 8.06963863e-04 9.97751551e-01 1.29156531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.54, Y:66.90, Z:12.91 [[ 7.35015319e-01 -6.76265325e-01 -4.91700241e-02 1.75537482e+02] [ 6.74730115e-01 7.36658076e-01 -4.55428524e-02 6.68959716e+01] [ 6.70205473e-02 2.98198135e-04 9.97751551e-01 1.29112458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:175.58, Y:66.93, Z:12.92 [[ 7.38289205e-01 -6.72690127e-01 -4.91634335e-02 1.75582973e+02] [ 6.71146488e-01 7.39924045e-01 -4.55499658e-02 6.69308027e+01] [ 6.70182189e-02 6.33182292e-04 9.97751551e-01 1.29223530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:175.62, Y:66.98, Z:12.92 [[ 7.34404853e-01 -6.76929013e-01 -4.91591672e-02 1.75621999e+02] [ 6.75394503e-01 7.36048264e-01 -4.55545697e-02 6.69756855e+01] [ 6.70207296e-02 2.53665779e-04 9.97751551e-01 1.29187606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:175.67, Y:67.01, Z:12.93 [[ 7.38224226e-01 -6.72762587e-01 -4.91476853e-02 1.75668306e+02] [ 6.71217977e-01 7.39858149e-01 -4.55669539e-02 6.70092393e+01] [ 6.70180572e-02 6.49819314e-04 9.97751551e-01 1.29313462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.4 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:175.71, Y:67.05, Z:12.94 [[ 7.37442098e-01 -6.73620109e-01 -4.91436697e-02 1.75711411e+02] [ 6.72077111e-01 7.39077543e-01 -4.55712843e-02 6.70494545e+01] [ 6.70187162e-02 5.77847926e-04 9.97751551e-01 1.29379174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45999999999998 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:175.75, Y:67.09, Z:12.93 [[ 7.32142277e-01 -6.79377452e-01 -4.91320990e-02 1.75750673e+02] [ 6.77846479e-01 7.33788983e-01 -4.55837557e-02 6.70948583e+01] [ 6.70211688e-02 6.97744306e-05 9.97751551e-01 1.29340447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51999999999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:175.80, Y:67.13, Z:12.95 [[ 7.34887091e-01 -6.76408286e-01 -4.91201932e-02 1.75796733e+02] [ 6.74869803e-01 7.36526783e-01 -4.55965816e-02 6.71298132e+01] [ 6.70202435e-02 3.58604188e-04 9.97751551e-01 1.29486932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.84, Y:67.17, Z:12.95 [[ 7.30624481e-01 -6.81011176e-01 -4.91085110e-02 1.75836351e+02] [ 6.79482177e-01 7.32273020e-01 -4.56091602e-02 6.71737872e+01] [ 6.70211854e-02 -4.51889377e-05 9.97751552e-01 1.29460907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.88, Y:67.21, Z:12.95 [[ 7.28260078e-01 -6.83539909e-01 -4.90963594e-02 1.75878301e+02] [ 6.82015752e-01 7.29913095e-01 -4.56222370e-02 6.72139966e+01] [ 6.70206954e-02 -2.59636606e-04 9.97751552e-01 1.29463977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.7 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:175.92, Y:67.25, Z:12.95 [[ 7.30098690e-01 -6.81576716e-01 -4.90824223e-02 1.75924769e+02] [ 6.80047106e-01 7.31746662e-01 -4.56372263e-02 6.72479954e+01] [ 6.70211695e-02 -5.86800781e-05 9.97751552e-01 1.29537349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.96, Y:67.29, Z:12.96 [[ 7.25402470e-01 -6.86573078e-01 -4.90781478e-02 1.75964765e+02] [ 6.85054508e-01 7.27060620e-01 -4.56418226e-02 6.72911906e+01] [ 6.70192352e-02 -5.12515494e-04 9.97751552e-01 1.29574001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:176.01, Y:67.33, Z:12.97 [[ 7.29269479e-01 -6.82465066e-01 -4.90658718e-02 1.76010440e+02] [ 6.80936267e-01 7.30918203e-01 -4.56550158e-02 6.73260002e+01] [ 6.70210922e-02 -1.15921947e-04 9.97751552e-01 1.29672141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:176.05, Y:67.37, Z:12.97 [[ 7.30470591e-01 -6.81179624e-01 -4.90615587e-02 1.76052607e+02] [ 6.79647612e-01 7.32116330e-01 -4.56596503e-02 6.73661437e+01] [ 6.70211917e-02 8.46054776e-06 9.97751552e-01 1.29701944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:176.09, Y:67.41, Z:12.97 [[ 7.32307413e-01 -6.79205496e-01 -4.90484217e-02 1.76094627e+02] [ 6.77668102e-01 7.33948125e-01 -4.56737579e-02 6.74067442e+01] [ 6.70208645e-02 2.08680572e-04 9.97751552e-01 1.29722198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.0 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:176.14, Y:67.45, Z:12.98 [[ 7.33435531e-01 -6.77988084e-01 -4.90354998e-02 1.76136868e+02] [ 6.76447040e-01 7.35072815e-01 -4.56876267e-02 6.74470872e+01] [ 6.70203294e-02 3.39010096e-04 9.97751553e-01 1.29759026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:176.18, Y:67.49, Z:12.98 [[ 7.34976588e-01 -6.76318003e-01 -4.90242167e-02 1.76177418e+02] [ 6.74772432e-01 7.36609598e-01 -4.56997307e-02 6.74869004e+01] [ 6.70192591e-02 5.08042225e-04 9.97751553e-01 1.29800874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.22, Y:67.53, Z:12.98 [[ 7.31816216e-01 -6.79737087e-01 -4.90154977e-02 1.76215373e+02] [ 6.78198519e-01 7.33455826e-01 -4.57090804e-02 6.75325603e+01] [ 6.70208595e-02 2.08408312e-04 9.97751553e-01 1.29786826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17999999999998 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:176.26, Y:67.57, Z:12.99 [[ 7.36694531e-01 -6.74447789e-01 -4.90035478e-02 1.76260671e+02] [ 6.72896598e-01 7.38322204e-01 -4.57218880e-02 6.75680326e+01] [ 6.70174337e-02 7.08744243e-04 9.97751553e-01 1.29885487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23999999999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:176.30, Y:67.61, Z:12.99 [[ 7.37239862e-01 -6.73851949e-01 -4.89993628e-02 1.76302564e+02] [ 6.72299144e-01 7.38865996e-01 -4.57263725e-02 6.76077776e+01] [ 6.70167682e-02 7.69074877e-04 9.97751553e-01 1.29924517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29999999999998 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:176.35, Y:67.65, Z:13.00 [[ 7.37590943e-01 -6.73468579e-01 -4.89864671e-02 1.76345683e+02] [ 6.71914013e-01 7.39215392e-01 -4.57401834e-02 6.76484591e+01] [ 6.70161268e-02 8.22851331e-04 9.97751553e-01 1.29964125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35999999999999 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:176.39, Y:67.69, Z:13.00 [[ 7.37353291e-01 -6.73729539e-01 -4.89758363e-02 1.76386660e+02] [ 6.72174791e-01 7.38977567e-01 -4.57515635e-02 6.76886952e+01] [ 6.70162241e-02 8.14743416e-04 9.97751553e-01 1.29988352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:176.43, Y:67.73, Z:13.00 [[ 7.37768726e-01 -6.73275098e-01 -4.89688712e-02 1.76427979e+02] [ 6.71718855e-01 7.39391569e-01 -4.57590171e-02 6.77288697e+01] [ 6.70155772e-02 8.66257602e-04 9.97751553e-01 1.30049124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.47, Y:67.78, Z:13.00 [[ 7.33060694e-01 -6.78399139e-01 -4.89553641e-02 1.76465369e+02] [ 6.76853276e-01 7.34693428e-01 -4.57734631e-02 6.77757785e+01] [ 6.70198623e-02 4.19128069e-04 9.97751553e-01 1.29998042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:176.51, Y:67.81, Z:13.01 [[ 7.36838157e-01 -6.74295269e-01 -4.89430408e-02 1.76512240e+02] [ 6.72739438e-01 7.38461395e-01 -4.57866361e-02 6.78095124e+01] [ 6.70162582e-02 8.11426795e-04 9.97751554e-01 1.30093643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.6 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:176.56, Y:67.85, Z:13.02 [[ 7.35355087e-01 -6.75912639e-01 -4.89387357e-02 1.76555259e+02] [ 6.74360073e-01 7.36981448e-01 -4.57912370e-02 6.78493103e+01] [ 6.70178162e-02 6.70489657e-04 9.97751554e-01 1.30156303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:176.59, Y:67.89, Z:13.01 [[ 7.27942556e-01 -6.83890162e-01 -4.89273015e-02 1.76593647e+02] [ 6.82354600e-01 7.29584981e-01 -4.58034511e-02 6.78943746e+01] [ 6.70211539e-02 -4.34879523e-05 9.97751554e-01 1.30103840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:176.64, Y:67.93, Z:13.02 [[ 7.26731684e-01 -6.85177078e-01 -4.89227050e-02 1.76636519e+02] [ 6.83644093e-01 7.28376515e-01 -4.58083601e-02 6.79334888e+01] [ 6.70209877e-02 -1.55331620e-04 9.97751554e-01 1.30174698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:67.97, Z:13.02 [[ 7.25946166e-01 -6.86010259e-01 -4.89089797e-02 1.76679284e+02] [ 6.84478175e-01 7.27591836e-01 -4.58230097e-02 6.79736828e+01] [ 6.70208291e-02 -2.12090960e-04 9.97751554e-01 1.30186497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.73, Y:68.01, Z:13.03 [[ 7.30571282e-01 -6.81083460e-01 -4.88970510e-02 1.76726024e+02] [ 6.79539426e-01 7.32205745e-01 -4.58357352e-02 6.80068800e+01] [ 6.70206628e-02 2.58797847e-04 9.97751554e-01 1.30343946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.9 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:176.77, Y:68.05, Z:13.04 [[ 7.30219709e-01 -6.81460824e-01 -4.88909144e-02 1.76769971e+02] [ 6.79917197e-01 7.31854556e-01 -4.58422799e-02 6.80467449e+01] [ 6.70207563e-02 2.33162779e-04 9.97751554e-01 1.30351712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95999999999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:176.81, Y:68.09, Z:13.04 [[ 7.30509806e-01 -6.81150649e-01 -4.88796058e-02 1.76811810e+02] [ 6.79605521e-01 7.32143234e-01 -4.58543346e-02 6.80878086e+01] [ 6.70205825e-02 2.78191100e-04 9.97751554e-01 1.30384676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.85, Y:68.13, Z:13.03 [[ 7.25774655e-01 -6.86194608e-01 -4.88682992e-02 1.76848417e+02] [ 6.84660021e-01 7.27417989e-01 -4.58663812e-02 6.81335405e+01] [ 6.70209434e-02 -1.69513815e-04 9.97751554e-01 1.30316126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.89, Y:68.17, Z:13.04 [[ 7.24991753e-01 -6.87022048e-01 -4.88637268e-02 1.76892751e+02] [ 6.85489008e-01 7.26636531e-01 -4.58712518e-02 6.81714168e+01] [ 6.70207304e-02 -2.39268386e-04 9.97751554e-01 1.30411808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:176.93, Y:68.21, Z:13.04 [[ 7.24350679e-01 -6.87698795e-01 -4.88514192e-02 1.76934365e+02] [ 6.86166408e-01 7.25996065e-01 -4.58843553e-02 6.82100750e+01] [ 6.70205540e-02 -2.83838869e-04 9.97751555e-01 1.30426815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.2 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:176.98, Y:68.24, Z:13.06 [[ 7.29777809e-01 -6.81937433e-01 -4.88434890e-02 1.76980314e+02] [ 6.80391491e-01 7.31410466e-01 -4.58927954e-02 6.82443823e+01] [ 6.70206542e-02 2.58849352e-04 9.97751555e-01 1.30585739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.02, Y:68.29, Z:13.05 [[ 7.24865348e-01 -6.87157352e-01 -4.88364700e-02 1.77017384e+02] [ 6.85622664e-01 7.26508588e-01 -4.59002634e-02 6.82923097e+01] [ 6.70208184e-02 -2.11880248e-04 9.97751555e-01 1.30510168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.06, Y:68.33, Z:13.05 [[ 7.24313648e-01 -6.87739727e-01 -4.88242439e-02 1.77058230e+02] [ 6.86205484e-01 7.25957303e-01 -4.59132647e-02 6.83347842e+01] [ 6.70206926e-02 -2.47859680e-04 9.97751555e-01 1.30521493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:177.11, Y:68.37, Z:13.07 [[ 7.31049134e-01 -6.80576643e-01 -4.88118556e-02 1.77106920e+02] [ 6.79025415e-01 7.32676769e-01 -4.59264313e-02 6.83657998e+01] [ 6.70197691e-02 4.29987295e-04 9.97751555e-01 1.30673953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:177.15, Y:68.41, Z:13.07 [[ 7.30173609e-01 -6.81516197e-01 -4.88075126e-02 1.77149092e+02] [ 6.79966755e-01 7.31802945e-01 -4.59310464e-02 6.84055578e+01] [ 6.70202335e-02 3.50151945e-04 9.97751555e-01 1.30701645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.19, Y:68.44, Z:13.08 [[ 7.29715969e-01 -6.82007130e-01 -4.87942464e-02 1.77190535e+02] [ 6.80457842e-01 7.31345451e-01 -4.59451352e-02 6.84447836e+01] [ 6.70203600e-02 3.24471277e-04 9.97751555e-01 1.30776581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.23, Y:68.49, Z:13.07 [[ 7.22634012e-01 -6.89506912e-01 -4.87883404e-02 1.77227348e+02] [ 6.87974112e-01 7.24279013e-01 -4.59514058e-02 6.84907469e+01] [ 6.70201830e-02 -3.59066456e-04 9.97751555e-01 1.30702115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.27, Y:68.53, Z:13.07 [[ 7.21704354e-01 -6.90480925e-01 -4.87741468e-02 1.77269128e+02] [ 6.88949328e-01 7.23350474e-01 -4.59664664e-02 6.85307059e+01] [ 6.70197705e-02 -4.28716742e-04 9.97751556e-01 1.30738734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67999999999998 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:177.32, Y:68.56, Z:13.08 [[ 7.25990285e-01 -6.85974172e-01 -4.87600430e-02 1.77317211e+02] [ 6.84431350e-01 7.27625890e-01 -4.59814225e-02 6.85620123e+01] [ 6.70211379e-02 9.16395462e-06 9.97751556e-01 1.30838374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73999999999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:177.36, Y:68.60, Z:13.09 [[ 7.25011092e-01 -6.87009680e-01 -4.87505516e-02 1.77360143e+02] [ 6.85468518e-01 7.26648260e-01 -4.59914834e-02 6.86002821e+01] [ 6.70210978e-02 -7.26327718e-05 9.97751556e-01 1.30881356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79999999999998 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:177.40, Y:68.64, Z:13.09 [[ 7.22798383e-01 -6.89338200e-01 -4.87375046e-02 1.77404465e+02] [ 6.87801380e-01 7.24439628e-01 -4.60053052e-02 6.86389573e+01] [ 6.70205939e-02 -2.69162752e-04 9.97751556e-01 1.30902656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85999999999999 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:177.44, Y:68.69, Z:13.08 [[ 7.15454431e-01 -6.96958208e-01 -4.87259013e-02 1.77441620e+02] [ 6.95438028e-01 7.17111100e-01 -4.60175914e-02 6.86862137e+01] [ 6.70142227e-02 -9.62355011e-04 9.97751556e-01 1.30813130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:68.72, Z:13.10 [[ 7.22788849e-01 -6.89349885e-01 -4.87136202e-02 1.77490296e+02] [ 6.87811387e-01 7.24428520e-01 -4.60305883e-02 6.87170130e+01] [ 6.70207166e-02 -2.35386742e-04 9.97751556e-01 1.30999846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:177.53, Y:68.76, Z:13.11 [[ 7.23652639e-01 -6.88443359e-01 -4.87093315e-02 1.77532323e+02] [ 6.86902502e-01 7.25290094e-01 -4.60351262e-02 6.87565196e+01] [ 6.70209725e-02 -1.45121094e-04 9.97751556e-01 1.31050332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:68.80, Z:13.10 [[ 7.19185648e-01 -6.93108914e-01 -4.87035600e-02 1.77569113e+02] [ 6.91578265e-01 7.20832649e-01 -4.60412314e-02 6.88038830e+01] [ 6.70187041e-02 -5.70130687e-04 9.97751556e-01 1.30982571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.1 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:177.61, Y:68.84, Z:13.10 [[ 7.20337616e-01 -6.91912476e-01 -4.86913142e-02 1.77611047e+02] [ 6.90378216e-01 7.21981254e-01 -4.60541785e-02 6.88434550e+01] [ 6.70196767e-02 -4.40865455e-04 9.97751557e-01 1.31027345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:177.66, Y:68.88, Z:13.12 [[ 7.28163157e-01 -6.83673121e-01 -4.86772989e-02 1.77658440e+02] [ 6.82119273e-01 7.29788288e-01 -4.60689873e-02 6.88761884e+01] [ 6.70202510e-02 3.42015569e-04 9.97751557e-01 1.31205645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:68.92, Z:13.12 [[ 7.29349848e-01 -6.82407310e-01 -4.86730084e-02 1.77700026e+02] [ 6.80850339e-01 7.30971988e-01 -4.60735198e-02 6.89170701e+01] [ 6.70195125e-02 4.64680409e-04 9.97751557e-01 1.31212047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:177.74, Y:68.96, Z:13.13 [[ 7.31180622e-01 -6.80446245e-01 -4.86601094e-02 1.77740732e+02] [ 6.78884016e-01 7.32797699e-01 -4.60871390e-02 6.89582657e+01] [ 6.70178369e-02 6.63452496e-04 9.97751557e-01 1.31255951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:177.78, Y:69.00, Z:13.13 [[ 7.30426789e-01 -6.81256333e-01 -4.86468413e-02 1.77782739e+02] [ 6.79694965e-01 7.32044697e-01 -4.61011398e-02 6.89986599e+01] [ 6.70183557e-02 6.08494353e-04 9.97751557e-01 1.31273186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.4 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:177.83, Y:69.04, Z:13.13 [[ 7.27035951e-01 -6.84874768e-01 -4.86341268e-02 1.77825378e+02] [ 6.83320556e-01 7.28660734e-01 -4.61145490e-02 6.90374360e+01] [ 6.70204696e-02 2.94236445e-04 9.97751557e-01 1.31332727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:69.08, Z:13.13 [[ 7.17517317e-01 -6.94841637e-01 -4.86209851e-02 1.77863427e+02] [ 6.93309054e-01 7.19162517e-01 -4.61284008e-02 6.90840099e+01] [ 6.70183236e-02 -6.11442842e-04 9.97751557e-01 1.31281752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51999999999998 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:177.91, Y:69.12, Z:13.13 [[ 7.10562882e-01 -7.01952665e-01 -4.86091171e-02 1.77906835e+02] [ 7.00435688e-01 7.12222482e-01 -4.61409037e-02 6.91219495e+01] [ 6.70092364e-02 -1.26154682e-03 9.97751558e-01 1.31330497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57999999999998 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:177.95, Y:69.16, Z:13.13 [[ 7.06700339e-01 -7.05842153e-01 -4.85951234e-02 1.77947803e+02] [ 7.04333295e-01 7.08367324e-01 -4.61556370e-02 6.91628244e+01] [ 6.70017918e-02 -1.60895911e-03 9.97751558e-01 1.31345200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:177.99, Y:69.20, Z:13.14 [[ 7.04275009e-01 -7.08263071e-01 -4.85812021e-02 1.77990156e+02] [ 7.06758934e-01 7.05946255e-01 -4.61702853e-02 6.92036034e+01] [ 6.69964257e-02 -1.81862045e-03 9.97751558e-01 1.31404351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.7 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:178.04, Y:69.24, Z:13.15 [[ 7.07391540e-01 -7.05151219e-01 -4.85692045e-02 1.78036397e+02] [ 7.03638862e-01 7.09055351e-01 -4.61829029e-02 6.92384919e+01] [ 6.70041846e-02 -1.50578497e-03 9.97751558e-01 1.31506252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:178.08, Y:69.28, Z:13.16 [[ 7.08269447e-01 -7.04269715e-01 -4.85650030e-02 1.78075031e+02] [ 7.02754984e-01 7.09931098e-01 -4.61873206e-02 6.92813034e+01] [ 6.70061370e-02 -1.41622988e-03 9.97751558e-01 1.31550923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.11, Y:69.33, Z:13.15 [[ 7.06351154e-01 -7.06194568e-01 -4.85518227e-02 1.78111545e+02] [ 7.04683414e-01 7.08016058e-01 -4.62011715e-02 6.93292687e+01] [ 6.70024865e-02 -1.57941338e-03 9.97751558e-01 1.31536599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:178.16, Y:69.37, Z:13.16 [[ 7.13842016e-01 -6.98622572e-01 -4.85394477e-02 1.78155037e+02] [ 6.97092868e-01 7.15489891e-01 -4.62141692e-02 6.93660910e+01] [ 6.70157459e-02 -8.46887103e-04 9.97751559e-01 1.31639545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:178.20, Y:69.41, Z:13.17 [[ 7.16952305e-01 -6.95430797e-01 -4.85324510e-02 1.78195502e+02] [ 6.93893259e-01 7.18592873e-01 -4.62215157e-02 6.94080942e+01] [ 6.70189389e-02 -5.37718326e-04 9.97751559e-01 1.31696342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:69.45, Z:13.18 [[ 7.20893093e-01 -6.91345735e-01 -4.85203354e-02 1.78235808e+02] [ 6.89798043e-01 7.22524086e-01 -4.62342304e-02 6.94502375e+01] [ 6.70209490e-02 -1.39295099e-04 9.97751559e-01 1.31755128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:69.49, Z:13.18 [[ 7.22972115e-01 -6.89172255e-01 -4.85069483e-02 1.78275701e+02] [ 6.87618718e-01 7.24597541e-01 -4.62482714e-02 6.94904823e+01] [ 6.70210409e-02 8.19250228e-05 9.97751559e-01 1.31789053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:178.31, Y:69.54, Z:13.17 [[ 7.21457189e-01 -6.90758623e-01 -4.84979296e-02 1.78313743e+02] [ 6.89208025e-01 7.23085418e-01 -4.62577269e-02 6.95374194e+01] [ 6.70210694e-02 -5.21926574e-05 9.97751559e-01 1.31698327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17999999999998 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:178.36, Y:69.57, Z:13.18 [[ 7.25677635e-01 -6.86324339e-01 -4.84857844e-02 1.78359473e+02] [ 6.84762941e-01 7.27295511e-01 -4.62704535e-02 6.95726285e+01] [ 6.70200318e-02 3.76164914e-04 9.97751559e-01 1.31816556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23999999999998 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:178.40, Y:69.62, Z:13.18 [[ 7.21547711e-01 -6.90665424e-01 -4.84785845e-02 1.78397992e+02] [ 6.89113252e-01 7.23174441e-01 -4.62779958e-02 6.96183522e+01] [ 6.70210848e-02 -1.54531363e-05 9.97751559e-01 1.31759796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29999999999998 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:178.44, Y:69.65, Z:13.19 [[ 7.23504361e-01 -6.88616329e-01 -4.84663892e-02 1.78444226e+02] [ 6.87058696e-01 7.25125861e-01 -4.62907642e-02 6.96523332e+01] [ 6.70208084e-02 1.92315616e-04 9.97751559e-01 1.31911901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35999999999999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:178.48, Y:69.70, Z:13.19 [[ 7.16810587e-01 -6.95581775e-01 -4.84621225e-02 1.78484402e+02] [ 6.94039595e-01 7.18446792e-01 -4.62952307e-02 6.96959063e+01] [ 6.70195751e-02 -4.49720317e-04 9.97751559e-01 1.31867376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:178.53, Y:69.73, Z:13.20 [[ 7.19512139e-01 -6.92787764e-01 -4.84499326e-02 1.78530571e+02] [ 6.91238371e-01 7.21141515e-01 -4.63079844e-02 6.97298891e+01] [ 6.70208628e-02 -1.71295613e-04 9.97751560e-01 1.31979294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.57, Y:69.77, Z:13.20 [[ 7.20389532e-01 -6.91875816e-01 -4.84435562e-02 1.78573249e+02] [ 6.90323912e-01 7.22016516e-01 -4.63146539e-02 6.97692705e+01] [ 6.70210367e-02 -7.71533615e-05 9.97751560e-01 1.32032580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:178.61, Y:69.81, Z:13.19 [[ 7.15948626e-01 -6.96471151e-01 -4.84303755e-02 1.78612471e+02] [ 6.94928757e-01 7.17584628e-01 -4.63284327e-02 6.98137056e+01] [ 6.70193098e-02 -4.86882908e-04 9.97751560e-01 1.31930362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.6 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:178.66, Y:69.85, Z:13.20 [[ 7.16871052e-01 -6.95522639e-01 -4.84164583e-02 1.78656791e+02] [ 6.93977099e-01 7.18504081e-01 -4.63429725e-02 6.98520199e+01] [ 6.70200095e-02 -3.77977862e-04 9.97751560e-01 1.31951201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:178.70, Y:69.89, Z:13.20 [[ 7.16354316e-01 -6.96055678e-01 -4.84044086e-02 1.78700071e+02] [ 6.94510502e-01 7.17987691e-01 -4.63555549e-02 6.98911342e+01] [ 6.70198167e-02 -4.10368278e-04 9.97751560e-01 1.31990016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:178.75, Y:69.92, Z:13.21 [[ 7.20067688e-01 -6.92214501e-01 -4.83901778e-02 1.78748120e+02] [ 6.90659613e-01 7.21691821e-01 -4.63704055e-02 6.99235109e+01] [ 6.70210626e-02 -3.13107844e-05 9.97751560e-01 1.32134704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:178.79, Y:69.96, Z:13.22 [[ 7.20678448e-01 -6.91578908e-01 -4.83858328e-02 1.78791998e+02] [ 6.90022284e-01 7.22300916e-01 -4.63749390e-02 6.99622497e+01] [ 6.70210610e-02 3.41162325e-05 9.97751560e-01 1.32187763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.83, Y:70.01, Z:13.22 [[ 7.19050984e-01 -6.93271666e-01 -4.83743671e-02 1.78831842e+02] [ 6.91718057e-01 7.20676339e-01 -4.63868959e-02 7.00066755e+01] [ 6.70209824e-02 -1.06880089e-04 9.97751561e-01 1.32172454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.9 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:178.88, Y:70.04, Z:13.23 [[ 7.23748920e-01 -6.88366618e-01 -4.83621852e-02 1.78878152e+02] [ 6.86801145e-01 7.25362851e-01 -4.63995931e-02 7.00409928e+01] [ 6.70200635e-02 3.66451205e-04 9.97751561e-01 1.32266249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.91, Y:70.09, Z:13.22 [[ 7.19694450e-01 -6.92604801e-01 -4.83579162e-02 1.78914290e+02] [ 6.91048533e-01 7.21317260e-01 -4.64040418e-02 7.00876738e+01] [ 6.70210618e-02 -2.09357135e-05 9.97751561e-01 1.32217266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01999999999998 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:178.96, Y:70.13, Z:13.23 [[ 7.23970535e-01 -6.88134842e-01 -4.83436040e-02 1.78956921e+02] [ 6.86567559e-01 7.25582709e-01 -4.64189475e-02 7.01266276e+01] [ 6.70197782e-02 4.14800079e-04 9.97751561e-01 1.32283266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07999999999998 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:178.99, Y:70.17, Z:13.22 [[ 7.21209433e-01 -6.91028418e-01 -4.83392124e-02 1.78994454e+02] [ 6.89467297e-01 7.22827575e-01 -4.64235203e-02 7.01726134e+01] [ 6.70208874e-02 1.52774648e-04 9.97751561e-01 1.32243483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.04, Y:70.21, Z:13.24 [[ 7.24896264e-01 -6.87160814e-01 -4.83261990e-02 1.79039054e+02] [ 6.85590158e-01 7.26505151e-01 -4.64370631e-02 7.02080607e+01] [ 6.70189626e-02 5.30087123e-04 9.97751561e-01 1.32398050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.08, Y:70.25, Z:13.24 [[ 7.21093784e-01 -6.91150485e-01 -4.83193742e-02 1.79080870e+02] [ 6.89588255e-01 7.22710853e-01 -4.64441635e-02 7.02485576e+01] [ 6.70208423e-02 1.70124677e-04 9.97751561e-01 1.32421096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:179.12, Y:70.29, Z:13.24 [[ 7.17027626e-01 -6.95368887e-01 -4.83062585e-02 1.79122592e+02] [ 6.93815252e-01 7.18652955e-01 -4.64578010e-02 7.02888770e+01] [ 6.70207448e-02 -2.04092157e-04 9.97751561e-01 1.32447754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:179.16, Y:70.33, Z:13.24 [[ 7.05959955e-01 -7.06603386e-01 -4.82928218e-02 1.79161710e+02] [ 7.05074652e-01 7.07608727e-01 -4.64717643e-02 7.03337456e+01] [ 6.70095282e-02 -1.24283989e-03 9.97751562e-01 1.32405371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:70.37, Z:13.25 [[ 7.07597796e-01 -7.04964076e-01 -4.82805385e-02 1.79208647e+02] [ 7.03430652e-01 7.09242206e-01 -4.64845222e-02 7.03675619e+01] [ 6.70125139e-02 -1.06966526e-03 9.97751562e-01 1.32539766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:70.41, Z:13.24 [[ 6.99564804e-01 -7.12936525e-01 -4.82762479e-02 1.79245361e+02] [ 7.11421525e-01 7.01226204e-01 -4.64889778e-02 7.04146673e+01] [ 6.69962603e-02 -1.82270921e-03 9.97751562e-01 1.32448485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.5 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:179.29, Y:70.45, Z:13.25 [[ 6.99516845e-01 -7.12983881e-01 -4.82718222e-02 1.79288431e+02] [ 7.11468677e-01 7.01178059e-01 -4.64935728e-02 7.04543680e+01] [ 6.69963105e-02 -1.82085207e-03 9.97751562e-01 1.32511355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:179.33, Y:70.49, Z:13.26 [[ 7.00346274e-01 -7.12170005e-01 -4.82595095e-02 1.79330352e+02] [ 7.10651991e-01 7.02004920e-01 -4.65063496e-02 7.04941266e+01] [ 6.69988403e-02 -1.72516788e-03 9.97751562e-01 1.32560402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:179.37, Y:70.54, Z:13.26 [[ 7.03039718e-01 -7.09512180e-01 -4.82454217e-02 1.79370806e+02] [ 7.07986892e-01 7.04691678e-01 -4.65209596e-02 7.05354880e+01] [ 6.70053347e-02 -1.45104383e-03 9.97751562e-01 1.32606146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:70.58, Z:13.27 [[ 7.06119940e-01 -7.06447698e-01 -4.82315300e-02 1.79410544e+02] [ 7.04914256e-01 7.07764333e-01 -4.65353577e-02 7.05770409e+01] [ 6.70113530e-02 -1.13954908e-03 9.97751562e-01 1.32685499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73999999999998 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:179.45, Y:70.61, Z:13.28 [[ 7.14542766e-01 -6.97928160e-01 -4.82174130e-02 1.79454913e+02] [ 6.96374120e-01 7.16167707e-01 -4.65499804e-02 7.06138250e+01] [ 6.70202963e-02 -3.15406796e-04 9.97751562e-01 1.32785141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79999999999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:179.50, Y:70.66, Z:13.28 [[ 7.17832586e-01 -6.94544565e-01 -4.82102294e-02 1.79495314e+02] [ 6.92982366e-01 7.19449684e-01 -4.65574190e-02 7.06554784e+01] [ 6.70210366e-02 1.15936044e-05 9.97751563e-01 1.32810502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85999999999999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:179.53, Y:70.70, Z:13.28 [[ 7.14683783e-01 -6.97785165e-01 -4.81970286e-02 1.79532638e+02] [ 6.96229377e-01 7.16307050e-01 -4.65710808e-02 7.07023677e+01] [ 6.70204806e-02 -2.72590984e-04 9.97751563e-01 1.32753468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:179.57, Y:70.74, Z:13.28 [[ 7.15314831e-01 -6.97139112e-01 -4.81845515e-02 1.79574043e+02] [ 6.95580988e-01 7.16935856e-01 -4.65839865e-02 7.07428798e+01] [ 6.70207517e-02 -1.94041473e-04 9.97751563e-01 1.32781797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:179.62, Y:70.78, Z:13.29 [[ 7.18912892e-01 -6.93429077e-01 -4.81702203e-02 1.79620411e+02] [ 6.91861595e-01 7.20524868e-01 -4.65988011e-02 7.07767875e+01] [ 6.70208052e-02 1.73353419e-04 9.97751563e-01 1.32934497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:179.66, Y:70.81, Z:13.30 [[ 7.15577820e-01 -6.96870658e-01 -4.81629427e-02 1.79663543e+02] [ 6.95310423e-01 7.17196812e-01 -4.66063217e-02 7.08148146e+01] [ 6.70208870e-02 -1.37745924e-04 9.97751563e-01 1.32981402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.70, Y:70.86, Z:13.29 [[ 7.09228311e-01 -7.03332141e-01 -4.81570661e-02 1.79700758e+02] [ 7.01786241e-01 7.10860997e-01 -4.66123930e-02 7.08618919e+01] [ 6.70169742e-02 -7.37137627e-04 9.97751563e-01 1.32939119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:70.89, Z:13.30 [[ 7.12432546e-01 -7.00087103e-01 -4.81447369e-02 1.79748980e+02] [ 6.98532906e-01 7.14057335e-01 -4.66251241e-02 7.08943812e+01] [ 6.70197506e-02 -4.13427021e-04 9.97751563e-01 1.33029665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:179.79, Y:70.93, Z:13.31 [[ 7.12906775e-01 -6.99604610e-01 -4.81385597e-02 1.79791244e+02] [ 6.98048882e-01 7.14530098e-01 -4.66315010e-02 7.09337414e+01] [ 6.70200628e-02 -3.59154815e-04 9.97751563e-01 1.33068805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:179.83, Y:70.98, Z:13.30 [[ 7.10242699e-01 -7.02309967e-01 -4.81250320e-02 1.79829550e+02] [ 7.00759477e-01 7.11871025e-01 -4.66454577e-02 7.09798864e+01] [ 6.70183858e-02 -5.94476526e-04 9.97751564e-01 1.33015818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:179.87, Y:71.02, Z:13.30 [[ 7.12486588e-01 -7.00034317e-01 -4.81125381e-02 1.79871473e+02] [ 6.98477756e-01 7.14109112e-01 -4.66583411e-02 7.10194275e+01] [ 6.70200418e-02 -3.62095351e-04 9.97751564e-01 1.33045506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.4 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:71.05, Z:13.32 [[ 7.20204096e-01 -6.92092922e-01 -4.80983222e-02 1.79918702e+02] [ 6.90517491e-01 7.21808303e-01 -4.66729911e-02 7.10535599e+01] [ 6.70198151e-02 4.01346606e-04 9.97751564e-01 1.33155099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.96, Y:71.09, Z:13.32 [[ 7.22457832e-01 -6.89740828e-01 -4.80860739e-02 1.79961315e+02] [ 6.88159335e-01 7.24056064e-01 -4.66856069e-02 7.10931832e+01] [ 6.70179825e-02 6.37501689e-04 9.97751564e-01 1.33240867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.00, Y:71.13, Z:13.33 [[ 7.23552991e-01 -6.88592714e-01 -4.80743527e-02 1.80003907e+02] [ 6.87007883e-01 7.25147913e-01 -4.66976737e-02 7.11330170e+01] [ 6.70166943e-02 7.60782158e-04 9.97751564e-01 1.33292458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57999999999998 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:180.04, Y:71.18, Z:13.33 [[ 7.18609127e-01 -6.93751328e-01 -4.80626471e-02 1.80042543e+02] [ 6.92177142e-01 7.20214556e-01 -4.67097183e-02 7.11788297e+01] [ 6.70203471e-02 2.98164179e-04 9.97751564e-01 1.33255086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:180.09, Y:71.21, Z:13.34 [[ 7.19063806e-01 -6.93280902e-01 -4.80503276e-02 1.80087764e+02] [ 6.91704819e-01 7.20667373e-01 -4.67223880e-02 7.12147102e+01] [ 6.70200426e-02 3.59734967e-04 9.97751565e-01 1.33365435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.13, Y:71.26, Z:13.34 [[ 7.14803573e-01 -6.97672869e-01 -4.80460150e-02 1.80125887e+02] [ 6.96106341e-01 7.16416475e-01 -4.67268223e-02 7.12603835e+01] [ 6.70209929e-02 -4.46361202e-05 9.97751565e-01 1.33360955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.17, Y:71.30, Z:13.34 [[ 7.16497489e-01 -6.95934004e-01 -4.80334227e-02 1.80165790e+02] [ 6.94362695e-01 7.18105732e-01 -4.67397631e-02 7.13009922e+01] [ 6.70208667e-02 1.36306088e-04 9.97751565e-01 1.33384504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:71.34, Z:13.34 [[ 7.20776795e-01 -6.91501529e-01 -4.80254945e-02 1.80210354e+02] [ 6.89919787e-01 7.22374779e-01 -4.67479080e-02 7.13382928e+01] [ 6.70186558e-02 5.61068314e-04 9.97751565e-01 1.33443021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.25, Y:71.38, Z:13.35 [[ 7.21503748e-01 -6.90743302e-01 -4.80211693e-02 1.80250519e+02] [ 6.89159585e-01 7.23099774e-01 -4.67523506e-02 7.13799697e+01] [ 6.70179697e-02 6.37747108e-04 9.97751565e-01 1.33507739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.29, Y:71.43, Z:13.35 [[ 7.16796446e-01 -6.95627841e-01 -4.80079310e-02 1.80288340e+02] [ 6.94054091e-01 7.18402301e-01 -4.67659405e-02 7.14260462e+01] [ 6.70206983e-02 2.01559004e-04 9.97751565e-01 1.33464418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.0 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:180.33, Y:71.46, Z:13.36 [[ 7.19663599e-01 -6.92662071e-01 -4.79954048e-02 1.80333986e+02] [ 6.91080846e-01 7.21262094e-01 -4.67787925e-02 7.14613051e+01] [ 6.70191615e-02 4.96289203e-04 9.97751565e-01 1.33556609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.38, Y:71.50, Z:13.36 [[ 7.19355199e-01 -6.92982654e-01 -4.79910234e-02 1.80375598e+02] [ 6.91401842e-01 7.20954102e-01 -4.67832870e-02 7.15020938e+01] [ 6.70193316e-02 4.72718722e-04 9.97751565e-01 1.33646068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:180.41, Y:71.55, Z:13.36 [[ 7.15460141e-01 -6.97004141e-01 -4.79793071e-02 1.80414403e+02] [ 6.95431510e-01 7.17067092e-01 -4.67952998e-02 7.15476587e+01] [ 6.70208999e-02 1.13849799e-04 9.97751565e-01 1.33575740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17999999999998 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:180.46, Y:71.58, Z:13.37 [[ 7.18030312e-01 -6.94356640e-01 -4.79721664e-02 1.80459093e+02] [ 6.92777595e-01 7.19630960e-01 -4.68026189e-02 7.15836207e+01] [ 6.70199654e-02 3.71657000e-04 9.97751565e-01 1.33683970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.50, Y:71.63, Z:13.37 [[ 7.11766458e-01 -7.00776580e-01 -4.79655564e-02 1.80498008e+02] [ 6.99211516e-01 7.13380779e-01 -4.68093922e-02 7.16280418e+01] [ 6.70206318e-02 -2.20714159e-04 9.97751565e-01 1.33663094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29999999999998 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:180.54, Y:71.66, Z:13.38 [[ 7.14121837e-01 -6.98377057e-01 -4.79529788e-02 1.80543472e+02] [ 6.96805704e-01 7.15730037e-01 -4.68222735e-02 7.16631608e+01] [ 6.70209889e-02 2.28987909e-05 9.97751566e-01 1.33759942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35999999999999 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:180.58, Y:71.71, Z:13.37 [[ 7.09651650e-01 -7.02919249e-01 -4.79485721e-02 1.80582021e+02] [ 7.01357884e-01 7.11269549e-01 -4.68267858e-02 7.17088866e+01] [ 6.70198083e-02 -3.98403215e-04 9.97751566e-01 1.33713397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:180.63, Y:71.75, Z:13.38 [[ 7.11635055e-01 -7.00911988e-01 -4.79367749e-02 1.80625614e+02] [ 6.99345246e-01 7.13247747e-01 -4.68388596e-02 7.17457712e+01] [ 6.70207148e-02 -1.92181199e-04 9.97751566e-01 1.33827405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.67, Y:71.79, Z:13.39 [[ 7.09934786e-01 -7.02634399e-01 -4.79322430e-02 1.80667152e+02] [ 7.01071257e-01 7.11550968e-01 -4.68434968e-02 7.17874035e+01] [ 6.70200861e-02 -3.48090004e-04 9.97751566e-01 1.33911892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:71.83, Z:13.39 [[ 7.06981068e-01 -7.05607104e-01 -4.79205937e-02 1.80708463e+02] [ 7.04049950e-01 7.08603019e-01 -4.68554110e-02 7.18281627e+01] [ 6.70181882e-02 -6.12603057e-04 9.97751566e-01 1.33920942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.75, Y:71.87, Z:13.40 [[ 7.04199312e-01 -7.08384222e-01 -4.79074472e-02 1.80749872e+02] [ 7.06832549e-01 7.05826507e-01 -4.68688488e-02 7.18687605e+01] [ 6.70154991e-02 -8.57531951e-04 9.97751566e-01 1.33999818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:180.79, Y:71.92, Z:13.39 [[ 6.93501164e-01 -7.18861375e-01 -4.79005044e-02 1.80786507e+02] [ 7.17333781e-01 6.95150986e-01 -4.68759433e-02 7.19164999e+01] [ 6.69953879e-02 -1.85212873e-03 9.97751566e-01 1.33896338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:71.95, Z:13.41 [[ 6.94980287e-01 -7.17432327e-01 -4.78879536e-02 1.80830862e+02] [ 7.15900458e-01 6.96626140e-01 -4.68887616e-02 7.19525070e+01] [ 6.69995136e-02 -1.69624288e-03 9.97751566e-01 1.34058325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.87, Y:72.00, Z:13.40 [[ 6.90242833e-01 -7.21991812e-01 -4.78816789e-02 1.80866718e+02] [ 7.20470367e-01 6.91898326e-01 -4.68951682e-02 7.19989796e+01] [ 6.69871810e-02 -2.12827703e-03 9.97751566e-01 1.34015203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:180.91, Y:72.04, Z:13.40 [[ 6.91378678e-01 -7.20905149e-01 -4.78674285e-02 1.80905681e+02] [ 7.19380096e-01 6.93030848e-01 -4.69097096e-02 7.20431492e+01] [ 6.69910558e-02 -2.00250235e-03 9.97751566e-01 1.34007384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.95, Y:72.08, Z:13.42 [[ 6.98782051e-01 -7.13732224e-01 -4.78535052e-02 1.80947484e+02] [ 7.12189232e-01 7.00417479e-01 -4.69239088e-02 7.20801644e+01] [ 6.70085373e-02 -1.29116585e-03 9.97751567e-01 1.34187680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.99, Y:72.12, Z:13.42 [[ 7.00531484e-01 -7.12015729e-01 -4.78460166e-02 1.80986689e+02] [ 7.10468208e-01 7.02162628e-01 -4.69315434e-02 7.21213312e+01] [ 6.70116818e-02 -1.11604995e-03 9.97751567e-01 1.34226385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.02, Y:72.17, Z:13.43 [[ 7.06901402e-01 -7.05692495e-01 -4.78383889e-02 1.81024822e+02] [ 7.04129853e-01 7.08518066e-01 -4.69393172e-02 7.21658680e+01] [ 6.70190866e-02 -5.02968646e-04 9.97751567e-01 1.34259143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.06, Y:72.21, Z:13.43 [[ 7.14275384e-01 -6.98228776e-01 -4.78252300e-02 1.81063098e+02] [ 6.96648343e-01 7.15874660e-01 -4.69527206e-02 7.22093574e+01] [ 6.70206109e-02 2.19805310e-04 9.97751567e-01 1.34287062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.10, Y:72.25, Z:13.43 [[ 7.18879188e-01 -6.93488822e-01 -4.78117900e-02 1.81102496e+02] [ 6.91896935e-01 7.20467063e-01 -4.69664025e-02 7.22522477e+01] [ 6.70174950e-02 6.82338343e-04 9.97751567e-01 1.34323846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.2 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:181.14, Y:72.29, Z:13.43 [[ 7.21980602e-01 -6.90260345e-01 -4.77981910e-02 1.81141390e+02] [ 6.88660442e-01 7.23560400e-01 -4.69802383e-02 7.22943258e+01] [ 6.70134737e-02 1.00209741e-03 9.97751567e-01 1.34312572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:181.18, Y:72.34, Z:13.43 [[ 7.24271339e-01 -6.87856818e-01 -4.77914800e-02 1.81182882e+02] [ 6.86251223e-01 7.25845352e-01 -4.69870642e-02 7.23359467e+01] [ 6.70095961e-02 1.23442237e-03 9.97751567e-01 1.34340767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:72.38, Z:13.44 [[ 7.24277990e-01 -6.87850638e-01 -4.77796252e-02 1.81225473e+02] [ 6.86244236e-01 7.25851178e-01 -4.69991159e-02 7.23763240e+01] [ 6.70092691e-02 1.25193279e-03 9.97751568e-01 1.34427772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.27, Y:72.42, Z:13.45 [[ 7.21556570e-01 -6.90705709e-01 -4.77675559e-02 1.81268085e+02] [ 6.89104721e-01 7.23135267e-01 -4.70113794e-02 7.24154153e+01] [ 6.70134324e-02 1.00452138e-03 9.97751568e-01 1.34459565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.31, Y:72.46, Z:13.44 [[ 7.13771435e-01 -6.98748834e-01 -4.77535847e-02 1.81305901e+02] [ 6.97164689e-01 7.15367033e-01 -4.70255668e-02 7.24600976e+01] [ 6.70204002e-02 2.73393328e-04 9.97751568e-01 1.34379979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:72.49, Z:13.45 [[ 7.15796745e-01 -6.96674957e-01 -4.77391233e-02 1.81354313e+02] [ 6.95085210e-01 7.17386762e-01 -4.70402431e-02 7.24916924e+01] [ 6.70191744e-02 4.88494289e-04 9.97751568e-01 1.34524050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:181.40, Y:72.53, Z:13.45 [[ 7.09872837e-01 -7.02710791e-01 -4.77294387e-02 1.81400210e+02] [ 7.01133904e-01 7.11475607e-01 -4.70500676e-02 7.25275810e+01] [ 6.70209216e-02 -6.51626843e-05 9.97751568e-01 1.34536838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:181.44, Y:72.57, Z:13.45 [[ 7.01787613e-01 -7.10786413e-01 -4.77160406e-02 1.81439794e+02] [ 7.09227043e-01 7.03407431e-01 -4.70636514e-02 7.25712512e+01] [ 6.70160215e-02 -8.12818773e-04 9.97751568e-01 1.34508176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.48, Y:72.61, Z:13.45 [[ 6.96865704e-01 -7.15613423e-01 -4.77034560e-02 1.81483934e+02] [ 7.14064398e-01 6.98495417e-01 -4.70764036e-02 7.26094994e+01] [ 6.70091517e-02 -1.25740851e-03 9.97751569e-01 1.34542489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73999999999998 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:181.53, Y:72.64, Z:13.46 [[ 7.00805042e-01 -7.11757006e-01 -4.76891751e-02 1.81530462e+02] [ 7.10198027e-01 7.02425236e-01 -4.70908660e-02 7.26440982e+01] [ 6.70153339e-02 -8.67241653e-04 9.97751569e-01 1.34647692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:72.69, Z:13.46 [[ 6.96223678e-01 -7.16239310e-01 -4.76848019e-02 1.81567066e+02] [ 7.14690457e-01 6.97853555e-01 -4.70952939e-02 7.26904972e+01] [ 6.70085094e-02 -1.29101409e-03 9.97751569e-01 1.34631831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85999999999999 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:181.61, Y:72.73, Z:13.47 [[ 6.99259052e-01 -7.13276500e-01 -4.76803140e-02 1.81612579e+02] [ 7.11720431e-01 7.00882040e-01 -4.70998372e-02 7.27263951e+01] [ 6.70134828e-02 -1.00006612e-03 9.97751569e-01 1.34725833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:181.65, Y:72.77, Z:13.48 [[ 6.99081633e-01 -7.13450877e-01 -4.76730167e-02 1.81653168e+02] [ 7.11894708e-01 7.00704527e-01 -4.71072221e-02 7.27690794e+01] [ 6.70133875e-02 -1.00637448e-03 9.97751569e-01 1.34781298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:181.69, Y:72.82, Z:13.47 [[ 6.95079407e-01 -7.17351400e-01 -4.76611750e-02 1.81688836e+02] [ 7.15803516e-01 6.96710203e-01 -4.71192000e-02 7.28176369e+01] [ 6.70070510e-02 -1.36445108e-03 9.97751569e-01 1.34719204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.73, Y:72.85, Z:13.49 [[ 7.02615439e-01 -7.09972633e-01 -4.76487713e-02 1.81732377e+02] [ 7.08406766e-01 7.04228977e-01 -4.71317398e-02 7.28531788e+01] [ 6.70178909e-02 -6.39223927e-04 9.97751569e-01 1.34888745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.1 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:181.77, Y:72.90, Z:13.49 [[ 7.07607421e-01 -7.04998042e-01 -4.76392529e-02 1.81771484e+02] [ 7.03420184e-01 7.09209234e-01 -4.71413587e-02 7.28962774e+01] [ 6.70207637e-02 -1.52836812e-04 9.97751569e-01 1.34898107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:72.95, Z:13.48 [[ 7.05372532e-01 -7.07235021e-01 -4.76257957e-02 1.81805743e+02] [ 7.05661325e-01 7.06978433e-01 -4.71549503e-02 7.29460635e+01] [ 6.70200427e-02 -3.45875402e-04 9.97751569e-01 1.34804304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.85, Y:72.98, Z:13.50 [[ 7.15631582e-01 -6.96853232e-01 -4.76131408e-02 1.81850201e+02] [ 6.95255390e-01 7.17213461e-01 -4.71677248e-02 7.29815361e+01] [ 6.70177669e-02 6.51420729e-04 9.97751570e-01 1.34994785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.89, Y:73.02, Z:13.50 [[ 7.16706770e-01 -6.95747667e-01 -4.76087142e-02 1.81891068e+02] [ 6.94147088e-01 7.18285879e-01 -4.71721923e-02 7.30233625e+01] [ 6.70166099e-02 7.61179186e-04 9.97751570e-01 1.35029603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.93, Y:73.07, Z:13.50 [[ 7.11568140e-01 -7.01003185e-01 -4.75953440e-02 1.81927594e+02] [ 6.99413368e-01 7.13158084e-01 -4.71856786e-02 7.30708756e+01] [ 6.70203153e-02 2.87005744e-04 9.97751570e-01 1.34965078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.4 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:181.97, Y:73.11, Z:13.51 [[ 7.14005009e-01 -6.98521828e-01 -4.75825845e-02 1.81973044e+02] [ 6.96925629e-01 7.15588545e-01 -4.71985420e-02 7.31058756e+01] [ 6.70187642e-02 5.38472807e-04 9.97751570e-01 1.35075722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45999999999998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:182.01, Y:73.15, Z:13.51 [[ 7.11727204e-01 -7.00842856e-01 -4.75781236e-02 1.82014105e+02] [ 6.99251521e-01 7.13315627e-01 -4.72030383e-02 7.31468595e+01] [ 6.70201313e-02 3.26611180e-04 9.97751570e-01 1.35111697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.05, Y:73.19, Z:13.50 [[ 7.05750992e-01 -7.06861470e-01 -4.75646786e-02 1.82051203e+02] [ 7.05282768e-01 7.07351972e-01 -4.72165824e-02 7.31940722e+01] [ 6.70205521e-02 -2.23398329e-04 9.97751570e-01 1.35041190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.10, Y:73.23, Z:13.52 [[ 7.10806475e-01 -7.01778427e-01 -4.75520226e-02 1.82097992e+02] [ 7.00187423e-01 7.12395230e-01 -4.72293249e-02 7.32274690e+01] [ 6.70203554e-02 2.75581794e-04 9.97751570e-01 1.35189775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:182.14, Y:73.27, Z:13.52 [[ 7.11683315e-01 -7.00889495e-01 -4.75475990e-02 1.82140695e+02] [ 6.99296209e-01 7.13269782e-01 -4.72337779e-02 7.32677706e+01] [ 6.70199243e-02 3.65635883e-04 9.97751570e-01 1.35179494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.18, Y:73.31, Z:13.52 [[ 7.13994059e-01 -6.98536208e-01 -4.75357726e-02 1.82182141e+02] [ 6.96936902e-01 7.15574455e-01 -4.72456770e-02 7.33076845e+01] [ 6.70182006e-02 6.03698576e-04 9.97751570e-01 1.35239837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:182.22, Y:73.35, Z:13.53 [[ 7.14580037e-01 -6.97937682e-01 -4.75222236e-02 1.82224765e+02] [ 6.96336146e-01 7.16158174e-01 -4.72593014e-02 7.33482631e+01] [ 6.70174761e-02 6.79111356e-04 9.97751571e-01 1.35257875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.26, Y:73.39, Z:13.52 [[ 7.09952444e-01 -7.02645217e-01 -4.75102740e-02 1.82263874e+02] [ 7.01053342e-01 7.11540326e-01 -4.72713114e-02 7.33929749e+01] [ 6.70204367e-02 2.53146678e-04 9.97751571e-01 1.35220991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:182.31, Y:73.43, Z:13.54 [[ 7.14389786e-01 -6.98134092e-01 -4.74976155e-02 1.82310722e+02] [ 6.96531346e-01 7.15966693e-01 -4.72840270e-02 7.34269945e+01] [ 6.70173020e-02 6.95647868e-04 9.97751571e-01 1.35365293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:182.35, Y:73.47, Z:13.54 [[ 7.12249057e-01 -7.00318412e-01 -4.74910694e-02 1.82354816e+02] [ 6.98720064e-01 7.13830422e-01 -4.72906009e-02 7.34652335e+01] [ 6.70190487e-02 4.99722923e-04 9.97751571e-01 1.35405516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.39, Y:73.51, Z:13.54 [[ 7.06415987e-01 -7.06202255e-01 -4.74850302e-02 1.82393242e+02] [ 7.04616671e-01 7.08010150e-01 -4.72966642e-02 7.35110220e+01] [ 6.70208943e-02 -4.76242055e-05 9.97751571e-01 1.35382372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.44, Y:73.54, Z:13.55 [[ 7.10497501e-01 -7.02096606e-01 -4.74726977e-02 1.82439904e+02] [ 7.00500983e-01 7.12081616e-01 -4.73090394e-02 7.35439219e+01] [ 6.70199512e-02 3.58282920e-04 9.97751571e-01 1.35533587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:73.58, Z:13.56 [[ 7.10893883e-01 -7.01695785e-01 -4.74648503e-02 1.82482335e+02] [ 7.00098744e-01 7.12476567e-01 -4.73169113e-02 7.35836619e+01] [ 6.70196708e-02 4.07220704e-04 9.97751571e-01 1.35564051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17999999999998 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:73.63, Z:13.56 [[ 7.12565287e-01 -6.99999338e-01 -4.74514276e-02 1.82522560e+02] [ 6.98397633e-01 7.14143251e-01 -4.73303683e-02 7.36275692e+01] [ 6.70183433e-02 5.86012828e-04 9.97751571e-01 1.35550822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.56, Y:73.67, Z:13.56 [[ 7.14599084e-01 -6.97923807e-01 -4.74395256e-02 1.82562369e+02] [ 6.96316727e-01 7.16171574e-01 -4.73422948e-02 7.36693433e+01] [ 6.70161543e-02 7.97825275e-04 9.97751572e-01 1.35606179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:73.71, Z:13.56 [[ 7.15485762e-01 -6.97015709e-01 -4.74260077e-02 1.82602600e+02] [ 6.95405736e-01 7.17055289e-01 -4.73558328e-02 7.37112545e+01] [ 6.70148290e-02 9.02106320e-04 9.97751572e-01 1.35643629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.64, Y:73.76, Z:13.56 [[ 7.10142161e-01 -7.02460082e-01 -4.74124942e-02 1.82638203e+02] [ 7.00861240e-01 7.11723026e-01 -4.73693586e-02 7.37603045e+01] [ 6.70196473e-02 4.09399260e-04 9.97751572e-01 1.35569897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:182.69, Y:73.79, Z:13.57 [[ 7.15088053e-01 -6.97425505e-01 -4.73998064e-02 1.82685072e+02] [ 6.95814693e-01 7.16656720e-01 -4.73820511e-02 7.37949794e+01] [ 6.70148407e-02 9.00856950e-04 9.97751572e-01 1.35710033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:182.73, Y:73.84, Z:13.57 [[ 7.13483764e-01 -6.99067489e-01 -4.73873869e-02 1.82725787e+02] [ 6.97459463e-01 7.15055285e-01 -4.73944688e-02 7.38358138e+01] [ 6.70165338e-02 7.64402512e-04 9.97751572e-01 1.35734813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.77, Y:73.88, Z:13.58 [[ 7.12409967e-01 -7.00162666e-01 -4.73738289e-02 1.82767227e+02] [ 6.98556155e-01 7.13983037e-01 -4.74080170e-02 7.38766242e+01] [ 6.70174339e-02 6.80664081e-04 9.97751572e-01 1.35800140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.6 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:182.81, Y:73.92, Z:13.58 [[ 7.09433836e-01 -7.03178938e-01 -4.73604640e-02 1.82808859e+02] [ 7.01578224e-01 7.11012805e-01 -4.74213648e-02 7.39175944e+01] [ 6.70196013e-02 4.15250474e-04 9.97751573e-01 1.35819672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:182.85, Y:73.96, Z:13.59 [[ 7.04801759e-01 -7.07822542e-01 -4.73469051e-02 1.82851159e+02] [ 7.06231322e-01 7.06390295e-01 -4.74348986e-02 7.39587318e+01] [ 6.70208847e-02 -5.66740816e-06 9.97751573e-01 1.35872562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:182.89, Y:74.00, Z:13.59 [[ 7.01579242e-01 -7.11017563e-01 -4.73348973e-02 1.82892989e+02] [ 7.09432770e-01 7.03174188e-01 -4.74468780e-02 7.39985667e+01] [ 6.70202416e-02 -2.93182645e-04 9.97751573e-01 1.35937830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:182.93, Y:74.05, Z:13.58 [[ 6.89704427e-01 -7.22543088e-01 -4.73211247e-02 1.82930137e+02] [ 7.20983994e-01 6.91324504e-01 -4.74606101e-02 7.40464609e+01] [ 6.70065889e-02 -1.38398061e-03 9.97751573e-01 1.35839110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:182.98, Y:74.08, Z:13.60 [[ 6.93629111e-01 -7.18777133e-01 -4.73084526e-02 1.82976034e+02] [ 7.17208381e-01 6.95239837e-01 -4.74732383e-02 7.40810200e+01] [ 6.70133990e-02 -1.00119858e-03 9.97751573e-01 1.35988881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.02, Y:74.12, Z:13.60 [[ 6.92375719e-01 -7.19984855e-01 -4.73040333e-02 1.83016710e+02] [ 7.18418611e-01 6.93988885e-01 -4.74776414e-02 7.41230376e+01] [ 6.70116561e-02 -1.11173182e-03 9.97751573e-01 1.36049983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95999999999998 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:74.17, Z:13.60 [[ 6.82359047e-01 -7.29485864e-01 -4.72917034e-02 1.83050604e+02] [ 7.27941217e-01 6.83992903e-01 -4.74899199e-02 7.41730645e+01] [ 6.69904148e-02 -2.02040362e-03 9.97751573e-01 1.35965081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01999999999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:74.21, Z:13.60 [[ 6.80257921e-01 -7.31446405e-01 -4.72791481e-02 1.83090533e+02] [ 7.29905599e-01 6.81895400e-01 -4.75024162e-02 7.42144633e+01] [ 6.69849052e-02 -2.19542011e-03 9.97751574e-01 1.36020755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.13, Y:74.26, Z:13.61 [[ 6.79375091e-01 -7.32267382e-01 -4.72648544e-02 1.83129979e+02] [ 7.30727568e-01 6.81013503e-01 -4.75166342e-02 7.42557098e+01] [ 6.69828854e-02 -2.25611440e-03 9.97751574e-01 1.36132599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.17, Y:74.30, Z:13.62 [[ 6.79363268e-01 -7.32279264e-01 -4.72507094e-02 1.83168492e+02] [ 7.30738502e-01 6.81000789e-01 -4.75306959e-02 7.42989245e+01] [ 6.69835133e-02 -2.23730373e-03 9.97751574e-01 1.36182696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:74.34, Z:13.63 [[ 6.86433756e-01 -7.25656550e-01 -4.72363153e-02 1.83207795e+02] [ 7.24098998e-01 6.88055314e-01 -4.75449965e-02 7.43404082e+01] [ 6.70025359e-02 -1.56727800e-03 9.97751574e-01 1.36270592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:183.24, Y:74.39, Z:13.63 [[ 6.88282429e-01 -7.23903807e-01 -4.72289780e-02 1.83244828e+02] [ 7.22341625e-01 6.89899527e-01 -4.75522839e-02 7.43857193e+01] [ 6.70065290e-02 -1.38605527e-03 9.97751574e-01 1.36287800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:183.28, Y:74.43, Z:13.62 [[ 6.87097615e-01 -7.25029361e-01 -4.72153900e-02 1.83278859e+02] [ 7.23468902e-01 6.88716375e-01 -4.75657719e-02 7.44348933e+01] [ 6.70045934e-02 -1.47653792e-03 9.97751574e-01 1.36246941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.32, Y:74.47, Z:13.64 [[ 6.91196371e-01 -7.21123763e-01 -4.72027021e-02 1.83320133e+02] [ 7.19553296e-01 6.92805423e-01 -4.75783596e-02 7.44748345e+01] [ 6.70121737e-02 -1.07887038e-03 9.97751575e-01 1.36360257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:183.36, Y:74.52, Z:13.64 [[ 6.92009332e-01 -7.20343957e-01 -4.71981747e-02 1.83357333e+02] [ 7.18771370e-01 6.93616313e-01 -4.75828504e-02 7.45191850e+01] [ 6.70134427e-02 -9.96920198e-04 9.97751575e-01 1.36381779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.40, Y:74.56, Z:13.64 [[ 6.93696248e-01 -7.18719869e-01 -4.71939164e-02 1.83396688e+02] [ 7.17143232e-01 6.95299256e-01 -4.75870736e-02 7.45633188e+01] [ 6.70156702e-02 -8.33823361e-04 9.97751575e-01 1.36439900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.43, Y:74.61, Z:13.65 [[ 6.96236440e-01 -7.16260206e-01 -4.71819662e-02 1.83434951e+02] [ 7.14677103e-01 6.97833062e-01 -4.75989190e-02 7.46074831e+01] [ 6.70183475e-02 -5.79769015e-04 9.97751575e-01 1.36487271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:183.47, Y:74.65, Z:13.65 [[ 6.97524265e-01 -7.15007034e-01 -4.71682340e-02 1.83473187e+02] [ 7.13420142e-01 6.99117121e-01 -4.76125231e-02 7.46498081e+01] [ 6.70194089e-02 -4.39878069e-04 9.97751575e-01 1.36509114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67999999999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:74.69, Z:13.66 [[ 7.00466378e-01 -7.12125492e-01 -4.71607625e-02 1.83510753e+02] [ 7.10531549e-01 7.02052178e-01 -4.76199226e-02 7.46939431e+01] [ 6.70206768e-02 -1.53054872e-04 9.97751575e-01 1.36556328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73999999999998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:183.55, Y:74.74, Z:13.66 [[ 7.01925449e-01 -7.10688254e-01 -4.71473231e-02 1.83549860e+02] [ 7.09090171e-01 7.03507076e-01 -4.76332249e-02 7.47369854e+01] [ 6.70208489e-02 3.26933079e-06 9.97751575e-01 1.36586062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79999999999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.59, Y:74.78, Z:13.66 [[ 7.02868261e-01 -7.09756746e-01 -4.71335241e-02 1.83589164e+02] [ 7.08155651e-01 7.04446839e-01 -4.76468752e-02 7.47780686e+01] [ 6.70207532e-02 1.11604866e-04 9.97751575e-01 1.36627403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85999999999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:74.82, Z:13.66 [[ 7.03661606e-01 -7.08970721e-01 -4.71260191e-02 1.83629168e+02] [ 7.07367366e-01 7.05237887e-01 -4.76542971e-02 7.48216655e+01] [ 6.70205555e-02 1.97091172e-04 9.97751575e-01 1.36636708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:183.67, Y:74.86, Z:13.67 [[ 7.04003241e-01 -7.08632266e-01 -4.71142135e-02 1.83669317e+02] [ 7.07027372e-01 7.05577955e-01 -4.76659660e-02 7.48639467e+01] [ 6.70203920e-02 2.45955959e-04 9.97751576e-01 1.36656618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:183.71, Y:74.91, Z:13.67 [[ 7.04564561e-01 -7.08074982e-01 -4.71020051e-02 1.83709546e+02] [ 7.06468036e-01 7.06137182e-01 -4.76780270e-02 7.49054271e+01] [ 6.70200952e-02 3.16187117e-04 9.97751576e-01 1.36689351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:183.75, Y:74.95, Z:13.67 [[ 7.05286788e-01 -7.07356501e-01 -4.70885097e-02 1.83751931e+02] [ 7.05747063e-01 7.06856858e-01 -4.76913517e-02 7.49452661e+01] [ 6.70196237e-02 4.03502832e-04 9.97751576e-01 1.36746096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.1 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:183.79, Y:74.99, Z:13.68 [[ 7.05246217e-01 -7.07397425e-01 -4.70813835e-02 1.83794520e+02] [ 7.05787609e-01 7.06815899e-01 -4.76983858e-02 7.49852949e+01] [ 6.70195857e-02 4.09649114e-04 9.97751576e-01 1.36804208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:183.84, Y:75.03, Z:13.69 [[ 7.06559582e-01 -7.06086413e-01 -4.70694517e-02 1.83837340e+02] [ 7.04472900e-01 7.08125464e-01 -4.77101574e-02 7.50256195e+01] [ 6.70185713e-02 5.50915792e-04 9.97751576e-01 1.36868961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.88, Y:75.07, Z:13.69 [[ 7.08592980e-01 -7.04046595e-01 -4.70571998e-02 1.83878785e+02] [ 7.02427773e-01 7.10153372e-01 -4.77222386e-02 7.50653822e+01] [ 6.70165087e-02 7.61359183e-04 9.97751576e-01 1.36917963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:75.11, Z:13.69 [[ 7.10696946e-01 -7.01923634e-01 -4.70432048e-02 1.83920525e+02] [ 7.00299238e-01 7.12251535e-01 -4.77360305e-02 7.51061172e+01] [ 6.70136428e-02 9.81530692e-04 9.97751576e-01 1.36911713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.96, Y:75.15, Z:13.70 [[ 7.13219340e-01 -6.99361436e-01 -4.70293063e-02 1.83962367e+02] [ 6.97730554e-01 7.14767122e-01 -4.77497193e-02 7.51467214e+01] [ 6.70093142e-02 1.24223934e-03 9.97751577e-01 1.36963465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.00, Y:75.19, Z:13.70 [[ 7.14236666e-01 -6.98323375e-01 -4.70154039e-02 1.84004463e+02] [ 6.96689343e-01 7.15781123e-01 -4.77634040e-02 7.51874248e+01] [ 6.70070401e-02 1.35924364e-03 9.97751577e-01 1.36991347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:75.23, Z:13.70 [[ 7.14270543e-01 -6.98289598e-01 -4.70024280e-02 1.84047083e+02] [ 6.96654654e-01 7.15814034e-01 -4.77761698e-02 7.52256821e+01] [ 6.70066000e-02 1.38065052e-03 9.97751577e-01 1.37018596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:75.27, Z:13.71 [[ 7.12833911e-01 -6.99756589e-01 -4.69950041e-02 1.84090034e+02] [ 6.98124341e-01 7.14380252e-01 -4.77834712e-02 7.52651789e+01] [ 6.70091017e-02 1.25332243e-03 9.97751577e-01 1.37067662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.13, Y:75.30, Z:13.71 [[ 7.09738520e-01 -7.02896740e-01 -4.69830444e-02 1.84134600e+02] [ 7.01270556e-01 7.11291237e-01 -4.77952277e-02 7.53037785e+01] [ 6.70137375e-02 9.74288527e-04 9.97751577e-01 1.37125005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.18, Y:75.34, Z:13.72 [[ 7.07329296e-01 -7.05321910e-01 -4.69709510e-02 1.84177120e+02] [ 7.03700261e-01 7.08886749e-01 -4.78071096e-02 7.53414173e+01] [ 6.70164866e-02 7.61898708e-04 9.97751577e-01 1.37166593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.22, Y:75.38, Z:13.72 [[ 7.03820247e-01 -7.08824030e-01 -4.69633335e-02 1.84221787e+02] [ 7.07209632e-01 7.05385215e-01 -4.78145914e-02 7.53782613e+01] [ 6.70193725e-02 4.39955737e-04 9.97751577e-01 1.37201107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:75.42, Z:13.72 [[ 7.01644155e-01 -7.10979054e-01 -4.69496026e-02 1.84264768e+02] [ 7.09368561e-01 7.03213140e-01 -4.78280701e-02 7.54163793e+01] [ 6.70203335e-02 2.53713764e-04 9.97751578e-01 1.37227325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:75.45, Z:13.73 [[ 7.00057048e-01 -7.12542325e-01 -4.69421388e-02 1.84308894e+02] [ 7.10934844e-01 7.01629120e-01 -4.78353946e-02 7.54546145e+01] [ 6.70207148e-02 1.14703032e-04 9.97751578e-01 1.37258947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.35, Y:75.49, Z:13.73 [[ 6.98031543e-01 -7.14527589e-01 -4.69285473e-02 1.84353960e+02] [ 7.12923684e-01 6.99607262e-01 -4.78487247e-02 7.54911956e+01] [ 6.70207864e-02 -5.65536420e-05 9.97751578e-01 1.37284386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.40, Y:75.53, Z:13.73 [[ 6.95902999e-01 -7.16601704e-01 -4.69149671e-02 1.84397743e+02] [ 7.15001597e-01 6.97482574e-01 -4.78620363e-02 7.55292631e+01] [ 6.70203888e-02 -2.36941829e-04 9.97751578e-01 1.37329436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.44, Y:75.57, Z:13.74 [[ 6.94208695e-01 -7.18244067e-01 -4.69014661e-02 1.84440337e+02] [ 7.16646804e-01 6.95791145e-01 -4.78752626e-02 7.55688833e+01] [ 6.70197482e-02 -3.76362195e-04 9.97751578e-01 1.37388678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.48, Y:75.61, Z:13.74 [[ 6.95273401e-01 -7.17213922e-01 -4.68944276e-02 1.84479790e+02] [ 7.15613849e-01 6.96853011e-01 -4.78821559e-02 7.56092671e+01] [ 6.70202719e-02 -2.67112485e-04 9.97751578e-01 1.37440821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.52, Y:75.65, Z:13.74 [[ 6.96025680e-01 -7.16484686e-01 -4.68822774e-02 1.84517130e+02] [ 7.14882156e-01 6.97602797e-01 -4.78940494e-02 7.56544049e+01] [ 6.70205608e-02 -1.79815259e-04 9.97751578e-01 1.37428193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.56, Y:75.70, Z:13.74 [[ 6.98421389e-01 -7.14150468e-01 -4.68686659e-02 1.84556378e+02] [ 7.12541774e-01 6.99992218e-01 -4.79073658e-02 7.56979081e+01] [ 6.70207692e-02 6.36466428e-05 9.97751579e-01 1.37444964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.59, Y:75.74, Z:13.74 [[ 6.97771978e-01 -7.14785899e-01 -4.68549341e-02 1.84594929e+02] [ 7.13177733e-01 6.99343348e-01 -4.79207922e-02 7.57412973e+01] [ 6.70207931e-02 2.18902716e-05 9.97751579e-01 1.37447934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:75.78, Z:13.75 [[ 7.00114189e-01 -7.12492814e-01 -4.68413552e-02 1.84637660e+02] [ 7.10878614e-01 7.01679359e-01 -4.79340617e-02 7.57801157e+01] [ 6.70202865e-02 2.60799076e-04 9.97751579e-01 1.37541462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:75.82, Z:13.76 [[ 6.97192996e-01 -7.15351804e-01 -4.68371925e-02 1.84676899e+02] [ 7.13743749e-01 6.98764479e-01 -4.79381287e-02 7.58208863e+01] [ 6.70207933e-02 -7.62579982e-06 9.97751579e-01 1.37586264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.72, Y:75.86, Z:13.76 [[ 6.91826998e-01 -7.20543403e-01 -4.68253059e-02 1.84717525e+02] [ 7.18946354e-01 6.93409664e-01 -4.79497366e-02 7.58622023e+01] [ 6.70189860e-02 -4.91960625e-04 9.97751579e-01 1.37639461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.76, Y:75.90, Z:13.77 [[ 6.88502016e-01 -7.23722027e-01 -4.68124118e-02 1.84757852e+02] [ 7.22131429e-01 6.90091164e-01 -4.79623216e-02 7.59036565e+01] [ 6.70162204e-02 -7.82558773e-04 9.97751579e-01 1.37692822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.80, Y:75.95, Z:13.77 [[ 6.83438419e-01 -7.28506549e-01 -4.67988859e-02 1.84796521e+02] [ 7.26926171e-01 6.85037731e-01 -4.79755158e-02 7.59489898e+01] [ 6.70094800e-02 -1.23102430e-03 9.97751579e-01 1.37698122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.84, Y:75.99, Z:13.78 [[ 6.86489840e-01 -7.25632660e-01 -4.67861320e-02 1.84838628e+02] [ 7.24044738e-01 6.88081662e-01 -4.79879503e-02 7.59877427e+01] [ 6.70143035e-02 -9.32012321e-04 9.97751580e-01 1.37761161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:76.03, Z:13.78 [[ 6.88459513e-01 -7.23764492e-01 -4.67809606e-02 1.84878213e+02] [ 7.22171908e-01 6.90046671e-01 -4.79929911e-02 7.60298677e+01] [ 6.70166690e-02 -7.42664285e-04 9.97751580e-01 1.37774975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:76.07, Z:13.78 [[ 6.89738865e-01 -7.22545665e-01 -4.67767044e-02 1.84918543e+02] [ 7.20949995e-01 6.91322920e-01 -4.79971391e-02 7.60719880e+01] [ 6.70179326e-02 -6.18172607e-04 9.97751580e-01 1.37802958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.96, Y:76.12, Z:13.78 [[ 6.90602332e-01 -7.21721225e-01 -4.67642224e-02 1.84955007e+02] [ 7.20122841e-01 6.92183647e-01 -4.80092973e-02 7.61195133e+01] [ 6.70187590e-02 -5.20652044e-04 9.97751580e-01 1.37755432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.00, Y:76.16, Z:13.78 [[ 6.96522131e-01 -7.16010629e-01 -4.67514719e-02 1.84998707e+02] [ 7.14398445e-01 6.98089376e-01 -4.80217107e-02 7.61577063e+01] [ 6.70207611e-02 4.90054180e-05 9.97751580e-01 1.37837493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:76.20, Z:13.79 [[ 6.97847568e-01 -7.14719693e-01 -4.67389711e-02 1.85039232e+02] [ 7.13103796e-01 6.99410983e-01 -4.80338745e-02 7.61992835e+01] [ 6.70205057e-02 1.90584815e-04 9.97751580e-01 1.37877981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.08, Y:76.24, Z:13.80 [[ 6.97460380e-01 -7.15097996e-01 -4.67319508e-02 1.85081319e+02] [ 7.13482488e-01 6.99024198e-01 -4.80407035e-02 7.62401825e+01] [ 6.70205752e-02 1.64058733e-04 9.97751580e-01 1.37980392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.12, Y:76.28, Z:13.81 [[ 6.98191988e-01 -7.14384481e-01 -4.67200254e-02 1.85122860e+02] [ 7.12766600e-01 6.99753350e-01 -4.80522983e-02 7.62818357e+01] [ 6.70203105e-02 2.49256063e-04 9.97751580e-01 1.38051547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:76.32, Z:13.81 [[ 7.01706380e-01 -7.10933538e-01 -4.67082483e-02 1.85163120e+02] [ 7.09307216e-01 7.03258949e-01 -4.80637432e-02 7.63240815e+01] [ 6.70181206e-02 5.96137689e-04 9.97751580e-01 1.38088212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.20, Y:76.37, Z:13.81 [[ 7.04347951e-01 -7.08317434e-01 -4.66945092e-02 1.85203865e+02] [ 7.06684462e-01 7.05893522e-01 -4.80770872e-02 7.63666978e+01] [ 6.70151907e-02 8.64713719e-04 9.97751581e-01 1.38104288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.24, Y:76.41, Z:13.81 [[ 7.06401006e-01 -7.06270745e-01 -4.66824761e-02 1.85244531e+02] [ 7.04632524e-01 7.07941012e-01 -4.80887685e-02 7.64089661e+01] [ 6.70121297e-02 1.07596353e-03 9.97751581e-01 1.38112492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.28, Y:76.46, Z:13.80 [[ 7.03168385e-01 -7.09490024e-01 -4.66704219e-02 1.85281883e+02] [ 7.07858078e-01 7.04715039e-01 -4.81004643e-02 7.64551647e+01] [ 6.70161478e-02 7.86690590e-04 9.97751581e-01 1.38045427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.33, Y:76.49, Z:13.82 [[ 7.06292992e-01 -7.06380404e-01 -4.66576410e-02 1.85328100e+02] [ 7.04740830e-01 7.07831558e-01 -4.81128586e-02 7.64909392e+01] [ 6.70117312e-02 1.10023016e-03 9.97751581e-01 1.38166133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.37, Y:76.53, Z:13.82 [[ 7.02557639e-01 -7.10096471e-01 -4.66451017e-02 1.85371103e+02] [ 7.08464231e-01 7.04103982e-01 -4.81250124e-02 7.65304867e+01] [ 6.70164033e-02 7.64208989e-04 9.97751581e-01 1.38234758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:76.58, Z:13.82 [[ 6.95074985e-01 -7.17423251e-01 -4.66330850e-02 1.85409044e+02] [ 7.15806531e-01 6.96637548e-01 -4.81366538e-02 7.65758704e+01] [ 6.70207126e-02 7.83170841e-05 9.97751581e-01 1.38224377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.45, Y:76.62, Z:13.83 [[ 6.90414953e-01 -7.21909792e-01 -4.66202261e-02 1.85450320e+02] [ 7.20302385e-01 6.91987094e-01 -4.81491044e-02 7.66169328e+01] [ 6.70199047e-02 -3.37798402e-04 9.97751581e-01 1.38288092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.49, Y:76.65, Z:13.84 [[ 6.92575346e-01 -7.19838266e-01 -4.66075137e-02 1.85493734e+02] [ 7.18225328e-01 6.94141813e-01 -4.81614066e-02 7.66535633e+01] [ 6.70206475e-02 -1.19293948e-04 9.97751582e-01 1.38420944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:76.70, Z:13.84 [[ 6.85602951e-01 -7.26482793e-01 -4.65977001e-02 1.85528502e+02] [ 7.24884389e-01 6.87184245e-01 -4.81708997e-02 7.67028652e+01] [ 6.70165351e-02 -7.51834324e-04 9.97751582e-01 1.38354160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.57, Y:76.74, Z:13.85 [[ 6.89041043e-01 -7.23223519e-01 -4.65852240e-02 1.85572609e+02] [ 7.21616819e-01 6.90613907e-01 -4.81829621e-02 7.67394748e+01] [ 6.70194550e-02 -4.16642705e-04 9.97751582e-01 1.38468573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.61, Y:76.78, Z:13.85 [[ 6.87285788e-01 -7.24892038e-01 -4.65808786e-02 1.85611394e+02] [ 7.23288872e-01 6.88862254e-01 -4.81871626e-02 7.67813785e+01] [ 6.70182996e-02 -5.73079135e-04 9.97751582e-01 1.38495009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:76.82, Z:13.85 [[ 6.85724156e-01 -7.26370152e-01 -4.65701965e-02 1.85650717e+02] [ 7.24769684e-01 6.87303360e-01 -4.81974841e-02 7.68244155e+01] [ 6.70170664e-02 -7.02487523e-04 9.97751582e-01 1.38541766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.69, Y:76.87, Z:13.86 [[ 6.83828814e-01 -7.28155650e-01 -4.65564498e-02 1.85688826e+02] [ 7.26558401e-01 6.85411273e-01 -4.82107591e-02 7.68684196e+01] [ 6.70152522e-02 -8.58073539e-04 9.97751582e-01 1.38577727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.73, Y:76.91, Z:13.86 [[ 6.82663672e-01 -7.29248985e-01 -4.65427552e-02 1.85728229e+02] [ 7.27653370e-01 6.84247778e-01 -4.82239763e-02 7.69110875e+01] [ 6.70140626e-02 -9.46235853e-04 9.97751582e-01 1.38622148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.77, Y:76.95, Z:13.87 [[ 6.81755050e-01 -7.30099370e-01 -4.65291522e-02 1.85767670e+02] [ 7.28504834e-01 6.83340244e-01 -4.82370977e-02 7.69529790e+01] [ 6.70131168e-02 -1.01082733e-03 9.97751583e-01 1.38671064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.81, Y:77.00, Z:13.87 [[ 6.81768087e-01 -7.30088082e-01 -4.65152551e-02 1.85807049e+02] [ 7.28492606e-01 6.83352334e-01 -4.82504950e-02 7.69960760e+01] [ 6.70134195e-02 -9.90371696e-04 9.97751583e-01 1.38706330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.85, Y:77.04, Z:13.87 [[ 6.82351975e-01 -7.29543281e-01 -4.65014250e-02 1.85846229e+02] [ 7.27945633e-01 6.83934031e-01 -4.82638201e-02 7.70384455e+01] [ 6.70144527e-02 -9.17596235e-04 9.97751583e-01 1.38743381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.88, Y:77.09, Z:13.87 [[ 6.81124916e-01 -7.30689914e-01 -4.64876218e-02 1.85883129e+02] [ 7.29094022e-01 6.82708743e-01 -4.82771117e-02 7.70852192e+01] [ 6.70131044e-02 -1.01110358e-03 9.97751583e-01 1.38724544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.93, Y:77.12, Z:13.88 [[ 6.86224549e-01 -7.25903543e-01 -4.64748922e-02 1.85925759e+02] [ 7.24295772e-01 6.87796316e-01 -4.82893630e-02 7.71246487e+01] [ 6.70186793e-02 -5.24221621e-04 9.97751583e-01 1.38810843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:77.17, Z:13.88 [[ 6.86344495e-01 -7.25790934e-01 -4.64623926e-02 1.85964327e+02] [ 7.24182092e-01 6.87915165e-01 -4.83013867e-02 7.71689652e+01] [ 6.70188930e-02 -4.95841832e-04 9.97751583e-01 1.38844156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.00, Y:77.21, Z:13.89 [[ 6.89178671e-01 -7.23101080e-01 -4.64498487e-02 1.86003308e+02] [ 7.21485294e-01 6.90742196e-01 -4.83134467e-02 7.72120644e+01] [ 6.70203760e-02 -2.16285751e-04 9.97751584e-01 1.38864511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.05, Y:77.25, Z:13.90 [[ 6.94546532e-01 -7.17947214e-01 -4.64425820e-02 1.86045493e+02] [ 7.16319359e-01 6.96097487e-01 -4.83204310e-02 7.72507014e+01] [ 6.70200835e-02 2.93067201e-04 9.97751584e-01 1.38953794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.09, Y:77.29, Z:13.90 [[ 6.97831396e-01 -7.14755217e-01 -4.64362210e-02 1.86085104e+02] [ 7.13119861e-01 6.99374441e-01 -4.83265433e-02 7.72921011e+01] [ 6.70179550e-02 6.09187696e-04 9.97751584e-01 1.38983266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.13, Y:77.33, Z:13.90 [[ 7.02374866e-01 -7.10291547e-01 -4.64269899e-02 1.86125768e+02] [ 7.08645801e-01 7.03906824e-01 -4.83354099e-02 7.73346303e+01] [ 6.70125081e-02 1.04928557e-03 9.97751584e-01 1.39011251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.17, Y:77.38, Z:13.90 [[ 7.03430984e-01 -7.09246460e-01 -4.64145483e-02 1.86165997e+02] [ 7.07597650e-01 7.04959644e-01 -4.83473541e-02 7.73762339e+01] [ 6.70105732e-02 1.16620152e-03 9.97751584e-01 1.39044338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.21, Y:77.42, Z:13.91 [[ 7.05572259e-01 -7.07117193e-01 -4.64011125e-02 1.86206168e+02] [ 7.05462923e-01 7.07095008e-01 -4.83602457e-02 7.74163496e+01] [ 6.70063562e-02 1.38738331e-03 9.97751584e-01 1.39077060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.25, Y:77.46, Z:13.91 [[ 7.06543470e-01 -7.06147558e-01 -4.63891268e-02 1.86247774e+02] [ 7.04490444e-01 7.08063125e-01 -4.83717401e-02 7.74571190e+01] [ 6.70040162e-02 1.49604061e-03 9.97751584e-01 1.39135178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.29, Y:77.50, Z:13.92 [[ 7.07147311e-01 -7.05543681e-01 -4.63766637e-02 1.86288358e+02] [ 7.03884488e-01 7.08664693e-01 -4.83836862e-02 7.74978476e+01] [ 6.70023082e-02 1.57057941e-03 9.97751584e-01 1.39173540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:77.54, Z:13.91 [[ 7.03623775e-01 -7.09058518e-01 -4.63637910e-02 1.86325018e+02] [ 7.07406093e-01 7.05148527e-01 -4.83960184e-02 7.75445643e+01] [ 6.70089680e-02 1.25456092e-03 9.97751584e-01 1.39113848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.37, Y:77.58, Z:13.92 [[ 7.06043257e-01 -7.06650097e-01 -4.63525521e-02 1.86371135e+02] [ 7.04991766e-01 7.07561583e-01 -4.84067804e-02 7.75799226e+01] [ 6.70039412e-02 1.49911331e-03 9.97751585e-01 1.39223815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.41, Y:77.62, Z:13.93 [[ 7.04575401e-01 -7.08113911e-01 -4.63486128e-02 1.86412500e+02] [ 7.06458487e-01 7.06096895e-01 -4.84105519e-02 7.76208351e+01] [ 6.70067968e-02 1.36551313e-03 9.97751585e-01 1.39252539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.45, Y:77.66, Z:13.93 [[ 7.02811917e-01 -7.09865033e-01 -4.63362121e-02 1.86453017e+02] [ 7.08212619e-01 7.04336678e-01 -4.84224184e-02 7.76616434e+01] [ 6.70096753e-02 1.21596257e-03 9.97751585e-01 1.39267972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:186.49, Y:77.71, Z:13.93 [[ 6.98261370e-01 -7.14342282e-01 -4.63267097e-02 1.86490966e+02] [ 7.12699043e-01 6.99796015e-01 -4.84315078e-02 7.77075084e+01] [ 6.70159206e-02 8.00849282e-04 9.97751585e-01 1.39276440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.54, Y:77.74, Z:13.94 [[ 7.00285799e-01 -7.12358641e-01 -4.63137784e-02 1.86536071e+02] [ 7.10710238e-01 7.01814896e-01 -4.84438705e-02 7.77442729e+01] [ 6.70131093e-02 1.00887804e-03 9.97751585e-01 1.39390648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.58, Y:77.79, Z:13.95 [[ 6.98950472e-01 -7.13669701e-01 -4.63011439e-02 1.86577208e+02] [ 7.12023367e-01 7.00481796e-01 -4.84559431e-02 7.77852954e+01] [ 6.70146469e-02 9.00807878e-04 9.97751585e-01 1.39450363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.62, Y:77.83, Z:13.95 [[ 6.96884357e-01 -7.15687646e-01 -4.62967230e-02 1.86617882e+02] [ 7.14045466e-01 6.98420135e-01 -4.84601667e-02 7.78267461e+01] [ 6.70169061e-02 7.13166919e-04 9.97751585e-01 1.39507535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.66, Y:77.87, Z:13.95 [[ 6.95575249e-01 -7.16960311e-01 -4.62923866e-02 1.86658142e+02] [ 7.15320666e-01 6.97113732e-01 -4.84643087e-02 7.78696632e+01] [ 6.70180443e-02 5.96672808e-04 9.97751585e-01 1.39549084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.70, Y:77.91, Z:13.96 [[ 6.95068393e-01 -7.17452477e-01 -4.62803642e-02 1.86697625e+02] [ 7.15813157e-01 6.96607223e-01 -4.84757866e-02 7.79127882e+01] [ 6.70183092e-02 5.65893486e-04 9.97751585e-01 1.39584228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.74, Y:77.96, Z:13.96 [[ 6.95444175e-01 -7.17089129e-01 -4.62664089e-02 1.86737599e+02] [ 7.15448119e-01 6.96981202e-01 -4.84891023e-02 7.79554775e+01] [ 6.70178254e-02 6.20248485e-04 9.97751585e-01 1.39613634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.78, Y:78.00, Z:13.96 [[ 6.96017830e-01 -7.16533233e-01 -4.62526318e-02 1.86777174e+02] [ 7.14890122e-01 6.97552612e-01 -4.85022404e-02 7.79979874e+01] [ 6.70171112e-02 6.92874486e-04 9.97751586e-01 1.39641545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.82, Y:78.04, Z:13.97 [[ 6.95563772e-01 -7.16974900e-01 -4.62388607e-02 1.86816199e+02] [ 7.15331891e-01 6.97098662e-01 -4.85153654e-02 7.80409967e+01] [ 6.70173471e-02 6.69398889e-04 9.97751586e-01 1.39670955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.86, Y:78.08, Z:13.97 [[ 6.95142426e-01 -7.17384312e-01 -4.62250761e-02 1.86855658e+02] [ 7.15741334e-01 6.96677349e-01 -4.85284956e-02 7.80836640e+01] [ 6.70175449e-02 6.49018541e-04 9.97751586e-01 1.39705250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.90, Y:78.13, Z:13.98 [[ 6.95075330e-01 -7.17450212e-01 -4.62112385e-02 1.86895528e+02] [ 7.15806504e-01 6.96609471e-01 -4.85416690e-02 7.81250818e+01] [ 6.70174171e-02 6.61811508e-04 9.97751586e-01 1.39753402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:78.17, Z:13.98 [[ 6.95866919e-01 -7.16683364e-01 -4.61972537e-02 1.86934184e+02] [ 7.15037082e-01 6.97398298e-01 -4.85549747e-02 7.81667892e+01] [ 6.70164287e-02 7.55051181e-04 9.97751586e-01 1.39785134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.97, Y:78.21, Z:13.98 [[ 6.92631901e-01 -7.19810783e-01 -4.61896760e-02 1.86970216e+02] [ 7.18170935e-01 6.94170168e-01 -4.85621822e-02 7.82140720e+01] [ 6.70190775e-02 4.63633848e-04 9.97751586e-01 1.39756509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.01, Y:78.26, Z:13.98 [[ 6.93004249e-01 -7.19453145e-01 -4.61766499e-02 1.87008682e+02] [ 7.17811678e-01 6.94540788e-01 -4.85745653e-02 7.82576545e+01] [ 6.70186905e-02 5.16241634e-04 9.97751587e-01 1.39773783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.05, Y:78.30, Z:13.99 [[ 6.97207895e-01 -7.15381189e-01 -4.61617383e-02 1.87052882e+02] [ 7.13729812e-01 6.98733777e-01 -4.85887320e-02 7.82952811e+01] [ 6.70142307e-02 9.29438740e-04 9.97751587e-01 1.39891698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.09, Y:78.34, Z:13.99 [[ 6.96871406e-01 -7.15709800e-01 -4.61489510e-02 1.87092889e+02] [ 7.14058339e-01 6.98397196e-01 -4.86008742e-02 7.83370469e+01] [ 6.70144200e-02 9.15516283e-04 9.97751587e-01 1.39930278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.13, Y:78.38, Z:14.00 [[ 6.96163545e-01 -7.16399239e-01 -4.61351175e-02 1.87133166e+02] [ 7.14748419e-01 6.97690029e-01 -4.86140024e-02 7.83793154e+01] [ 6.70150458e-02 8.68293942e-04 9.97751587e-01 1.39972942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.18, Y:78.42, Z:14.00 [[ 6.95576086e-01 -7.16970419e-01 -4.61229500e-02 1.87175007e+02] [ 7.15320088e-01 6.97103098e-01 -4.86255437e-02 7.84209579e+01] [ 6.70155278e-02 8.30092713e-04 9.97751587e-01 1.40028667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:78.46, Z:14.01 [[ 6.94766172e-01 -7.17756058e-01 -4.61108182e-02 1.87216377e+02] [ 7.16106690e-01 6.96294224e-01 -4.86370454e-02 7.84632039e+01] [ 6.70162303e-02 7.71108475e-04 9.97751587e-01 1.40082119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.25, Y:78.51, Z:14.01 [[ 6.89916197e-01 -7.22419937e-01 -4.60985570e-02 1.87252906e+02] [ 7.20780123e-01 6.91454497e-01 -4.86486639e-02 7.85098589e+01] [ 6.70198192e-02 3.36577595e-04 9.97751588e-01 1.40050030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.30, Y:78.55, Z:14.02 [[ 6.93868385e-01 -7.18625612e-01 -4.60857233e-02 1.87296714e+02] [ 7.16976580e-01 6.95396799e-01 -4.86608184e-02 7.85476300e+01] [ 6.70167749e-02 7.21819185e-04 9.97751588e-01 1.40152426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.34, Y:78.59, Z:14.02 [[ 6.94067577e-01 -7.18433517e-01 -4.60812318e-02 1.87336776e+02] [ 7.16783779e-01 6.95595230e-01 -4.86650715e-02 7.85910006e+01] [ 6.70165035e-02 7.46568749e-04 9.97751588e-01 1.40192774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.38, Y:78.63, Z:14.02 [[ 6.94115046e-01 -7.18388437e-01 -4.60690417e-02 1.87375950e+02] [ 7.16737835e-01 6.95641764e-01 -4.86766086e-02 7.86343529e+01] [ 6.70162622e-02 7.67741227e-04 9.97751588e-01 1.40227526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.42, Y:78.68, Z:14.03 [[ 6.93890281e-01 -7.18606425e-01 -4.60552266e-02 1.87415182e+02] [ 7.16955435e-01 6.95416579e-01 -4.86896762e-02 7.86775169e+01] [ 6.70162823e-02 7.65748028e-04 9.97751588e-01 1.40266129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.46, Y:78.72, Z:14.03 [[ 6.92766910e-01 -7.19690354e-01 -4.60413137e-02 1.87455889e+02] [ 7.18040878e-01 6.94294845e-01 -4.87028287e-02 7.87204481e+01] [ 6.70172028e-02 6.80162825e-04 9.97751588e-01 1.40315003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:78.77, Z:14.03 [[ 6.86852679e-01 -7.25337663e-01 -4.60290404e-02 1.87494267e+02] [ 7.23699974e-01 6.88393240e-01 -4.87144255e-02 7.87655654e+01] [ 6.70204878e-02 1.48418341e-04 9.97751588e-01 1.40316764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.53, Y:78.81, Z:14.03 [[ 6.84245012e-01 -7.27798924e-01 -4.60161894e-02 1.87533532e+02] [ 7.26165960e-01 6.85790581e-01 -4.87265617e-02 7.88073268e+01] [ 6.70206084e-02 -7.44835530e-05 9.97751589e-01 1.40344202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.57, Y:78.85, Z:14.04 [[ 6.81413099e-01 -7.30451534e-01 -4.60080927e-02 1.87573277e+02] [ 7.28824071e-01 6.82964458e-01 -4.87342055e-02 7.88489476e+01] [ 6.70198673e-02 -3.23679410e-04 9.97751589e-01 1.40386146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:78.89, Z:14.04 [[ 6.78669309e-01 -7.33002448e-01 -4.59932584e-02 1.87613534e+02] [ 7.31379867e-01 6.80225774e-01 -4.87482015e-02 7.88903652e+01] [ 6.70183508e-02 -5.54634926e-04 9.97751589e-01 1.40421474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:78.93, Z:14.05 [[ 6.77872824e-01 -7.33740012e-01 -4.59785844e-02 1.87653418e+02] [ 7.32118185e-01 6.79430075e-01 -4.87620379e-02 7.89319364e+01] [ 6.70178913e-02 -6.07297415e-04 9.97751589e-01 1.40462772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.69, Y:78.97, Z:14.05 [[ 6.77800580e-01 -7.33807676e-01 -4.59637670e-02 1.87693081e+02] [ 7.32185058e-01 6.79357006e-01 -4.87760010e-02 7.89748983e+01] [ 6.70180111e-02 -5.93581648e-04 9.97751589e-01 1.40490460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.73, Y:79.02, Z:14.05 [[ 6.78565740e-01 -7.33101101e-01 -4.59490173e-02 1.87732773e+02] [ 7.31475921e-01 6.80119492e-01 -4.87898919e-02 7.90177559e+01] [ 6.70187457e-02 -5.03450625e-04 9.97751589e-01 1.40534516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:79.06, Z:14.06 [[ 6.80596707e-01 -7.31216914e-01 -4.59341603e-02 1.87771400e+02] [ 7.29586489e-01 6.82144953e-01 -4.88038753e-02 7.90603652e+01] [ 6.70199747e-02 -2.97185882e-04 9.97751590e-01 1.40587562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:79.10, Z:14.06 [[ 6.82606269e-01 -7.29342242e-01 -4.59192340e-02 1.87810709e+02] [ 7.27706621e-01 6.84149023e-01 -4.88179153e-02 7.91030388e+01] [ 6.70205669e-02 -9.23156066e-05 9.97751590e-01 1.40637978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.85, Y:79.15, Z:14.07 [[ 6.86021101e-01 -7.26132094e-01 -4.59045772e-02 1.87850357e+02] [ 7.24488332e-01 6.87555178e-01 -4.88316935e-02 7.91450858e+01] [ 6.70201897e-02 2.42241607e-04 9.97751590e-01 1.40710138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.89, Y:79.19, Z:14.08 [[ 6.89607670e-01 -7.22727724e-01 -4.58900654e-02 1.87892178e+02] [ 7.21075481e-01 6.91132610e-01 -4.88453274e-02 7.91851851e+01] [ 6.70179929e-02 5.93911447e-04 9.97751590e-01 1.40799625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:79.23, Z:14.08 [[ 6.91222955e-01 -7.21183801e-01 -4.58775629e-02 1.87931146e+02] [ 7.19527374e-01 6.92743347e-01 -4.88570674e-02 7.92292781e+01] [ 6.70163021e-02 7.60964130e-04 9.97751590e-01 1.40848471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.97, Y:79.27, Z:14.09 [[ 6.91945778e-01 -7.20491098e-01 -4.58652152e-02 1.87970768e+02] [ 7.18832380e-01 6.93463672e-01 -4.88686562e-02 7.92730404e+01] [ 6.70152923e-02 8.45058564e-04 9.97751591e-01 1.40876760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.01, Y:79.32, Z:14.09 [[ 6.90768458e-01 -7.21620712e-01 -4.58528674e-02 1.88011022e+02] [ 7.19963707e-01 6.92288222e-01 -4.88802393e-02 7.93165204e+01] [ 6.70163931e-02 7.52527167e-04 9.97751591e-01 1.40892705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:79.36, Z:14.10 [[ 6.91240751e-01 -7.21169145e-01 -4.58398101e-02 1.88052071e+02] [ 7.19510336e-01 6.92758545e-01 -4.88924814e-02 7.93567397e+01] [ 6.70156691e-02 8.14258379e-04 9.97751591e-01 1.40957427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:79.40, Z:14.10 [[ 6.91075180e-01 -7.21328100e-01 -4.58352288e-02 1.88093424e+02] [ 7.19669355e-01 6.92593044e-01 -4.88967759e-02 7.93983929e+01] [ 6.70157790e-02 8.05138651e-04 9.97751591e-01 1.41016127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.13, Y:79.44, Z:14.11 [[ 6.91269401e-01 -7.21142804e-01 -4.58221702e-02 1.88133364e+02] [ 7.19482842e-01 6.92785933e-01 -4.89090103e-02 7.94401730e+01] [ 6.70153358e-02 8.41037013e-04 9.97751591e-01 1.41056499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.18, Y:79.48, Z:14.11 [[ 6.92361467e-01 -7.20094680e-01 -4.58175807e-02 1.88175753e+02] [ 7.18432138e-01 6.93875170e-01 -4.89133093e-02 7.94815552e+01] [ 6.70138954e-02 9.48868091e-04 9.97751591e-01 1.41083606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.22, Y:79.52, Z:14.12 [[ 6.93550589e-01 -7.18950293e-01 -4.58045394e-02 1.88215120e+02] [ 7.17284448e-01 6.95060655e-01 -4.89255187e-02 7.95237558e+01] [ 6.70119492e-02 1.07743859e-03 9.97751591e-01 1.41162554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.26, Y:79.57, Z:14.12 [[ 6.94765845e-01 -7.17776925e-01 -4.57898131e-02 1.88256199e+02] [ 7.16107621e-01 6.96272087e-01 -4.89392973e-02 7.95656316e+01] [ 6.70096671e-02 1.21091808e-03 9.97751591e-01 1.41210649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.30, Y:79.61, Z:14.13 [[ 6.94092778e-01 -7.18428602e-01 -4.57772866e-02 1.88296262e+02] [ 7.16759940e-01 6.95599732e-01 -4.89510117e-02 7.96075800e+01] [ 6.70104752e-02 1.16521843e-03 9.97751592e-01 1.41260411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.34, Y:79.65, Z:14.13 [[ 6.92538302e-01 -7.19928081e-01 -4.57630544e-02 1.88338364e+02] [ 7.18261804e-01 6.94047892e-01 -4.89643134e-02 7.96492261e+01] [ 6.70125357e-02 1.03980848e-03 9.97751592e-01 1.41261113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.38, Y:79.69, Z:14.13 [[ 6.89814472e-01 -7.22539229e-01 -4.57499475e-02 1.88378597e+02] [ 7.20877855e-01 6.91329455e-01 -4.89765569e-02 7.96913459e+01] [ 6.70157699e-02 8.04613687e-04 9.97751592e-01 1.41303300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.42, Y:79.73, Z:14.14 [[ 6.89355365e-01 -7.22977726e-01 -4.57426374e-02 1.88417255e+02] [ 7.21316863e-01 6.90870908e-01 -4.89833833e-02 7.97325603e+01] [ 6.70161525e-02 7.72022326e-04 9.97751592e-01 1.41412499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.46, Y:79.78, Z:14.14 [[ 6.87070341e-01 -7.25150220e-01 -4.57329703e-02 1.88457213e+02] [ 7.23493549e-01 6.88590465e-01 -4.89924073e-02 7.97763174e+01] [ 6.70181422e-02 5.73720961e-04 9.97751592e-01 1.41401457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.50, Y:79.82, Z:14.15 [[ 6.88020767e-01 -7.24249256e-01 -4.57213320e-02 1.88496356e+02] [ 7.22589872e-01 6.89537930e-01 -4.90032661e-02 7.98178204e+01] [ 6.70171716e-02 6.77493254e-04 9.97751592e-01 1.41503477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:79.86, Z:14.15 [[ 6.87700087e-01 -7.24554644e-01 -4.57073013e-02 1.88536251e+02] [ 7.22895065e-01 6.89217036e-01 -4.90163497e-02 7.98613205e+01] [ 6.70172745e-02 6.66965442e-04 9.97751592e-01 1.41497007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.57, Y:79.90, Z:14.16 [[ 6.89096040e-01 -7.23227980e-01 -4.56939433e-02 1.88574298e+02] [ 7.21564655e-01 6.90608880e-01 -4.90287991e-02 7.99042788e+01] [ 6.70156423e-02 8.14416809e-04 9.97751593e-01 1.41612296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.61, Y:79.95, Z:14.16 [[ 6.88917436e-01 -7.23399104e-01 -4.56782589e-02 1.88612688e+02] [ 7.21735186e-01 6.90429624e-01 -4.90434073e-02 7.99494224e+01] [ 6.70155800e-02 8.19251763e-04 9.97751593e-01 1.41562403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.65, Y:79.99, Z:14.16 [[ 6.91141049e-01 -7.21275751e-01 -4.56655412e-02 1.88651549e+02] [ 7.19606406e-01 6.92647243e-01 -4.90552462e-02 7.99927102e+01] [ 6.70124708e-02 1.04287830e-03 9.97751593e-01 1.41629431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.69, Y:80.04, Z:14.17 [[ 6.91589140e-01 -7.20846943e-01 -4.56524620e-02 1.88690749e+02] [ 7.19175861e-01 6.93093407e-01 -4.90674151e-02 8.00362613e+01] [ 6.70115166e-02 1.10234271e-03 9.97751593e-01 1.41671216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.73, Y:80.08, Z:14.17 [[ 6.91582057e-01 -7.20854650e-01 -4.56380579e-02 1.88730365e+02] [ 7.19182701e-01 6.93085360e-01 -4.90808089e-02 8.00791896e+01] [ 6.70111991e-02 1.12130499e-03 9.97751593e-01 1.41715110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.77, Y:80.12, Z:14.17 [[ 6.90952471e-01 -7.21459127e-01 -4.56224846e-02 1.88768515e+02] [ 7.19787538e-01 6.92456174e-01 -4.90952806e-02 8.01234772e+01] [ 6.70118094e-02 1.08400961e-03 9.97751593e-01 1.41742634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.81, Y:80.17, Z:14.19 [[ 6.92646970e-01 -7.19833016e-01 -4.56136393e-02 1.88808238e+02] [ 7.18157357e-01 6.94146135e-01 -4.91034973e-02 8.01650848e+01] [ 6.70088500e-02 1.25361793e-03 9.97751594e-01 1.41861709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.85, Y:80.21, Z:14.19 [[ 6.92367877e-01 -7.20102264e-01 -4.56010120e-02 1.88846979e+02] [ 7.18426416e-01 6.93866831e-01 -4.91152212e-02 8.02076929e+01] [ 6.70090116e-02 1.24482978e-03 9.97751594e-01 1.41881657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.89, Y:80.25, Z:14.19 [[ 6.92501973e-01 -7.19973703e-01 -4.55947857e-02 1.88887024e+02] [ 7.18297196e-01 6.94000191e-01 -4.91210005e-02 8.02511353e+01] [ 6.70086186e-02 1.26578300e-03 9.97751594e-01 1.41939126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.93, Y:80.29, Z:14.20 [[ 6.93747907e-01 -7.18774020e-01 -4.55823370e-02 1.88926190e+02] [ 7.17094165e-01 6.95242369e-01 -4.91325496e-02 8.02944616e+01] [ 6.70059722e-02 1.39877555e-03 9.97751594e-01 1.41971652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.96, Y:80.34, Z:14.19 [[ 6.93063097e-01 -7.19435133e-01 -4.55700800e-02 1.88964385e+02] [ 7.17755957e-01 6.94558321e-01 -4.91439153e-02 8.03393167e+01] [ 6.70069375e-02 1.35163774e-03 9.97751594e-01 1.41933600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.00, Y:80.38, Z:14.20 [[ 6.95454360e-01 -7.17124213e-01 -4.55641926e-02 1.89003769e+02] [ 7.15439712e-01 6.96943583e-01 -4.91493732e-02 8.03809129e+01] [ 6.70018773e-02 1.58271310e-03 9.97751594e-01 1.42025658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.04, Y:80.42, Z:14.20 [[ 6.94079482e-01 -7.18455289e-01 -4.55595314e-02 1.89043741e+02] [ 7.16773360e-01 6.95571610e-01 -4.91536936e-02 8.04245180e+01] [ 6.70046478e-02 1.46071182e-03 9.97751594e-01 1.42020839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.08, Y:80.47, Z:14.21 [[ 6.94804947e-01 -7.17754568e-01 -4.55462985e-02 1.89083629e+02] [ 7.16070332e-01 6.96294470e-01 -4.91659523e-02 8.04657448e+01] [ 6.70027226e-02 1.54639386e-03 9.97751594e-01 1.42099497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.12, Y:80.51, Z:14.21 [[ 6.92534630e-01 -7.19945793e-01 -4.55394470e-02 1.89123443e+02] [ 7.18265854e-01 6.94028997e-01 -4.91722977e-02 8.05095704e+01] [ 6.70070855e-02 1.34408919e-03 9.97751594e-01 1.42085548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.16, Y:80.55, Z:14.21 [[ 6.90831944e-01 -7.21580613e-01 -4.55263085e-02 1.89164335e+02] [ 7.19903409e-01 6.92329380e-01 -4.91844589e-02 8.05521594e+01] [ 6.70097530e-02 1.20365066e-03 9.97751594e-01 1.42129635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:189.21, Y:80.59, Z:14.22 [[ 6.89110854e-01 -7.23225259e-01 -4.55132491e-02 1.89205968e+02] [ 7.21550832e-01 6.90611394e-01 -4.91965406e-02 8.05916584e+01] [ 6.70121493e-02 1.06174731e-03 9.97751595e-01 1.42177416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.24, Y:80.63, Z:14.23 [[ 6.88233908e-01 -7.24060655e-01 -4.55000578e-02 1.89244584e+02] [ 7.22387243e-01 6.89735580e-01 -4.92087378e-02 8.06326838e+01] [ 6.70131197e-02 9.98460667e-04 9.97751595e-01 1.42281286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.28, Y:80.68, Z:14.23 [[ 6.85623852e-01 -7.26533403e-01 -4.54878794e-02 1.89284371e+02] [ 7.24864661e-01 6.87130712e-01 -4.92199927e-02 8.06768124e+01] [ 6.70160878e-02 7.73844719e-04 9.97751595e-01 1.42296013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:80.72, Z:14.23 [[ 6.87369750e-01 -7.24882662e-01 -4.54747505e-02 1.89323227e+02] [ 7.23209499e-01 6.88871699e-01 -4.92321197e-02 8.07191689e+01] [ 6.70137786e-02 9.52898245e-04 9.97751595e-01 1.42348208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.36, Y:80.76, Z:14.24 [[ 6.89428100e-01 -7.22925557e-01 -4.54701439e-02 1.89361822e+02] [ 7.21247851e-01 6.90924972e-01 -4.92363739e-02 8.07644440e+01] [ 6.70106909e-02 1.14969610e-03 9.97751595e-01 1.42350895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.40, Y:80.81, Z:14.24 [[ 6.91133892e-01 -7.21295717e-01 -4.54580326e-02 1.89399434e+02] [ 7.19613746e-01 6.92625970e-01 -4.92475533e-02 8.08083027e+01] [ 6.70074632e-02 1.32442804e-03 9.97751595e-01 1.42374301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.44, Y:80.85, Z:14.24 [[ 6.93387581e-01 -7.19130403e-01 -4.54436617e-02 1.89437290e+02] [ 7.17442905e-01 6.94873406e-01 -4.92608106e-02 8.08527362e+01] [ 6.70025386e-02 1.55360160e-03 9.97751595e-01 1.42419137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.48, Y:80.90, Z:14.25 [[ 6.94021597e-01 -7.18519328e-01 -4.54312507e-02 1.89476322e+02] [ 7.16829774e-01 6.95505083e-01 -4.92722542e-02 8.08966800e+01] [ 6.70007327e-02 1.62953540e-03 9.97751596e-01 1.42475657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.51, Y:80.94, Z:14.25 [[ 6.93882210e-01 -7.18654728e-01 -4.54187379e-02 1.89514700e+02] [ 7.16964709e-01 6.95365166e-01 -4.92837857e-02 8.09402174e+01] [ 6.70006338e-02 1.63350993e-03 9.97751596e-01 1.42516524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.55, Y:80.98, Z:14.25 [[ 6.91204936e-01 -7.21231016e-01 -4.54043728e-02 1.89553015e+02] [ 7.19545658e-01 6.92693186e-01 -4.92970165e-02 8.09848332e+01] [ 6.70058369e-02 1.40382186e-03 9.97751596e-01 1.42528263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.59, Y:81.03, Z:14.26 [[ 6.91995774e-01 -7.20473087e-01 -4.53913948e-02 1.89593315e+02] [ 7.18785316e-01 6.93481287e-01 -4.93089634e-02 8.10255555e+01] [ 6.70038640e-02 1.49492624e-03 9.97751596e-01 1.42600172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.63, Y:81.07, Z:14.26 [[ 6.91592656e-01 -7.20860976e-01 -4.53767826e-02 1.89631908e+02] [ 7.19173156e-01 6.93078113e-01 -4.93224067e-02 8.10687936e+01] [ 6.70042531e-02 1.47725025e-03 9.97751596e-01 1.42632497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.67, Y:81.11, Z:14.27 [[ 6.91260916e-01 -7.21179980e-01 -4.53627913e-02 1.89670372e+02] [ 7.19492002e-01 6.92746194e-01 -4.93352714e-02 8.11117471e+01] [ 6.70045110e-02 1.46537942e-03 9.97751596e-01 1.42657573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.71, Y:81.15, Z:14.27 [[ 6.90508049e-01 -7.21901750e-01 -4.53486275e-02 1.89709787e+02] [ 7.20214471e-01 6.91994120e-01 -4.93482872e-02 8.11548076e+01] [ 6.70055985e-02 1.41465177e-03 9.97751597e-01 1.42676329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.75, Y:81.20, Z:14.27 [[ 6.89223712e-01 -7.23128950e-01 -4.53342762e-02 1.89748698e+02] [ 7.21443451e-01 6.90711801e-01 -4.93614677e-02 8.11965817e+01] [ 6.70076259e-02 1.31497732e-03 9.97751597e-01 1.42708040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.79, Y:81.24, Z:14.28 [[ 6.87367247e-01 -7.24894329e-01 -4.53263731e-02 1.89788890e+02] [ 7.23212174e-01 6.88859115e-01 -4.93687237e-02 8.12390084e+01] [ 6.70105931e-02 1.15385881e-03 9.97751597e-01 1.42751256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:81.28, Z:14.28 [[ 6.85398193e-01 -7.26757273e-01 -4.53120591e-02 1.89828209e+02] [ 7.25078305e-01 6.86893648e-01 -4.93818580e-02 8.12803337e+01] [ 6.70131900e-02 9.91445182e-04 9.97751597e-01 1.42789521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.87, Y:81.32, Z:14.28 [[ 6.82731766e-01 -7.29263240e-01 -4.53041143e-02 1.89868605e+02] [ 7.27589279e-01 6.84232821e-01 -4.93891457e-02 8.13221264e+01] [ 6.70162504e-02 7.56750743e-04 9.97751597e-01 1.42825829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:81.36, Z:14.29 [[ 6.81269575e-01 -7.30630260e-01 -4.52900696e-02 1.89908570e+02] [ 7.28958454e-01 6.82773031e-01 -4.94020214e-02 8.13648482e+01] [ 6.70174498e-02 6.41514951e-04 9.97751597e-01 1.42854807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:189.95, Y:81.41, Z:14.28 [[ 6.79911607e-01 -7.31895023e-01 -4.52756300e-02 1.89947827e+02] [ 7.30225133e-01 6.81417191e-01 -4.94152514e-02 8.14070523e+01] [ 6.70183691e-02 5.36600054e-04 9.97751597e-01 1.42849585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.99, Y:81.45, Z:14.29 [[ 6.79406793e-01 -7.32364658e-01 -4.52594503e-02 1.89987171e+02] [ 7.30694822e-01 6.80912436e-01 -4.94300660e-02 8.14498506e+01] [ 6.70185559e-02 5.12276654e-04 9.97751598e-01 1.42914196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.03, Y:81.49, Z:14.29 [[ 6.76311904e-01 -7.35224658e-01 -4.52427950e-02 1.90026207e+02] [ 7.33560170e-01 6.77823457e-01 -4.94453057e-02 8.14917010e+01] [ 6.70200357e-02 2.52136492e-04 9.97751598e-01 1.42940546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.07, Y:81.53, Z:14.30 [[ 6.72607691e-01 -7.38615500e-01 -4.52331531e-02 1.90066710e+02] [ 7.36958039e-01 6.74126946e-01 -4.94541247e-02 8.15331556e+01] [ 6.70204703e-02 -7.17111584e-05 9.97751598e-01 1.42986877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.11, Y:81.57, Z:14.31 [[ 6.65689969e-01 -7.44857100e-01 -4.52190864e-02 1.90108966e+02] [ 7.43213009e-01 6.67223681e-01 -4.94669834e-02 8.15733598e+01] [ 6.70170791e-02 -6.77738587e-04 9.97751598e-01 1.43066099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.15, Y:81.62, Z:14.31 [[ 6.63058226e-01 -7.47201693e-01 -4.52041883e-02 1.90148019e+02] [ 7.45562097e-01 6.64596743e-01 -4.94805940e-02 8.16159452e+01] [ 6.70145399e-02 -8.94014545e-04 9.97751598e-01 1.43114906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.19, Y:81.66, Z:14.32 [[ 6.60413599e-01 -7.49540628e-01 -4.51965193e-02 1.90185734e+02] [ 7.47906001e-01 6.61957394e-01 -4.94875980e-02 8.16593006e+01] [ 6.70111354e-02 -1.12046538e-03 9.97751598e-01 1.43166110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.22, Y:81.70, Z:14.32 [[ 6.59843815e-01 -7.50043133e-01 -4.51822889e-02 1.90222891e+02] [ 7.48408792e-01 6.61387913e-01 -4.95005870e-02 8.17022078e+01] [ 6.70105951e-02 -1.15216605e-03 9.97751599e-01 1.43196073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.26, Y:81.75, Z:14.32 [[ 6.60159749e-01 -7.49765840e-01 -4.51695798e-02 1.90260210e+02] [ 7.48130058e-01 6.61702320e-01 -4.95121814e-02 8.17463636e+01] [ 6.70113580e-02 -1.10677103e-03 9.97751599e-01 1.43239640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.30, Y:81.79, Z:14.33 [[ 6.60592996e-01 -7.49385000e-01 -4.51554618e-02 1.90296799e+02] [ 7.47747449e-01 6.62133688e-01 -4.95250538e-02 8.17910170e+01] [ 6.70122849e-02 -1.04897775e-03 9.97751599e-01 1.43266250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.33, Y:81.84, Z:14.33 [[ 6.58378155e-01 -7.51332478e-01 -4.51410264e-02 1.90330920e+02] [ 7.49698583e-01 6.59922723e-01 -4.95382078e-02 8.18387134e+01] [ 6.70092536e-02 -1.22728969e-03 9.97751599e-01 1.43258055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:81.88, Z:14.33 [[ 6.58489479e-01 -7.51235828e-01 -4.51257828e-02 1.90369482e+02] [ 7.49600755e-01 6.60032801e-01 -4.95520898e-02 8.18820936e+01] [ 6.70098021e-02 -1.19679109e-03 9.97751599e-01 1.43314993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:81.93, Z:14.33 [[ 6.52834359e-01 -7.56155662e-01 -4.51211125e-02 1.90405398e+02] [ 7.54531922e-01 6.54389599e-01 -4.95563421e-02 8.19296669e+01] [ 6.69990954e-02 -1.69323691e-03 9.97751599e-01 1.43313678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.44, Y:81.97, Z:14.34 [[ 6.47478327e-01 -7.60747704e-01 -4.51081758e-02 1.90441726e+02] [ 7.59134170e-01 6.49044154e-01 -4.95681149e-02 8.19747535e+01] [ 6.69860274e-02 -2.14887751e-03 9.97751600e-01 1.43357165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:82.02, Z:14.34 [[ 6.46657380e-01 -7.61446529e-01 -4.50934205e-02 1.90481321e+02] [ 7.59833754e-01 6.48223987e-01 -4.95815345e-02 8.20166094e+01] [ 6.69843242e-02 -2.20123777e-03 9.97751600e-01 1.43449902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.52, Y:82.06, Z:14.35 [[ 6.44549998e-01 -7.63231657e-01 -4.50859007e-02 1.90517171e+02] [ 7.61622742e-01 6.46120570e-01 -4.95883716e-02 8.20624455e+01] [ 6.69783429e-02 -2.37626248e-03 9.97751600e-01 1.43497853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:82.11, Z:14.35 [[ 6.44893561e-01 -7.62942221e-01 -4.50717453e-02 1.90553178e+02] [ 7.61331706e-01 6.46462491e-01 -4.96012344e-02 8.21084447e+01] [ 6.69800686e-02 -2.32703207e-03 9.97751600e-01 1.43535673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.59, Y:82.15, Z:14.36 [[ 6.46162331e-01 -7.61868803e-01 -4.50573999e-02 1.90588418e+02] [ 7.60254774e-01 6.47727646e-01 -4.96142622e-02 8.21548292e+01] [ 6.69844821e-02 -2.19623613e-03 9.97751600e-01 1.43567597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.62, Y:82.20, Z:14.36 [[ 6.48637065e-01 -7.59763828e-01 -4.50431331e-02 1.90621517e+02] [ 7.58143820e-01 6.50196192e-01 -4.96272112e-02 8.22030735e+01] [ 6.69918335e-02 -1.95912433e-03 9.97751600e-01 1.43604612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.65, Y:82.25, Z:14.36 [[ 6.51174220e-01 -7.57591276e-01 -4.50288233e-02 1.90654210e+02] [ 7.55965169e-01 6.52726984e-01 -4.96401917e-02 8.22518245e+01] [ 6.69985042e-02 -1.71580886e-03 9.97751601e-01 1.43643917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.69, Y:82.30, Z:14.37 [[ 6.52267665e-01 -7.56650896e-01 -4.50146074e-02 1.90687652e+02] [ 7.55021661e-01 6.53817148e-01 -4.96530796e-02 8.23009563e+01] [ 6.70013694e-02 -1.59990531e-03 9.97751601e-01 1.43686793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.72, Y:82.35, Z:14.37 [[ 6.55625519e-01 -7.53743974e-01 -4.50022333e-02 1.90723577e+02] [ 7.52107099e-01 6.57166927e-01 -4.96642921e-02 8.23470160e+01] [ 6.70081403e-02 -1.28532184e-03 9.97751601e-01 1.43716463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.76, Y:82.40, Z:14.37 [[ 6.58407429e-01 -7.51316007e-01 -4.49879325e-02 1.90755741e+02] [ 7.49672563e-01 6.59941831e-01 -4.96772430e-02 8.23967006e+01] [ 6.70127264e-02 -1.01835272e-03 9.97751601e-01 1.43724218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.79, Y:82.44, Z:14.37 [[ 6.60117046e-01 -7.49815203e-01 -4.49738370e-02 1.90790136e+02] [ 7.48167401e-01 6.61646767e-01 -4.96900007e-02 8.24438515e+01] [ 6.70151118e-02 -8.46742316e-04 9.97751601e-01 1.43749877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.82, Y:82.49, Z:14.38 [[ 6.62573467e-01 -7.47646331e-01 -4.49595946e-02 1.90823481e+02] [ 7.45992647e-01 6.64096826e-01 -4.97028839e-02 8.24925594e+01] [ 6.70177029e-02 -6.07714829e-04 9.97751601e-01 1.43778327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:82.54, Z:14.38 [[ 6.63809775e-01 -7.46549758e-01 -4.49448713e-02 1.90858370e+02] [ 7.44892656e-01 6.65329416e-01 -4.97161943e-02 8.25374531e+01] [ 6.70187577e-02 -4.77008789e-04 9.97751602e-01 1.43808867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.89, Y:82.58, Z:14.38 [[ 6.65036278e-01 -7.45457869e-01 -4.49367747e-02 1.90892905e+02] [ 7.43797778e-01 6.66552652e-01 -4.97235114e-02 8.25839084e+01] [ 6.70195092e-02 -3.55934265e-04 9.97751602e-01 1.43843065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.93, Y:82.63, Z:14.39 [[ 6.65070539e-01 -7.45428188e-01 -4.49220943e-02 1.90928736e+02] [ 7.43767133e-01 6.66585858e-01 -4.97367707e-02 8.26277587e+01] [ 6.70196236e-02 -3.33116424e-04 9.97751602e-01 1.43882781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:82.67, Z:14.40 [[ 6.64485599e-01 -7.45950161e-01 -4.49137763e-02 1.90966344e+02] [ 7.44289788e-01 6.66001665e-01 -4.97442810e-02 8.26726580e+01] [ 6.70194042e-02 -3.74506711e-04 9.97751602e-01 1.43999213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.00, Y:82.72, Z:14.40 [[ 6.63623047e-01 -7.46718422e-01 -4.49004301e-02 1.91003858e+02] [ 7.45058990e-01 6.65140143e-01 -4.97563247e-02 8.27176523e+01] [ 6.70190428e-02 -4.34025258e-04 9.97751602e-01 1.44006077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.04, Y:82.76, Z:14.40 [[ 6.63383750e-01 -7.46931481e-01 -4.48928019e-02 1.91042302e+02] [ 7.45272070e-01 6.64900869e-01 -4.97632063e-02 8.27625713e+01] [ 6.70189683e-02 -4.45248985e-04 9.97751602e-01 1.44030356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.08, Y:82.81, Z:14.41 [[ 6.64933966e-01 -7.45552594e-01 -4.48792927e-02 1.91082950e+02] [ 7.43889215e-01 6.66446733e-01 -4.97753867e-02 8.28051030e+01] [ 6.70198266e-02 -2.87876532e-04 9.97751602e-01 1.44112295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:82.85, Z:14.41 [[ 6.64757312e-01 -7.45710907e-01 -4.48660221e-02 1.91121300e+02] [ 7.44047081e-01 6.66269587e-01 -4.97873455e-02 8.28490055e+01] [ 6.70198326e-02 -2.85930802e-04 9.97751602e-01 1.44075019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:82.89, Z:14.41 [[ 6.64925409e-01 -7.45561326e-01 -4.48610077e-02 1.91160265e+02] [ 7.43896855e-01 6.66436974e-01 -4.97918634e-02 8.28910318e+01] [ 6.70199219e-02 -2.64087456e-04 9.97751603e-01 1.44111829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.20, Y:82.93, Z:14.41 [[ 6.63553278e-01 -7.46783390e-01 -4.48510411e-02 1.91199874e+02] [ 7.45121096e-01 6.65067236e-01 -4.98008394e-02 8.29337033e+01] [ 6.70193976e-02 -3.73946722e-04 9.97751603e-01 1.44140678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:82.97, Z:14.42 [[ 6.58572304e-01 -7.51180534e-01 -4.48366652e-02 1.91240434e+02] [ 7.49527466e-01 6.60096330e-01 -4.98137790e-02 8.29747100e+01] [ 6.70156592e-02 -8.00336824e-04 9.97751603e-01 1.44167343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:83.02, Z:14.42 [[ 6.53711310e-01 -7.55415427e-01 -4.48224892e-02 1.91281444e+02] [ 7.53771356e-01 6.55245037e-01 -4.98265313e-02 8.30159938e+01] [ 6.70094440e-02 -1.21374145e-03 9.97751603e-01 1.44212705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.32, Y:83.06, Z:14.43 [[ 6.46372045e-01 -7.61705580e-01 -4.48083550e-02 1.91322291e+02] [ 7.60075547e-01 6.47920684e-01 -4.98392388e-02 8.30573294e+01] [ 6.69950863e-02 -1.84304418e-03 9.97751603e-01 1.44262113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.36, Y:83.10, Z:14.43 [[ 6.42800018e-01 -7.64723238e-01 -4.47940306e-02 1.91361785e+02] [ 7.63099578e-01 6.44355337e-01 -4.98521098e-02 8.30998612e+01] [ 6.69863395e-02 -2.13736879e-03 9.97751603e-01 1.44302580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:83.14, Z:14.43 [[ 6.40524706e-01 -7.66630862e-01 -4.47797078e-02 1.91400045e+02] [ 7.65010936e-01 6.42083913e-01 -4.98649720e-02 8.31414594e+01] [ 6.69803565e-02 -2.31721971e-03 9.97751604e-01 1.44339836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.44, Y:83.19, Z:14.44 [[ 6.39586785e-01 -7.67413970e-01 -4.47721140e-02 1.91440102e+02] [ 7.65795478e-01 6.41147480e-01 -4.98717893e-02 8.31850110e+01] [ 6.69778359e-02 -2.38894508e-03 9.97751604e-01 1.44368378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.48, Y:83.23, Z:14.44 [[ 6.41359955e-01 -7.65933392e-01 -4.47598803e-02 1.91480150e+02] [ 7.64310532e-01 6.42916107e-01 -4.98827666e-02 8.32281696e+01] [ 6.69837246e-02 -2.21763901e-03 9.97751604e-01 1.44417342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.52, Y:83.27, Z:14.45 [[ 6.43807895e-01 -7.63877661e-01 -4.47472242e-02 1.91518479e+02] [ 7.62249043e-01 6.45358020e-01 -4.98941172e-02 8.32710728e+01] [ 6.69909815e-02 -1.98630223e-03 9.97751604e-01 1.44466708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.56, Y:83.31, Z:14.45 [[ 6.47373664e-01 -7.60858934e-01 -4.47327816e-02 1.91556708e+02] [ 7.59222192e-01 6.48915209e-01 -4.99070624e-02 8.33133303e+01] [ 6.70000166e-02 -1.65360263e-03 9.97751604e-01 1.44513599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.60, Y:83.36, Z:14.46 [[ 6.52890423e-01 -7.56130811e-01 -4.47246279e-02 1.91596453e+02] [ 7.54482402e-01 6.54419484e-01 -4.99143683e-02 8.33561528e+01] [ 6.70104598e-02 -1.15533166e-03 9.97751604e-01 1.44572022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:83.40, Z:14.46 [[ 6.56125473e-01 -7.53326075e-01 -4.47122865e-02 1.91634811e+02] [ 7.51670375e-01 6.57646638e-01 -4.99254211e-02 8.33990650e+01] [ 6.70150064e-02 -8.51560626e-04 9.97751604e-01 1.44616614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.67, Y:83.44, Z:14.47 [[ 6.61276269e-01 -7.48809587e-01 -4.46978547e-02 1.91674790e+02] [ 7.47142623e-01 6.62785081e-01 -4.99383384e-02 8.34416828e+01] [ 6.70193778e-02 -3.72634301e-04 9.97751604e-01 1.44730399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.71, Y:83.48, Z:14.47 [[ 6.64788621e-01 -7.45693865e-01 -4.46850017e-02 1.91714884e+02] [ 7.44019056e-01 6.66288720e-01 -4.99498367e-02 8.34834819e+01] [ 6.70203994e-02 -4.04097746e-05 9.97751605e-01 1.44741126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.75, Y:83.53, Z:14.47 [[ 6.66628241e-01 -7.44050619e-01 -4.46706144e-02 1.91754517e+02] [ 7.42371250e-01 6.68123234e-01 -4.99627002e-02 8.35265013e+01] [ 6.70202533e-02 1.44367107e-04 9.97751605e-01 1.44721235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.80, Y:83.57, Z:14.47 [[ 6.68892329e-01 -7.42016511e-01 -4.46603832e-02 1.91796433e+02] [ 7.40331985e-01 6.70381508e-01 -4.99718438e-02 8.35659792e+01] [ 6.70194283e-02 3.62272822e-04 9.97751605e-01 1.44748366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.84, Y:83.61, Z:14.48 [[ 6.69399248e-01 -7.41559500e-01 -4.46559594e-02 1.91838064e+02] [ 7.39873694e-01 6.70886977e-01 -4.99757967e-02 8.36068957e+01] [ 6.70191285e-02 4.13991079e-04 9.97751605e-01 1.44780658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.88, Y:83.65, Z:14.48 [[ 6.69673007e-01 -7.41313123e-01 -4.46421046e-02 1.91882815e+02] [ 7.39625945e-01 6.71159179e-01 -4.99881699e-02 8.36454808e+01] [ 6.70188446e-02 4.57269199e-04 9.97751605e-01 1.44841262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:83.68, Z:14.49 [[ 6.69951245e-01 -7.41062423e-01 -4.46297433e-02 1.91927995e+02] [ 7.39373954e-01 6.71435950e-01 -4.99992037e-02 8.36842352e+01] [ 6.70185452e-02 4.98958946e-04 9.97751605e-01 1.44894282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:83.72, Z:14.49 [[ 6.69806016e-01 -7.41194453e-01 -4.46170839e-02 1.91970022e+02] [ 7.39505524e-01 6.71290199e-01 -5.00104978e-02 8.37230707e+01] [ 6.70185147e-02 5.02752317e-04 9.97751605e-01 1.44924607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.01, Y:83.76, Z:14.50 [[ 6.69767477e-01 -7.41229764e-01 -4.46090124e-02 1.92012901e+02] [ 7.39540434e-01 6.71251202e-01 -5.00176965e-02 8.37624625e+01] [ 6.70184586e-02 5.10057959e-04 9.97751605e-01 1.44956516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.06, Y:83.80, Z:14.50 [[ 6.69969387e-01 -7.41048126e-01 -4.45947926e-02 1.92057451e+02] [ 7.39357550e-01 6.71451693e-01 -5.00303714e-02 8.37999400e+01] [ 6.70181619e-02 5.47320662e-04 9.97751606e-01 1.44975866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:83.84, Z:14.50 [[ 6.69592956e-01 -7.41388716e-01 -4.45874925e-02 1.92099694e+02] [ 7.39698461e-01 6.71075628e-01 -5.00368765e-02 8.38393644e+01] [ 6.70183551e-02 5.23040499e-04 9.97751606e-01 1.45006931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.15, Y:83.88, Z:14.51 [[ 6.68203779e-01 -7.42641831e-01 -4.45737592e-02 1.92145517e+02] [ 7.40953541e-01 6.69688687e-01 -5.00491074e-02 8.38767577e+01] [ 6.70191030e-02 4.15918001e-04 9.97751606e-01 1.45065277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.19, Y:83.91, Z:14.51 [[ 6.67486417e-01 -7.43287424e-01 -4.45610726e-02 1.92188684e+02] [ 7.41599815e-01 6.68972100e-01 -5.00604004e-02 8.39148566e+01] [ 6.70193803e-02 3.68154096e-04 9.97751606e-01 1.45114182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.23, Y:83.96, Z:14.51 [[ 6.64012906e-01 -7.46392422e-01 -4.45557281e-02 1.92230232e+02] [ 7.44711442e-01 6.65506084e-01 -5.00651567e-02 8.39566218e+01] [ 6.70203617e-02 6.27496160e-05 9.97751606e-01 1.45071680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:84.00, Z:14.51 [[ 6.64128574e-01 -7.46289782e-01 -4.45510656e-02 1.92271660e+02] [ 7.44608293e-01 6.65621179e-01 -5.00693053e-02 8.39988046e+01] [ 6.70203438e-02 7.93634179e-05 9.97751606e-01 1.45088633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.32, Y:84.03, Z:14.53 [[ 6.71497622e-01 -7.39667029e-01 -4.45379609e-02 1.92317529e+02] [ 7.37970047e-01 6.72972590e-01 -5.00809596e-02 8.40327673e+01] [ 6.70160615e-02 7.61564222e-04 9.97751606e-01 1.45253147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:84.08, Z:14.53 [[ 6.71304759e-01 -7.39842680e-01 -4.45278472e-02 1.92358040e+02] [ 7.38145489e-01 6.72779484e-01 -5.00899503e-02 8.40755907e+01] [ 6.70161051e-02 7.57592509e-04 9.97751606e-01 1.45274985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.39, Y:84.13, Z:14.52 [[ 6.64283106e-01 -7.46154371e-01 -4.45152860e-02 1.92388911e+02] [ 7.44470445e-01 6.65772961e-01 -5.01011110e-02 8.41285064e+01] [ 6.70202367e-02 1.41006834e-04 9.97751606e-01 1.45179500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.43, Y:84.17, Z:14.52 [[ 6.63013579e-01 -7.47283460e-01 -4.45019577e-02 1.92426286e+02] [ 7.45601277e-01 6.64505401e-01 -5.01129470e-02 8.41734110e+01] [ 6.70203677e-02 4.48478730e-05 9.97751607e-01 1.45209709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:84.22, Z:14.53 [[ 6.62819516e-01 -7.47456502e-01 -4.44867161e-02 1.92465327e+02] [ 7.45773800e-01 6.64310752e-01 -5.01264738e-02 8.42164088e+01] [ 6.70203626e-02 4.77777370e-05 9.97751607e-01 1.45278483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.50, Y:84.26, Z:14.53 [[ 6.61695083e-01 -7.48453013e-01 -4.44713774e-02 1.92504761e+02] [ 7.46771643e-01 6.63187821e-01 -5.01400783e-02 8.42597109e+01] [ 6.70203686e-02 -3.25202817e-05 9.97751607e-01 1.45336096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:84.31, Z:14.54 [[ 6.58063301e-01 -7.51648969e-01 -4.44580599e-02 1.92542451e+02] [ 7.49974050e-01 6.59563274e-01 -5.01518839e-02 8.43056167e+01] [ 6.70195154e-02 -3.39277011e-04 9.97751607e-01 1.45356846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.58, Y:84.35, Z:14.54 [[ 6.55942016e-01 -7.53501601e-01 -4.44455702e-02 1.92581075e+02] [ 7.51830169e-01 6.57445872e-01 -5.01629501e-02 8.43499365e+01] [ 6.70184199e-02 -5.11533993e-04 9.97751607e-01 1.45381406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.62, Y:84.39, Z:14.55 [[ 6.55985608e-01 -7.53464445e-01 -4.44321085e-02 1.92623130e+02] [ 7.51792120e-01 6.57488472e-01 -5.01748711e-02 8.43912839e+01] [ 6.70185805e-02 -4.89715715e-04 9.97751607e-01 1.45457766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.67, Y:84.43, Z:14.56 [[ 6.62128666e-01 -7.48072598e-01 -4.44186632e-02 1.92667307e+02] [ 7.46387236e-01 6.63616894e-01 -5.01867711e-02 8.44279986e+01] [ 6.70203235e-02 7.65765408e-05 9.97751608e-01 1.45608489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.71, Y:84.47, Z:14.56 [[ 6.62507802e-01 -7.47737129e-01 -4.44139357e-02 1.92705061e+02] [ 7.46050733e-01 6.63994858e-01 -5.01909544e-02 8.44724550e+01] [ 6.70202651e-02 1.16849664e-04 9.97751608e-01 1.45613599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.74, Y:84.52, Z:14.55 [[ 6.53560425e-01 -7.55570916e-01 -4.44000204e-02 1.92736763e+02] [ 7.53901506e-01 6.55066525e-01 -5.02032612e-02 8.45232395e+01] [ 6.70170911e-02 -6.62377529e-04 9.97751608e-01 1.45501126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.78, Y:84.56, Z:14.56 [[ 6.47787523e-01 -7.60526960e-01 -4.43854481e-02 1.92776898e+02] [ 7.58868188e-01 6.49305331e-01 -5.02161415e-02 8.45649311e+01] [ 6.70104375e-02 -1.15331464e-03 9.97751608e-01 1.45577742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.82, Y:84.61, Z:14.56 [[ 6.43264108e-01 -7.64357620e-01 -4.43702152e-02 1.92816943e+02] [ 7.62706957e-01 6.44790730e-01 -5.02295974e-02 8.46080846e+01] [ 6.70028790e-02 -1.53057465e-03 9.97751608e-01 1.45640615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.86, Y:84.65, Z:14.57 [[ 6.39766813e-01 -7.67288012e-01 -4.43568592e-02 1.92855789e+02] [ 7.65643523e-01 6.41300084e-01 -5.02413892e-02 8.46509425e+01] [ 6.69956732e-02 -1.81876851e-03 9.97751608e-01 1.45706151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:84.69, Z:14.57 [[ 6.37159779e-01 -7.69455161e-01 -4.43415341e-02 1.92893832e+02] [ 7.67814947e-01 6.38697622e-01 -5.02549110e-02 8.46935517e+01] [ 6.69897330e-02 -2.02568472e-03 9.97751609e-01 1.45746501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:84.73, Z:14.59 [[ 6.44841109e-01 -7.63029847e-01 -4.43327995e-02 1.92939171e+02] [ 7.61373770e-01 6.46361858e-01 -5.02626151e-02 8.47291627e+01] [ 6.70069061e-02 -1.34243027e-03 9.97751609e-01 1.45896239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:84.78, Z:14.58 [[ 6.41970105e-01 -7.65447480e-01 -4.43231314e-02 1.92969518e+02] [ 7.63796542e-01 6.43496430e-01 -5.02711393e-02 8.47807390e+01] [ 6.70016937e-02 -1.58128585e-03 9.97751609e-01 1.45816124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.01, Y:84.82, Z:14.60 [[ 6.51733114e-01 -7.57153066e-01 -4.43078195e-02 1.93013755e+02] [ 7.55481776e-01 6.53237126e-01 -5.02846312e-02 8.48183244e+01] [ 6.70166754e-02 -7.01590855e-04 9.97751609e-01 1.45952422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.05, Y:84.86, Z:14.60 [[ 6.55761269e-01 -7.53667477e-01 -4.43000244e-02 1.93049404e+02] [ 7.51987728e-01 6.57255827e-01 -5.02914977e-02 8.48638182e+01] [ 6.70195154e-02 -3.33858308e-04 9.97751609e-01 1.45990037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:84.92, Z:14.59 [[ 6.48512738e-01 -7.59914453e-01 -4.42860318e-02 1.93079702e+02] [ 7.58248256e-01 6.50022390e-01 -5.03038164e-02 8.49156079e+01] [ 6.70135094e-02 -9.57140727e-04 9.97751609e-01 1.45927856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.12, Y:84.96, Z:14.60 [[ 6.47707101e-01 -7.60602148e-01 -4.42705796e-02 1.93118673e+02] [ 7.58936625e-01 6.49217496e-01 -5.03174117e-02 8.49588703e+01] [ 6.70127662e-02 -1.00761940e-03 9.97751609e-01 1.45993855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:85.00, Z:14.60 [[ 6.45232481e-01 -7.62703418e-01 -4.42554117e-02 1.93156966e+02] [ 7.61041899e-01 6.46747280e-01 -5.03307487e-02 8.50031974e+01] [ 6.70095012e-02 -1.20518874e-03 9.97751610e-01 1.46039812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.20, Y:85.04, Z:14.62 [[ 6.51900320e-01 -7.57012962e-01 -4.42419280e-02 1.93201953e+02] [ 7.55337412e-01 6.53399584e-01 -5.03425984e-02 8.50394070e+01] [ 6.70176569e-02 -5.99227311e-04 9.97751610e-01 1.46188149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.23, Y:85.09, Z:14.61 [[ 6.47376771e-01 -7.60885265e-01 -4.42372035e-02 1.93231994e+02] [ 7.59218398e-01 6.48885683e-01 -5.03467496e-02 8.50920216e+01] [ 6.70129879e-02 -9.92382603e-04 9.97751610e-01 1.46097847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.28, Y:85.13, Z:14.62 [[ 6.55715381e-01 -7.53711868e-01 -4.42239602e-02 1.93276241e+02] [ 7.52027706e-01 6.57204963e-01 -5.03583797e-02 8.51290264e+01] [ 6.70199146e-02 -2.36879211e-04 9.97751610e-01 1.46212636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.31, Y:85.17, Z:14.62 [[ 6.58666931e-01 -7.51134274e-01 -4.42173649e-02 1.93314280e+02] [ 7.49443894e-01 6.60149453e-01 -5.03641700e-02 8.51738012e+01] [ 6.70203236e-02 3.47792131e-05 9.97751610e-01 1.46222520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:85.23, Z:14.61 [[ 6.53558282e-01 -7.55584228e-01 -4.42046043e-02 1.93345884e+02] [ 7.53903184e-01 6.55051381e-01 -5.03753676e-02 8.52250733e+01] [ 6.70191203e-02 -4.02753232e-04 9.97751610e-01 1.46148563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.39, Y:85.26, Z:14.63 [[ 6.58953655e-01 -7.50884269e-01 -4.41915589e-02 1.93392674e+02] [ 7.49191808e-01 6.60433801e-01 -5.03868089e-02 8.52604984e+01] [ 6.70202614e-02 9.46180158e-05 9.97751610e-01 1.46299606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.43, Y:85.30, Z:14.64 [[ 6.58441521e-01 -7.51334144e-01 -4.41787985e-02 1.93432546e+02] [ 7.49641943e-01 6.59921964e-01 -5.03979947e-02 8.53033134e+01] [ 6.70202937e-02 6.58519434e-05 9.97751610e-01 1.46359536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.47, Y:85.35, Z:14.64 [[ 6.54751143e-01 -7.54553047e-01 -4.41660528e-02 1.93465841e+02] [ 7.52867370e-01 6.56239011e-01 -5.04091619e-02 8.53527811e+01] [ 6.70198735e-02 -2.45723685e-04 9.97751610e-01 1.46353437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.50, Y:85.40, Z:14.64 [[ 6.56278920e-01 -7.53225417e-01 -4.41525874e-02 1.93504759e+02] [ 7.51535937e-01 6.57762467e-01 -5.04209533e-02 8.53960559e+01] [ 6.70202584e-02 -9.20473160e-05 9.97751611e-01 1.46402945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.54, Y:85.44, Z:14.64 [[ 6.57889507e-01 -7.51820000e-01 -4.41371176e-02 1.93542563e+02] [ 7.50126442e-01 6.59368397e-01 -5.04344915e-02 8.54391461e+01] [ 6.70202799e-02 7.19036960e-05 9.97751611e-01 1.46425761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.58, Y:85.48, Z:14.65 [[ 6.60700960e-01 -7.49350989e-01 -4.41286354e-02 1.93581360e+02] [ 7.47651409e-01 6.62172926e-01 -5.04419121e-02 8.54818604e+01] [ 6.70194843e-02 3.34183361e-04 9.97751611e-01 1.46474713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:85.52, Z:14.65 [[ 6.65568771e-01 -7.45031702e-01 -4.41132043e-02 1.93622499e+02] [ 7.43321677e-01 6.67028588e-01 -5.04554035e-02 8.55217624e+01] [ 6.70156435e-02 7.91239864e-04 9.97751611e-01 1.46543850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.66, Y:85.57, Z:14.66 [[ 6.62131010e-01 -7.48088877e-01 -4.41084740e-02 1.93657858e+02] [ 7.46385318e-01 6.63598367e-01 -5.04595385e-02 8.55690469e+01] [ 6.70185308e-02 4.88907773e-04 9.97751611e-01 1.46571389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.70, Y:85.61, Z:14.66 [[ 6.63702788e-01 -7.46695553e-01 -4.40949096e-02 1.93699167e+02] [ 7.44988125e-01 6.65165643e-01 -5.04713892e-02 8.56089846e+01] [ 6.70171807e-02 6.47817659e-04 9.97751611e-01 1.46632189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.74, Y:85.65, Z:14.67 [[ 6.61428045e-01 -7.48711559e-01 -4.40901600e-02 1.93737718e+02] [ 7.47008314e-01 6.62895767e-01 -5.04755379e-02 8.56522456e+01] [ 6.70187991e-02 4.50220292e-04 9.97751611e-01 1.46665384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:85.69, Z:14.67 [[ 6.58044601e-01 -7.51687849e-01 -4.40758575e-02 1.93777089e+02] [ 7.49990406e-01 6.59519029e-01 -5.04880239e-02 8.56948719e+01] [ 6.70201009e-02 1.66901278e-04 9.97751611e-01 1.46698700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:85.74, Z:14.67 [[ 6.55553091e-01 -7.53862557e-01 -4.40611990e-02 1.93815065e+02] [ 7.52169146e-01 6.57032148e-01 -5.05008133e-02 8.57373157e+01] [ 6.70202965e-02 -3.55101043e-05 9.97751612e-01 1.46739245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.85, Y:85.78, Z:14.68 [[ 6.52519032e-01 -7.56491034e-01 -4.40480241e-02 1.93853994e+02] [ 7.54802805e-01 6.54004001e-01 -5.05123022e-02 8.57809974e+01] [ 6.70196877e-02 -2.87333570e-04 9.97751612e-01 1.46788794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.89, Y:85.82, Z:14.68 [[ 6.51788287e-01 -7.57121550e-01 -4.40339277e-02 1.93892025e+02] [ 7.55433927e-01 6.53273945e-01 -5.05245877e-02 8.58249660e+01] [ 6.70194718e-02 -3.33388475e-04 9.97751612e-01 1.46819566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:85.87, Z:14.68 [[ 6.53476032e-01 -7.55666176e-01 -4.40193793e-02 1.93929886e+02] [ 7.53974391e-01 6.54956947e-01 -5.05372598e-02 8.58688435e+01] [ 6.70200961e-02 -1.64596725e-04 9.97751612e-01 1.46849497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.97, Y:85.91, Z:14.69 [[ 6.55487595e-01 -7.53922789e-01 -4.40050123e-02 1.93966720e+02] [ 7.52226226e-01 6.56963033e-01 -5.05497667e-02 8.59133840e+01] [ 6.70202874e-02 3.30206510e-05 9.97751612e-01 1.46867577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.00, Y:85.96, Z:14.69 [[ 6.56940865e-01 -7.52657629e-01 -4.39908395e-02 1.94004179e+02] [ 7.50957397e-01 6.58412076e-01 -5.05620975e-02 8.59574009e+01] [ 6.70200484e-02 1.81061761e-04 9.97751613e-01 1.46895821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:86.00, Z:14.70 [[ 6.57686613e-01 -7.52006895e-01 -4.39766938e-02 1.94043626e+02] [ 7.50304385e-01 6.59155186e-01 -5.05743978e-02 8.60010321e+01] [ 6.70197617e-02 2.66198168e-04 9.97751613e-01 1.46959503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.08, Y:86.04, Z:14.70 [[ 6.58066707e-01 -7.51675038e-01 -4.39641624e-02 1.94082659e+02] [ 7.49971060e-01 6.59533576e-01 -5.05852890e-02 8.60443349e+01] [ 6.70195403e-02 3.16645052e-04 9.97751613e-01 1.47022289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:86.09, Z:14.71 [[ 6.58245442e-01 -7.51519273e-01 -4.39513341e-02 1.94120151e+02] [ 7.49814204e-01 6.59711043e-01 -5.05964326e-02 8.60875331e+01] [ 6.70193747e-02 3.49536538e-04 9.97751613e-01 1.47055146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:86.14, Z:14.69 [[ 6.50964108e-01 -7.57835849e-01 -4.39380947e-02 1.94152271e+02] [ 7.56144226e-01 6.52445207e-01 -5.06079271e-02 8.61387048e+01] [ 6.70197007e-02 -2.79592490e-04 9.97751613e-01 1.46938272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.19, Y:86.18, Z:14.70 [[ 6.48824739e-01 -7.59669071e-01 -4.39244837e-02 1.94190623e+02] [ 7.57980833e-01 6.50309695e-01 -5.06197378e-02 8.61827533e+01] [ 6.70187668e-02 -4.50578584e-04 9.97751613e-01 1.46976292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.24, Y:86.22, Z:14.72 [[ 6.53601322e-01 -7.55564242e-01 -4.39088617e-02 1.94235886e+02] [ 7.53865767e-01 6.55074557e-01 -5.06332851e-02 8.62186588e+01] [ 6.70202779e-02 -7.40564187e-06 9.97751614e-01 1.47176084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.27, Y:86.27, Z:14.71 [[ 6.43672820e-01 -7.64040814e-01 -4.38968662e-02 1.94269302e+02] [ 7.62361027e-01 6.45167328e-01 -5.06436826e-02 8.62692708e+01] [ 6.70146644e-02 -8.67298010e-04 9.97751614e-01 1.47058576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.31, Y:86.31, Z:14.72 [[ 6.49400735e-01 -7.59179127e-01 -4.38832456e-02 1.94313205e+02] [ 7.57487352e-01 6.50881659e-01 -5.06554823e-02 8.63066650e+01] [ 6.70193845e-02 -3.45296105e-04 9.97751614e-01 1.47225160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.35, Y:86.36, Z:14.71 [[ 6.42259269e-01 -7.65230617e-01 -4.38763551e-02 1.94345815e+02] [ 7.63552385e-01 6.43755523e-01 -5.06614499e-02 8.63577453e+01] [ 6.70133385e-02 -9.64109804e-04 9.97751614e-01 1.47113904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.38, Y:86.40, Z:14.72 [[ 6.41144320e-01 -7.66165776e-01 -4.38630322e-02 1.94382779e+02] [ 7.64488937e-01 6.42642135e-01 -5.06729824e-02 8.64023493e+01] [ 6.70121375e-02 -1.04410807e-03 9.97751614e-01 1.47152228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.43, Y:86.44, Z:14.73 [[ 6.47346729e-01 -7.60933374e-01 -4.38476163e-02 1.94425696e+02] [ 7.59243523e-01 6.48829847e-01 -5.06863183e-02 8.64399540e+01] [ 6.70185534e-02 -4.79396289e-04 9.97751614e-01 1.47320249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:86.48, Z:14.74 [[ 6.47439898e-01 -7.60854374e-01 -4.38428959e-02 1.94463482e+02] [ 7.59164066e-01 6.48922495e-01 -5.06904010e-02 8.64841164e+01] [ 6.70186548e-02 -4.64963065e-04 9.97751614e-01 1.47377824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.50, Y:86.53, Z:14.74 [[ 6.48195342e-01 -7.60211738e-01 -4.38282027e-02 1.94500818e+02] [ 7.58519101e-01 6.49675280e-01 -5.07031020e-02 8.65285179e+01] [ 6.70191932e-02 -3.79014346e-04 9.97751614e-01 1.47420803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.54, Y:86.57, Z:14.74 [[ 6.49600256e-01 -7.59012428e-01 -4.38137185e-02 1.94537557e+02] [ 7.57316214e-01 6.51076093e-01 -5.07156151e-02 8.65721832e+01] [ 6.70198468e-02 -2.35962853e-04 9.97751615e-01 1.47448174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.57, Y:86.62, Z:14.74 [[ 6.45405357e-01 -7.62583377e-01 -4.38008994e-02 1.94568068e+02] [ 7.60894577e-01 6.46889671e-01 -5.07266840e-02 8.66249622e+01] [ 6.70176754e-02 -5.88593246e-04 9.97751615e-01 1.47361528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.61, Y:86.66, Z:14.75 [[ 6.53773908e-01 -7.55421971e-01 -4.37872565e-02 1.94611327e+02] [ 7.53716121e-01 6.55238596e-01 -5.07384578e-02 8.66630229e+01] [ 6.70200463e-02 1.68318710e-04 9.97751615e-01 1.47536275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:86.71, Z:14.75 [[ 6.49204035e-01 -7.59353155e-01 -4.37824996e-02 1.94643391e+02] [ 7.57655897e-01 6.50678671e-01 -5.07425622e-02 8.67141219e+01] [ 6.70198634e-02 -2.29792907e-04 9.97751615e-01 1.47470149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.68, Y:86.76, Z:14.75 [[ 6.49437049e-01 -7.59154655e-01 -4.37690398e-02 1.94681373e+02] [ 7.57456164e-01 6.50910265e-01 -5.07541697e-02 8.67574478e+01] [ 6.70199814e-02 -1.91490791e-04 9.97751615e-01 1.47504748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.72, Y:86.80, Z:14.76 [[ 6.48776436e-01 -7.59719691e-01 -4.37621717e-02 1.94721458e+02] [ 7.58022084e-01 6.50250670e-01 -5.07600908e-02 8.68006547e+01] [ 6.70198220e-02 -2.40741812e-04 9.97751615e-01 1.47554677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.77, Y:86.84, Z:14.77 [[ 6.52860710e-01 -7.56213566e-01 -4.37485564e-02 1.94766054e+02] [ 7.54507256e-01 6.54324861e-01 -5.07718228e-02 8.68371532e+01] [ 6.70201092e-02 1.38324986e-04 9.97751615e-01 1.47679240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.80, Y:86.88, Z:14.77 [[ 6.52135308e-01 -7.56839495e-01 -4.37437849e-02 1.94804175e+02] [ 7.55134314e-01 6.53600774e-01 -5.07759335e-02 8.68796298e+01] [ 6.70202035e-02 8.03460177e-05 9.97751615e-01 1.47712002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.84, Y:86.92, Z:14.77 [[ 6.52015659e-01 -7.56943315e-01 -4.37309750e-02 1.94843668e+02] [ 7.55237627e-01 6.53480536e-01 -5.07869636e-02 8.69218620e+01] [ 6.70201936e-02 8.66177881e-05 9.97751615e-01 1.47745769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.88, Y:86.97, Z:14.77 [[ 6.45626068e-01 -7.62401362e-01 -4.37166231e-02 1.94875104e+02] [ 7.60707221e-01 6.47104283e-01 -5.07993145e-02 8.69732812e+01] [ 6.70186807e-02 -4.58189178e-04 9.97751616e-01 1.47666367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.92, Y:87.01, Z:14.78 [[ 6.52686879e-01 -7.56366213e-01 -4.37034339e-02 1.94921276e+02] [ 7.54657643e-01 6.54148392e-01 -5.08106589e-02 8.70091215e+01] [ 6.70199967e-02 1.82319947e-04 9.97751616e-01 1.47827059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.95, Y:87.06, Z:14.78 [[ 6.47312572e-01 -7.60971144e-01 -4.36961451e-02 1.94952706e+02] [ 7.59272547e-01 6.48785665e-01 -5.08169264e-02 8.70603155e+01] [ 6.70196471e-02 -2.82848118e-04 9.97751616e-01 1.47765402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.99, Y:87.10, Z:14.78 [[ 6.48465993e-01 -7.59988977e-01 -4.36876417e-02 1.94991846e+02] [ 7.58287658e-01 6.49935940e-01 -5.08242357e-02 8.71033841e+01] [ 6.70200274e-02 -1.70011015e-04 9.97751616e-01 1.47821604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.04, Y:87.14, Z:14.80 [[ 6.54684266e-01 -7.54639810e-01 -4.36722992e-02 1.95036302e+02] [ 7.52925601e-01 6.56139160e-01 -5.08374159e-02 8.71397289e+01] [ 6.70190435e-02 4.00464211e-04 9.97751616e-01 1.47962387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:87.19, Z:14.79 [[ 6.49335585e-01 -7.59247340e-01 -4.36666361e-02 1.95069722e+02] [ 7.57543127e-01 6.50802176e-01 -5.08422797e-02 8.71898346e+01] [ 6.70202074e-02 -6.56585994e-05 9.97751616e-01 1.47923418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.11, Y:87.23, Z:14.80 [[ 6.54363766e-01 -7.54918792e-01 -4.36540788e-02 1.95113160e+02] [ 7.53204160e-01 6.55818161e-01 -5.08530593e-02 8.72274167e+01] [ 6.70190678e-02 3.95965618e-04 9.97751616e-01 1.48035095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.15, Y:87.28, Z:14.80 [[ 6.49096236e-01 -7.59452967e-01 -4.36493651e-02 1.95145959e+02] [ 7.57748222e-01 6.50562208e-01 -5.08571050e-02 8.72763023e+01] [ 6.70202066e-02 -6.40734089e-05 9.97751616e-01 1.48012624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:87.32, Z:14.81 [[ 6.53353163e-01 -7.55794780e-01 -4.36336468e-02 1.95188040e+02] [ 7.54080926e-01 6.54808476e-01 -5.08705872e-02 8.73155228e+01] [ 6.70194060e-02 3.33158272e-04 9.97751616e-01 1.48121065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.23, Y:87.36, Z:14.82 [[ 6.52883110e-01 -7.56201263e-01 -4.36267767e-02 1.95225675e+02] [ 7.54487922e-01 6.54339025e-01 -5.08764783e-02 8.73597374e+01] [ 6.70195597e-02 3.00517268e-04 9.97751617e-01 1.48162387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.26, Y:87.41, Z:14.81 [[ 6.46029322e-01 -7.62065682e-01 -4.36120537e-02 1.95257048e+02] [ 7.60364706e-01 6.47499664e-01 -5.08890960e-02 8.74108468e+01] [ 6.70196238e-02 -2.85218150e-04 9.97751617e-01 1.48085486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:87.45, Z:14.82 [[ 6.52313273e-01 -7.56694511e-01 -4.35982865e-02 1.95300036e+02] [ 7.54980639e-01 6.53768563e-01 -5.09008881e-02 8.74490293e+01] [ 6.70196117e-02 2.87462775e-04 9.97751617e-01 1.48211602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.34, Y:87.49, Z:14.82 [[ 6.52803664e-01 -7.56271765e-01 -4.35935033e-02 1.95336615e+02] [ 7.54556677e-01 6.54257521e-01 -5.09049843e-02 8.74935806e+01] [ 6.70193797e-02 3.37191265e-04 9.97751617e-01 1.48238922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.37, Y:87.54, Z:14.83 [[ 6.54043570e-01 -7.55200565e-01 -4.35788528e-02 1.95374137e+02] [ 7.53482260e-01 6.55493623e-01 -5.09175233e-02 8.75396589e+01] [ 6.70186024e-02 4.66386199e-04 9.97751617e-01 1.48262946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.41, Y:87.58, Z:14.83 [[ 6.54323038e-01 -7.54959131e-01 -4.35668723e-02 1.95411213e+02] [ 7.53239609e-01 6.55771647e-01 -5.09277722e-02 8.75842977e+01] [ 6.70183062e-02 5.06920747e-04 9.97751617e-01 1.48293662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.45, Y:87.63, Z:14.83 [[ 6.53523974e-01 -7.55651781e-01 -4.35522915e-02 1.95448469e+02] [ 7.53932963e-01 6.54973419e-01 -5.09402383e-02 8.76281708e+01] [ 6.70186750e-02 4.55158761e-04 9.97751617e-01 1.48340092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.49, Y:87.67, Z:14.84 [[ 6.52353372e-01 -7.56663439e-01 -4.35375462e-02 1.95485177e+02] [ 7.54946028e-01 6.53804484e-01 -5.09528376e-02 8.76715697e+01] [ 6.70191923e-02 3.70757847e-04 9.97751618e-01 1.48375904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.52, Y:87.71, Z:14.84 [[ 6.50530234e-01 -7.58232182e-01 -4.35243894e-02 1.95523104e+02] [ 7.56517519e-01 6.51984590e-01 -5.09640739e-02 8.77149871e+01] [ 6.70198321e-02 2.26707781e-04 9.97751618e-01 1.48428356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.56, Y:87.76, Z:14.85 [[ 6.49627585e-01 -7.59006512e-01 -4.35099450e-02 1.95560930e+02] [ 7.57292757e-01 6.51083011e-01 -5.09764026e-02 8.77593311e+01] [ 6.70200075e-02 1.65911114e-04 9.97751618e-01 1.48477595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.59, Y:87.81, Z:14.84 [[ 6.41351417e-01 -7.66013401e-01 -4.34951727e-02 1.95589662e+02] [ 7.64314690e-01 6.42824374e-01 -5.09890039e-02 8.78139075e+01] [ 6.70180174e-02 -5.42129522e-04 9.97751618e-01 1.48366084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.63, Y:87.86, Z:14.85 [[ 6.44413033e-01 -7.63440306e-01 -4.34826601e-02 1.95630141e+02] [ 7.61734994e-01 6.45878342e-01 -5.09996722e-02 8.78566046e+01] [ 6.70197138e-02 -2.57410425e-04 9.97751618e-01 1.48460326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.67, Y:87.90, Z:14.86 [[ 6.50431391e-01 -7.58320138e-01 -4.34692291e-02 1.95671222e+02] [ 7.56602526e-01 6.51882262e-01 -5.10111175e-02 8.78953522e+01] [ 6.70195770e-02 2.90303523e-04 9.97751618e-01 1.48585342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.71, Y:87.94, Z:14.86 [[ 6.51049432e-01 -7.57790054e-01 -4.34611436e-02 1.95707898e+02] [ 7.56070801e-01 6.52498358e-01 -5.10180053e-02 8.79393428e+01] [ 6.70192619e-02 3.55541759e-04 9.97751618e-01 1.48622841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.74, Y:87.98, Z:14.87 [[ 6.53097670e-01 -7.56026250e-01 -4.34481623e-02 1.95744209e+02] [ 7.54302349e-01 6.54541062e-01 -5.10290581e-02 8.79846634e+01] [ 6.70179138e-02 5.53908068e-04 9.97751619e-01 1.48668934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.78, Y:88.03, Z:14.87 [[ 6.55105280e-01 -7.54288141e-01 -4.34335416e-02 1.95780762e+02] [ 7.52559585e-01 6.56543095e-01 -5.10414996e-02 8.80292425e+01] [ 6.70159897e-02 7.51227834e-04 9.97751619e-01 1.48708054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:88.07, Z:14.87 [[ 6.56701103e-01 -7.52900030e-01 -4.34189608e-02 1.95816866e+02] [ 7.51167616e-01 6.58134266e-01 -5.10538999e-02 8.80735178e+01] [ 6.70139887e-02 9.12235157e-04 9.97751619e-01 1.48735304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:88.12, Z:14.88 [[ 6.56371112e-01 -7.53188467e-01 -4.34061800e-02 1.95853141e+02] [ 7.51455964e-01 6.57804169e-01 -5.10647639e-02 8.81185556e+01] [ 6.70141573e-02 8.99603048e-04 9.97751619e-01 1.48773403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:88.16, Z:14.88 [[ 6.54166458e-01 -7.55104880e-01 -4.33919978e-02 1.95890865e+02] [ 7.53375777e-01 6.55603613e-01 -5.10768122e-02 8.81623227e+01] [ 6.70163008e-02 7.22257250e-04 9.97751619e-01 1.48831921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.93, Y:88.21, Z:14.89 [[ 6.48543265e-01 -7.59940797e-01 -4.33776286e-02 1.95929048e+02] [ 7.58221595e-01 6.49992250e-01 -5.10890126e-02 8.82063253e+01] [ 6.70197474e-02 2.43580252e-04 9.97751619e-01 1.48894926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:88.25, Z:14.89 [[ 6.43686891e-01 -7.64059349e-01 -4.33647200e-02 1.95966317e+02] [ 7.62348680e-01 6.45145940e-01 -5.10999671e-02 8.82504850e+01] [ 6.70199807e-02 -1.66658117e-04 9.97751620e-01 1.48933764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:88.29, Z:14.90 [[ 6.38914611e-01 -7.68055259e-01 -4.33501891e-02 1.96003802e+02] [ 7.66352878e-01 6.40383322e-01 -5.11122914e-02 8.82945426e+01] [ 6.70178023e-02 -5.65152447e-04 9.97751620e-01 1.48971314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.04, Y:88.34, Z:14.90 [[ 6.33666903e-01 -7.72391269e-01 -4.33357027e-02 1.96041697e+02] [ 7.70698097e-01 6.35146221e-01 -5.11245707e-02 8.83385677e+01] [ 6.70126799e-02 -1.00279520e-03 9.97751620e-01 1.49000086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.08, Y:88.38, Z:14.90 [[ 6.28991686e-01 -7.76204057e-01 -4.33211342e-02 1.96079325e+02] [ 7.74519000e-01 6.30480241e-01 -5.11369126e-02 8.83825133e+01] [ 6.70057982e-02 -1.38834866e-03 9.97751620e-01 1.49021608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.12, Y:88.43, Z:14.90 [[ 6.24390211e-01 -7.79911144e-01 -4.33067294e-02 1.96116780e+02] [ 7.78234077e-01 6.25887762e-01 -5.11491089e-02 8.84269284e+01] [ 6.69969119e-02 -1.76576969e-03 9.97751620e-01 1.49047354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.15, Y:88.47, Z:14.91 [[ 6.23333747e-01 -7.80756583e-01 -4.32919975e-02 1.96153970e+02] [ 7.79080683e-01 6.24832603e-01 -5.11615747e-02 8.84717101e+01] [ 6.69949878e-02 -1.83722291e-03 9.97751621e-01 1.49072228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.19, Y:88.52, Z:14.90 [[ 6.18054765e-01 -7.84942911e-01 -4.32773958e-02 1.96185609e+02] [ 7.83276296e-01 6.19563938e-01 -5.11739233e-02 8.85221658e+01] [ 6.69817221e-02 -2.26987110e-03 9.97751621e-01 1.49006701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.23, Y:88.56, Z:14.91 [[ 6.28029339e-01 -7.76985609e-01 -4.32725453e-02 1.96227087e+02] [ 7.75299573e-01 6.29516784e-01 -5.11780246e-02 8.85620277e+01] [ 6.70053821e-02 -1.40788495e-03 9.97751621e-01 1.49149871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.26, Y:88.61, Z:14.92 [[ 6.31668934e-01 -7.74030054e-01 -4.32646832e-02 1.96262429e+02] [ 7.72336602e-01 6.33147931e-01 -5.11846702e-02 8.86079043e+01] [ 6.70114176e-02 -1.08313235e-03 9.97751621e-01 1.49190812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.30, Y:88.65, Z:14.93 [[ 6.36313547e-01 -7.70217179e-01 -4.32500488e-02 1.96298459e+02] [ 7.68514023e-01 6.37781358e-01 -5.11970329e-02 8.86546685e+01] [ 6.70169091e-02 -6.60903422e-04 9.97751621e-01 1.49251934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.33, Y:88.70, Z:14.93 [[ 6.38618456e-01 -7.68307904e-01 -4.32369265e-02 1.96334353e+02] [ 7.66599609e-01 6.40080283e-01 -5.12081126e-02 8.87001694e+01] [ 6.70187018e-02 -4.42965117e-04 9.97751621e-01 1.49301236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.36, Y:88.75, Z:14.92 [[ 6.35700892e-01 -7.70724030e-01 -4.32301495e-02 1.96364351e+02] [ 7.69020902e-01 6.37168735e-01 -5.12138331e-02 8.87530806e+01] [ 6.70166315e-02 -6.88209109e-04 9.97751621e-01 1.49242569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.40, Y:88.80, Z:14.93 [[ 6.36283623e-01 -7.70243765e-01 -4.32168150e-02 1.96400786e+02] [ 7.68538765e-01 6.37749290e-01 -5.12250830e-02 8.87985030e+01] [ 6.70172939e-02 -6.20116292e-04 9.97751621e-01 1.49285124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.44, Y:88.84, Z:14.94 [[ 6.39319291e-01 -7.67726353e-01 -4.32098583e-02 1.96441090e+02] [ 7.66015184e-01 6.40777752e-01 -5.12309505e-02 8.88378097e+01] [ 6.70192666e-02 -3.46472598e-04 9.97751621e-01 1.49395875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.48, Y:88.88, Z:14.94 [[ 6.37875858e-01 -7.68926547e-01 -4.32013199e-02 1.96478227e+02] [ 7.67217635e-01 6.39336963e-01 -5.12381497e-02 8.88819700e+01] [ 6.70185742e-02 -4.61235772e-04 9.97751621e-01 1.49431557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.51, Y:88.93, Z:14.95 [[ 6.37769775e-01 -7.69015368e-01 -4.31865587e-02 1.96514828e+02] [ 7.67305817e-01 6.39230131e-01 -5.12505883e-02 8.89263986e+01] [ 6.70186396e-02 -4.51221543e-04 9.97751622e-01 1.49469751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:88.97, Z:14.95 [[ 6.39544894e-01 -7.67540556e-01 -4.31720243e-02 1.96552386e+02] [ 7.65826811e-01 6.41000327e-01 -5.12628287e-02 8.89708304e+01] [ 6.70195817e-02 -2.77413312e-04 9.97751622e-01 1.49506594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:89.02, Z:14.95 [[ 6.39198581e-01 -7.67829802e-01 -4.31574953e-02 1.96587500e+02] [ 7.66115890e-01 6.40653816e-01 -5.12750576e-02 8.90190922e+01] [ 6.70195314e-02 -2.88698886e-04 9.97751622e-01 1.49464390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.63, Y:89.06, Z:14.95 [[ 6.41554848e-01 -7.65862905e-01 -4.31438052e-02 1.96625242e+02] [ 7.64143757e-01 6.43003893e-01 -5.12865741e-02 8.90632107e+01] [ 6.70201194e-02 -6.49191928e-05 9.97751622e-01 1.49496356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.67, Y:89.10, Z:14.96 [[ 6.47973189e-01 -7.60441123e-01 -4.31282396e-02 1.96666150e+02] [ 7.58708980e-01 6.49406675e-01 -5.12996603e-02 8.91030541e+01] [ 6.70181380e-02 5.19021786e-04 9.97751622e-01 1.49607227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.71, Y:89.15, Z:14.97 [[ 6.50076935e-01 -7.58643754e-01 -4.31234554e-02 1.96705438e+02] [ 7.56907381e-01 6.51505294e-01 -5.13036817e-02 8.91463053e+01] [ 6.70163772e-02 7.10878485e-04 9.97751622e-01 1.49664217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.74, Y:89.19, Z:14.96 [[ 6.45146014e-01 -7.62842119e-01 -4.31105929e-02 1.96739991e+02] [ 7.61114319e-01 6.46584732e-01 -5.13144878e-02 8.91940078e+01] [ 6.70195038e-02 2.93247674e-04 9.97751622e-01 1.49629666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.78, Y:89.23, Z:14.98 [[ 6.47434512e-01 -7.60901205e-01 -4.31034645e-02 1.96783678e+02] [ 7.59168695e-01 6.48867553e-01 -5.13204749e-02 8.92303764e+01] [ 6.70182508e-02 5.03845747e-04 9.97751623e-01 1.49758778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.82, Y:89.27, Z:14.98 [[ 6.45395375e-01 -7.62632070e-01 -4.30944991e-02 1.96823515e+02] [ 7.60902900e-01 6.46832445e-01 -5.13280021e-02 8.92729521e+01] [ 6.70193008e-02 3.36125798e-04 9.97751623e-01 1.49797483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.86, Y:89.32, Z:14.98 [[ 6.43265578e-01 -7.64430190e-01 -4.30799267e-02 1.96862930e+02] [ 7.62704219e-01 6.44706488e-01 -5.13402299e-02 8.93158064e+01] [ 6.70199300e-02 1.68160834e-04 9.97751623e-01 1.49828542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:89.36, Z:14.98 [[ 6.40253300e-01 -7.66955724e-01 -4.30653990e-02 1.96902648e+02] [ 7.65234617e-01 6.41700016e-01 -5.13524133e-02 8.93586464e+01] [ 6.70200946e-02 -7.65820475e-05 9.97751623e-01 1.49848660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:89.41, Z:14.98 [[ 6.32994205e-01 -7.72958574e-01 -4.30508910e-02 1.96937391e+02] [ 7.71250357e-01 6.34456119e-01 -5.13645731e-02 8.94070075e+01] [ 6.70165884e-02 -6.89537955e-04 9.97751623e-01 1.49805267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.98, Y:89.45, Z:14.99 [[ 6.35238915e-01 -7.71115635e-01 -4.30371838e-02 1.96980955e+02] [ 7.69402398e-01 6.36694943e-01 -5.13760555e-02 8.94458273e+01] [ 6.70184369e-02 -4.76842666e-04 9.97751623e-01 1.49925773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.02, Y:89.49, Z:15.00 [[ 6.33525276e-01 -7.72524873e-01 -4.30237691e-02 1.97017102e+02] [ 7.70814113e-01 6.34984212e-01 -5.13872869e-02 8.94913846e+01] [ 6.70173714e-02 -6.08183268e-04 9.97751623e-01 1.49966548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.05, Y:89.54, Z:14.99 [[ 6.27886300e-01 -7.77115851e-01 -4.30087037e-02 1.97049853e+02] [ 7.75414892e-01 6.29356652e-01 -5.13998928e-02 8.95417901e+01] [ 6.70114852e-02 -1.07630083e-03 9.97751624e-01 1.49939040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.09, Y:89.58, Z:15.01 [[ 6.30419783e-01 -7.75062789e-01 -4.29949923e-02 1.97089078e+02] [ 7.73356260e-01 6.31883666e-01 -5.14113596e-02 8.95826468e+01] [ 6.70148651e-02 -8.39708248e-04 9.97751624e-01 1.50060394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.12, Y:89.63, Z:15.01 [[ 6.25942874e-01 -7.78683315e-01 -4.29861967e-02 1.97122112e+02] [ 7.76984746e-01 6.27415987e-01 -5.14187127e-02 8.96314028e+01] [ 6.70091207e-02 -1.21444227e-03 9.97751624e-01 1.50055893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.16, Y:89.67, Z:15.01 [[ 6.28441185e-01 -7.76669297e-01 -4.29706930e-02 1.97160293e+02] [ 7.74965121e-01 6.29907807e-01 -5.14316660e-02 8.96736131e+01] [ 6.70129708e-02 -9.79011224e-04 9.97751624e-01 1.50137418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.19, Y:89.72, Z:15.02 [[ 6.29034373e-01 -7.76189420e-01 -4.29621017e-02 1.97194702e+02] [ 7.74483635e-01 6.30499123e-01 -5.14388415e-02 8.97204739e+01] [ 6.70138520e-02 -9.16645348e-04 9.97751624e-01 1.50169667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.23, Y:89.77, Z:15.02 [[ 6.29398909e-01 -7.75894664e-01 -4.29474583e-02 1.97230772e+02] [ 7.74187359e-01 6.30861887e-01 -5.14510647e-02 8.97655044e+01] [ 6.70145211e-02 -8.66135272e-04 9.97751624e-01 1.50208382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.26, Y:89.82, Z:15.02 [[ 6.27537670e-01 -7.77401614e-01 -4.29325577e-02 1.97262704e+02] [ 7.75696972e-01 6.29003749e-01 -5.14634953e-02 8.98154941e+01] [ 6.70125440e-02 -1.00737310e-03 9.97751624e-01 1.50184682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.30, Y:89.86, Z:15.03 [[ 6.31461334e-01 -7.74218786e-01 -4.29168476e-02 1.97300568e+02] [ 7.72505863e-01 6.32917729e-01 -5.14765931e-02 8.98575567e+01] [ 6.70169791e-02 -6.48038230e-04 9.97751625e-01 1.50271258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.34, Y:89.90, Z:15.03 [[ 6.32427735e-01 -7.73430039e-01 -4.29084414e-02 1.97336395e+02] [ 7.71714825e-01 6.33881431e-01 -5.14835991e-02 8.99035032e+01] [ 6.70178263e-02 -5.53424342e-04 9.97751625e-01 1.50311756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:89.95, Z:15.03 [[ 6.29702818e-01 -7.75651006e-01 -4.28937978e-02 1.97369329e+02] [ 7.73940087e-01 6.31161567e-01 -5.14957966e-02 8.99518220e+01] [ 6.70156831e-02 -7.70181337e-04 9.97751625e-01 1.50283573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:90.00, Z:15.03 [[ 6.31570333e-01 -7.74132009e-01 -4.28782850e-02 1.97405835e+02] [ 7.72416705e-01 6.33023923e-01 -5.15087103e-02 8.99964882e+01] [ 6.70175215e-02 -5.88530284e-04 9.97751625e-01 1.50309141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.44, Y:90.04, Z:15.03 [[ 6.32801659e-01 -7.73126666e-01 -4.28627865e-02 1.97443143e+02] [ 7.71408180e-01 6.34251484e-01 -5.15216041e-02 9.00405725e+01] [ 6.70185119e-02 -4.61747549e-04 9.97751625e-01 1.50345648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.48, Y:90.08, Z:15.04 [[ 6.32866096e-01 -7.73074778e-01 -4.28473103e-02 1.97480005e+02] [ 7.71355301e-01 6.34314746e-01 -5.15344714e-02 9.00848700e+01] [ 6.70186808e-02 -4.36080192e-04 9.97751626e-01 1.50379847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.52, Y:90.13, Z:15.05 [[ 6.36165488e-01 -7.70362853e-01 -4.28316056e-02 1.97521034e+02] [ 7.68636322e-01 6.37605723e-01 -5.15475208e-02 9.01259412e+01] [ 6.70199720e-02 -1.29174012e-04 9.97751626e-01 1.50492847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:90.17, Z:15.05 [[ 6.32707991e-01 -7.73205801e-01 -4.28180774e-02 1.97556883e+02] [ 7.71484980e-01 6.34155044e-01 -5.15587555e-02 9.01733370e+01] [ 6.70188286e-02 -4.11866954e-04 9.97751626e-01 1.50461735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:90.21, Z:15.06 [[ 6.37705746e-01 -7.69089836e-01 -4.28042701e-02 1.97597446e+02] [ 7.67358906e-01 6.39140690e-01 -5.15702159e-02 9.02143526e+01] [ 6.70200796e-02 4.03850689e-05 9.97751626e-01 1.50557886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.64, Y:90.26, Z:15.06 [[ 6.38954374e-01 -7.68053068e-01 -4.27994491e-02 1.97635018e+02] [ 7.66319542e-01 6.40386181e-01 -5.15742167e-02 9.02585232e+01] [ 6.70199111e-02 1.55517135e-04 9.97751626e-01 1.50587623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.67, Y:90.30, Z:15.06 [[ 6.41001264e-01 -7.66346422e-01 -4.27848230e-02 1.97673659e+02] [ 7.64608273e-01 6.42427457e-01 -5.15863473e-02 9.03022796e+01] [ 6.70191577e-02 3.53284261e-04 9.97751626e-01 1.50623378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:90.35, Z:15.07 [[ 6.41931383e-01 -7.65568301e-01 -4.27700299e-02 1.97712537e+02] [ 7.63827607e-01 6.43354467e-01 -5.15986093e-02 9.03459271e+01] [ 6.70185495e-02 4.53837100e-04 9.97751626e-01 1.50665409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:90.39, Z:15.07 [[ 6.42441130e-01 -7.65141407e-01 -4.27553608e-02 1.97750831e+02] [ 7.63398959e-01 6.43862065e-01 -5.16107614e-02 9.03900063e+01] [ 6.70180856e-02 5.17477969e-04 9.97751627e-01 1.50708742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.79, Y:90.43, Z:15.08 [[ 6.42830353e-01 -7.64815248e-01 -4.27407727e-02 1.97790469e+02] [ 7.63071276e-01 6.44249417e-01 -5.16228396e-02 9.04323753e+01] [ 6.70176528e-02 5.70472286e-04 9.97751627e-01 1.50755611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.83, Y:90.47, Z:15.08 [[ 6.42289379e-01 -7.65270431e-01 -4.27261094e-02 1.97828802e+02] [ 7.63526657e-01 6.43708687e-01 -5.16349730e-02 9.04742960e+01] [ 6.70178858e-02 5.42071312e-04 9.97751627e-01 1.50797876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.87, Y:90.52, Z:15.09 [[ 6.41925069e-01 -7.65576787e-01 -4.27128618e-02 1.97867506e+02] [ 7.63832962e-01 6.43344313e-01 -5.16459292e-02 9.05170088e+01] [ 6.70180013e-02 5.27324934e-04 9.97751627e-01 1.50862008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:90.56, Z:15.09 [[ 6.41500440e-01 -7.65933165e-01 -4.27032980e-02 1.97905160e+02] [ 7.64189602e-01 6.42920006e-01 -5.16538358e-02 9.05612963e+01] [ 6.70181905e-02 5.02542113e-04 9.97751627e-01 1.50914040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.94, Y:90.61, Z:15.09 [[ 6.40242762e-01 -7.66985593e-01 -4.26884702e-02 1.97939333e+02] [ 7.65243546e-01 6.41664188e-01 -5.16660871e-02 9.06089713e+01] [ 6.70188070e-02 4.11762019e-04 9.97751627e-01 1.50927827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:90.66, Z:15.09 [[ 6.39500967e-01 -7.67605037e-01 -4.26734275e-02 1.97974390e+02] [ 7.65863538e-01 6.40923064e-01 -5.16785086e-02 9.06558278e+01] [ 6.70190674e-02 3.66434100e-04 9.97751628e-01 1.50949497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.01, Y:90.70, Z:15.10 [[ 6.39243481e-01 -7.67820308e-01 -4.26584930e-02 1.98010838e+02] [ 7.66078465e-01 6.40665157e-01 -5.16908335e-02 9.07007705e+01] [ 6.70190818e-02 3.63275498e-04 9.97751628e-01 1.50988362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:90.75, Z:15.10 [[ 6.35186537e-01 -7.71180638e-01 -4.26437067e-02 1.98044457e+02] [ 7.69445498e-01 6.36616385e-01 -5.17030290e-02 9.07492028e+01] [ 6.70200573e-02 2.90598420e-05 9.97751628e-01 1.50963594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:90.79, Z:15.11 [[ 6.37443477e-01 -7.69316551e-01 -4.26363614e-02 1.98083723e+02] [ 7.67576824e-01 6.38867741e-01 -5.17090855e-02 9.07907792e+01] [ 6.70196512e-02 2.34936383e-04 9.97751628e-01 1.51050700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.12, Y:90.84, Z:15.11 [[ 6.34175155e-01 -7.72013228e-01 -4.26315437e-02 1.98120485e+02] [ 7.70279291e-01 6.35606461e-01 -5.17130571e-02 9.08358126e+01] [ 6.70200488e-02 -4.30592503e-05 9.97751628e-01 1.51085350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:90.88, Z:15.11 [[ 6.27989846e-01 -7.77053785e-01 -4.26165373e-02 1.98159424e+02] [ 7.75330496e-01 6.29433955e-01 -5.17254209e-02 9.08783501e+01] [ 6.70177297e-02 -5.58861879e-04 9.97751628e-01 1.51145430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:90.92, Z:15.12 [[ 6.23827178e-01 -7.80400392e-01 -4.26014017e-02 1.98196620e+02] [ 7.78683998e-01 6.25279475e-01 -5.17378837e-02 9.09210759e+01] [ 6.70140468e-02 -8.97531875e-04 9.97751628e-01 1.51187905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:90.97, Z:15.12 [[ 6.20651702e-01 -7.82928951e-01 -4.25878295e-02 1.98233582e+02] [ 7.81217706e-01 6.22110063e-01 -5.17490532e-02 9.09653321e+01] [ 6.70101492e-02 -1.15222860e-03 9.97751629e-01 1.51224657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.27, Y:91.01, Z:15.13 [[ 6.16971153e-01 -7.85833398e-01 -4.25730868e-02 1.98269704e+02] [ 7.84128181e-01 6.18436558e-01 -5.17611789e-02 9.10109727e+01] [ 6.70044164e-02 -1.44760290e-03 9.97751629e-01 1.51261371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:91.06, Z:15.13 [[ 6.14784645e-01 -7.87545973e-01 -4.25579714e-02 1.98306796e+02] [ 7.85843979e-01 6.16253791e-01 -5.17736039e-02 9.10558230e+01] [ 6.70006044e-02 -1.61430886e-03 9.97751629e-01 1.51297641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:91.10, Z:15.14 [[ 6.11549765e-01 -7.90061354e-01 -4.25434227e-02 1.98342883e+02] [ 7.88364571e-01 6.13024926e-01 -5.17855561e-02 9.11012611e+01] [ 6.69939451e-02 -1.87028259e-03 9.97751629e-01 1.51350846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:91.15, Z:15.14 [[ 6.10606212e-01 -7.90791609e-01 -4.25286258e-02 1.98378729e+02] [ 7.89095746e-01 6.12082430e-01 -5.17977051e-02 9.11479508e+01] [ 6.69922152e-02 -1.93115716e-03 9.97751629e-01 1.51402567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.41, Y:91.19, Z:15.15 [[ 6.10414593e-01 -7.90940217e-01 -4.25158488e-02 1.98414209e+02] [ 7.89243984e-01 6.11890386e-01 -5.18081904e-02 9.11935766e+01] [ 6.69922205e-02 -1.93090241e-03 9.97751629e-01 1.51454683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.45, Y:91.24, Z:15.15 [[ 6.12820997e-01 -7.89077997e-01 -4.25010515e-02 1.98447396e+02] [ 7.87376438e-01 6.14290646e-01 -5.18203266e-02 9.12400833e+01] [ 6.69982780e-02 -1.70774235e-03 9.97751630e-01 1.51499446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.48, Y:91.29, Z:15.16 [[ 6.15918112e-01 -7.86663418e-01 -4.24917088e-02 1.98482087e+02] [ 7.84955569e-01 6.17380446e-01 -5.18279864e-02 9.12862453e+01] [ 6.70047310e-02 -1.43230788e-03 9.97751630e-01 1.51551418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.51, Y:91.34, Z:15.16 [[ 6.22539517e-01 -7.81434753e-01 -4.24767723e-02 1.98514456e+02] [ 7.79713782e-01 6.23986385e-01 -5.18402250e-02 9.13352904e+01] [ 6.70146811e-02 -8.47136088e-04 9.97751630e-01 1.51568718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:91.38, Z:15.16 [[ 6.27515082e-01 -7.77445679e-01 -4.24622032e-02 1.98548762e+02] [ 7.75714701e-01 6.28949963e-01 -5.18521558e-02 9.13827430e+01] [ 6.70188356e-02 -4.00545549e-04 9.97751630e-01 1.51580489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.59, Y:91.43, Z:15.16 [[ 6.33348723e-01 -7.72701478e-01 -4.24478534e-02 1.98585197e+02] [ 7.70958965e-01 6.34769573e-01 -5.18639004e-02 9.14294235e+01] [ 6.70199183e-02 1.22381954e-04 9.97751630e-01 1.51591545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.62, Y:91.47, Z:15.16 [[ 6.35600340e-01 -7.70851144e-01 -4.24349094e-02 1.98622405e+02] [ 7.69103788e-01 6.37015229e-01 -5.18744890e-02 9.14740474e+01] [ 6.70191927e-02 3.34593243e-04 9.97751630e-01 1.51635401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:91.52, Z:15.17 [[ 6.37492586e-01 -7.69287812e-01 -4.24201109e-02 1.98659862e+02] [ 7.67536180e-01 6.38902179e-01 -5.18865876e-02 9.15189768e+01] [ 6.70180207e-02 5.18344972e-04 9.97751631e-01 1.51694320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.70, Y:91.56, Z:15.18 [[ 6.38525699e-01 -7.68431230e-01 -4.24072603e-02 1.98698315e+02] [ 7.66677011e-01 6.39932070e-01 -5.18970884e-02 9.15635159e+01] [ 6.70171093e-02 6.24953125e-04 9.97751631e-01 1.51761863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.73, Y:91.61, Z:15.17 [[ 6.34331515e-01 -7.71897832e-01 -4.23941806e-02 1.98731173e+02] [ 7.70150585e-01 6.35746538e-01 -5.19077708e-02 9.16119694e+01] [ 6.70194493e-02 2.76831875e-04 9.97751631e-01 1.51712327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.77, Y:91.65, Z:15.18 [[ 6.41360409e-01 -7.66068480e-01 -4.23781720e-02 1.98774748e+02] [ 7.64307511e-01 6.42758318e-01 -5.19208372e-02 9.16497533e+01] [ 6.70138394e-02 9.10014264e-04 9.97751631e-01 1.51849082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.81, Y:91.69, Z:15.19 [[ 6.42505938e-01 -7.65108245e-01 -4.23732578e-02 1.98812631e+02] [ 7.63344922e-01 6.43900877e-01 -5.19248474e-02 9.16943771e+01] [ 6.70123068e-02 1.01661162e-03 9.97751631e-01 1.51878618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.85, Y:91.74, Z:15.19 [[ 6.42564597e-01 -7.65059811e-01 -4.23582803e-02 1.98852394e+02] [ 7.63295578e-01 6.43958385e-01 -5.19370627e-02 9.17388554e+01] [ 6.70119291e-02 1.04102975e-03 9.97751631e-01 1.51880142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.89, Y:91.78, Z:15.19 [[ 6.40075758e-01 -7.67143945e-01 -4.23460910e-02 1.98892175e+02] [ 7.65383594e-01 6.41474445e-01 -5.19469991e-02 9.17824775e+01] [ 6.70147610e-02 8.39011452e-04 9.97751631e-01 1.51902624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.94, Y:91.82, Z:15.19 [[ 6.31238302e-01 -7.74432785e-01 -4.23328259e-02 1.98935298e+02] [ 7.72687862e-01 6.32656190e-01 -5.19578069e-02 9.18223301e+01] [ 6.70199534e-02 8.76970260e-05 9.97751631e-01 1.51948501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.97, Y:91.87, Z:15.19 [[ 6.18107027e-01 -7.84954064e-01 -4.23180899e-02 1.98971317e+02] [ 7.83232447e-01 6.19553124e-01 -5.19698062e-02 9.18686427e+01] [ 6.70122153e-02 -1.02199867e-03 9.97751632e-01 1.51945277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.01, Y:91.91, Z:15.21 [[ 6.17643672e-01 -7.85319364e-01 -4.23059218e-02 1.99013564e+02] [ 7.83597924e-01 6.19089980e-01 -5.19797097e-02 9.19082324e+01] [ 6.70118448e-02 -1.04589376e-03 9.97751632e-01 1.52097992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.05, Y:91.95, Z:15.22 [[ 6.10694165e-01 -7.90735893e-01 -4.23011037e-02 1.99049321e+02] [ 7.89027005e-01 6.12155281e-01 -5.19836304e-02 9.19535838e+01] [ 6.70001664e-02 -1.63061338e-03 9.97751632e-01 1.52160301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.09, Y:92.00, Z:15.22 [[ 6.05876348e-01 -7.94434177e-01 -4.22869866e-02 1.99085224e+02] [ 7.92733403e-01 6.07346902e-01 -5.19951116e-02 9.19993408e+01] [ 6.69895640e-02 -2.01969849e-03 9.97751632e-01 1.52197613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.12, Y:92.05, Z:15.22 [[ 5.99329175e-01 -7.99385762e-01 -4.22722539e-02 1.99118446e+02] [ 7.97696288e-01 6.00812695e-01 -5.20070867e-02 9.20475139e+01] [ 6.69714314e-02 -2.55105565e-03 9.97751632e-01 1.52214339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.15, Y:92.10, Z:15.22 [[ 5.96015543e-01 -8.01860192e-01 -4.22576053e-02 1.99150009e+02] [ 8.00176034e-01 5.97505096e-01 -5.20189865e-02 9.20950656e+01] [ 6.69610890e-02 -2.80939858e-03 9.97751632e-01 1.52235587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.18, Y:92.14, Z:15.23 [[ 5.93796532e-01 -8.03505424e-01 -4.22458613e-02 1.99182098e+02] [ 8.01824716e-01 5.95289977e-01 -5.20285223e-02 9.21437746e+01] [ 6.69537377e-02 -2.97941970e-03 9.97751632e-01 1.52280360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.21, Y:92.20, Z:15.23 [[ 5.91818221e-01 -8.04964431e-01 -4.22310098e-02 1.99210965e+02] [ 8.03286549e-01 5.93314840e-01 -5.20405743e-02 9.21962466e+01] [ 6.69470961e-02 -3.12504198e-03 9.97751633e-01 1.52337877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.25, Y:92.24, Z:15.24 [[ 5.95619307e-01 -8.02156682e-01 -4.22172819e-02 1.99245180e+02] [ 8.00470955e-01 5.97107084e-01 -5.20517086e-02 9.22442023e+01] [ 6.69618639e-02 -2.79070533e-03 9.97751633e-01 1.52423172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.27, Y:92.30, Z:15.25 [[ 6.03395652e-01 -7.96324404e-01 -4.22034383e-02 1.99273555e+02] [ 7.94623501e-01 6.04866054e-01 -5.20629306e-02 9.22973487e+01] [ 6.69864093e-02 -2.12129789e-03 9.97751633e-01 1.52458711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.30, Y:92.34, Z:15.25 [[ 6.11047827e-01 -7.90468607e-01 -4.21892632e-02 1.99304553e+02] [ 7.88752811e-01 6.12500823e-01 -5.20744148e-02 9.23449489e+01] [ 6.70041486e-02 -1.45694196e-03 9.97751633e-01 1.52493229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.33, Y:92.40, Z:15.25 [[ 6.21779181e-01 -7.82055941e-01 -4.21800409e-02 1.99334117e+02] [ 7.80319968e-01 6.23208011e-01 -5.20818838e-02 9.23955276e+01] [ 6.70178860e-02 -5.30497114e-04 9.97751633e-01 1.52501803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.37, Y:92.45, Z:15.25 [[ 6.27395541e-01 -7.77558384e-01 -4.21639075e-02 1.99365499e+02] [ 7.75811290e-01 6.28810750e-01 -5.20949417e-02 9.24461630e+01] [ 6.70199769e-02 -2.71013221e-05 9.97751633e-01 1.52492484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.40, Y:92.50, Z:15.25 [[ 6.34669833e-01 -7.71633063e-01 -4.21499513e-02 1.99396121e+02] [ 7.69872009e-01 6.36067631e-01 -5.21062312e-02 9.24950974e+01] [ 6.70171104e-02 6.20185350e-04 9.97751634e-01 1.52478516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.43, Y:92.54, Z:15.25 [[ 6.33454310e-01 -7.72631651e-01 -4.21422497e-02 1.99431020e+02] [ 7.70872386e-01 6.34854359e-01 -5.21124593e-02 9.25431798e+01] [ 6.70179264e-02 5.24565391e-04 9.97751634e-01 1.52488527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.47, Y:92.59, Z:15.26 [[ 6.34258461e-01 -7.71972417e-01 -4.21282922e-02 1.99470639e+02] [ 7.70210947e-01 6.35655735e-01 -5.21237402e-02 9.25868471e+01] [ 6.70171803e-02 6.12251420e-04 9.97751634e-01 1.52567445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.51, Y:92.63, Z:15.26 [[ 6.30528654e-01 -7.75022582e-01 -4.21143099e-02 1.99508344e+02] [ 7.73267117e-01 6.31933465e-01 -5.21350350e-02 9.26318145e+01] [ 6.70192712e-02 3.07022410e-04 9.97751634e-01 1.52601509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.55, Y:92.67, Z:15.27 [[ 6.31596214e-01 -7.74153583e-01 -4.21005074e-02 1.99547629e+02] [ 7.72395443e-01 6.32997675e-01 -5.21461786e-02 9.26746560e+01] [ 6.70186743e-02 4.17088874e-04 9.97751634e-01 1.52689463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.59, Y:92.72, Z:15.27 [[ 6.27594348e-01 -7.77402100e-01 -4.20869304e-02 1.99585000e+02] [ 7.75650480e-01 6.29003948e-01 -5.21571343e-02 9.27202356e+01] [ 6.70199111e-02 8.87749116e-05 9.97751634e-01 1.52667126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.62, Y:92.76, Z:15.26 [[ 6.21554958e-01 -7.82239904e-01 -4.20733465e-02 1.99621164e+02] [ 7.80498512e-01 6.22977176e-01 -5.21680896e-02 9.27648006e+01] [ 6.70186960e-02 -4.12849533e-04 9.97751634e-01 1.52642892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.66, Y:92.81, Z:15.27 [[ 6.19031247e-01 -7.84239401e-01 -4.20580206e-02 1.99662876e+02] [ 7.82501764e-01 6.20458049e-01 -5.21804425e-02 9.28052890e+01] [ 6.70171964e-02 -6.09150931e-04 9.97751635e-01 1.52705093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.70, Y:92.85, Z:15.28 [[ 6.17170671e-01 -7.85705324e-01 -4.20417181e-02 1.99704225e+02] [ 7.83970181e-01 6.18600506e-01 -5.21935741e-02 9.28458283e+01] [ 6.70157971e-02 -7.47110136e-04 9.97751635e-01 1.52831671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.74, Y:92.89, Z:15.29 [[ 6.12032542e-01 -7.89714580e-01 -4.20362927e-02 1.99743663e+02] [ 7.87988501e-01 6.13473306e-01 -5.21979433e-02 9.28879802e+01] [ 6.70096203e-02 -1.17727532e-03 9.97751635e-01 1.52887676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.78, Y:92.93, Z:15.30 [[ 6.03553044e-01 -7.96214665e-01 -4.20229634e-02 1.99784229e+02] [ 7.94503348e-01 6.05011310e-01 -5.22086722e-02 9.29299237e+01] [ 6.69936785e-02 -1.87668204e-03 9.97751635e-01 1.52970035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.82, Y:92.97, Z:15.30 [[ 5.99173615e-01 -7.99516198e-01 -4.20098621e-02 1.99822196e+02] [ 7.97812175e-01 6.00640398e-01 -5.22192120e-02 9.29744312e+01] [ 6.69829261e-02 -2.22760547e-03 9.97751635e-01 1.53028017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.86, Y:93.02, Z:15.31 [[ 5.97187759e-01 -8.01001358e-01 -4.19952915e-02 1.99858168e+02] [ 7.99300161e-01 5.98657818e-01 -5.22309273e-02 9.30185371e+01] [ 6.69778532e-02 -2.37517284e-03 9.97751635e-01 1.53075995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:93.07, Z:15.30 [[ 5.94790313e-01 -8.02783916e-01 -4.19817420e-02 1.99891092e+02] [ 8.01086358e-01 5.96264572e-01 -5.22418157e-02 9.30685138e+01] [ 6.69711148e-02 -2.55807483e-03 9.97751635e-01 1.53035283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.93, Y:93.12, Z:15.31 [[ 5.97884678e-01 -8.00482738e-01 -4.19678195e-02 1.99927315e+02] [ 7.98778720e-01 5.99351466e-01 -5.22529978e-02 9.31153257e+01] [ 6.69810969e-02 -2.28173432e-03 9.97751636e-01 1.53066318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.96, Y:93.16, Z:15.31 [[ 6.05462570e-01 -7.94767225e-01 -4.19539458e-02 1.99962746e+02] [ 7.93048581e-01 6.06912192e-01 -5.22641347e-02 9.31615403e+01] [ 6.70001825e-02 -1.62753985e-03 9.97751636e-01 1.53130736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:93.21, Z:15.32 [[ 6.12740040e-01 -7.89170874e-01 -4.19401342e-02 1.99997602e+02] [ 7.87438225e-01 6.14172894e-01 -5.22752156e-02 9.32079224e+01] [ 6.70125712e-02 -9.94147200e-04 9.97751636e-01 1.53164257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.03, Y:93.25, Z:15.32 [[ 6.14982687e-01 -7.87424743e-01 -4.19352913e-02 2.00032679e+02] [ 7.85687761e-01 6.16410284e-01 -5.22791003e-02 9.32546168e+01] [ 6.70152019e-02 -7.97303568e-04 9.97751636e-01 1.53240659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.07, Y:93.30, Z:15.33 [[ 6.16071853e-01 -7.86573628e-01 -4.19213671e-02 2.00068178e+02] [ 7.84833913e-01 6.17496119e-01 -5.22902634e-02 9.32998021e+01] [ 6.70164237e-02 -6.86751167e-04 9.97751636e-01 1.53253370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.11, Y:93.34, Z:15.34 [[ 6.16584787e-01 -7.86172066e-01 -4.19128082e-02 2.00105820e+02] [ 7.84430957e-01 6.18007349e-01 -5.22971229e-02 9.33440765e+01] [ 6.70169606e-02 -6.32093868e-04 9.97751636e-01 1.53361194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.14, Y:93.39, Z:15.33 [[ 6.16427579e-01 -7.86296038e-01 -4.18996399e-02 2.00141637e+02] [ 7.84554499e-01 6.17849614e-01 -5.23076710e-02 9.33905723e+01] [ 6.70169908e-02 -6.28659975e-04 9.97751636e-01 1.53345633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.18, Y:93.44, Z:15.34 [[ 6.19786400e-01 -7.83651636e-01 -4.18918972e-02 2.00179080e+02] [ 7.81903610e-01 6.21200453e-01 -5.23138712e-02 9.34357483e+01] [ 6.70191163e-02 -3.31999746e-04 9.97751636e-01 1.53354359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.22, Y:93.48, Z:15.34 [[ 6.23254804e-01 -7.80896771e-01 -4.18770023e-02 2.00215761e+02] [ 7.79141693e-01 6.24660094e-01 -5.23257918e-02 9.34801888e+01] [ 6.70199340e-02 -1.58173833e-05 9.97751637e-01 1.53362025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.25, Y:93.52, Z:15.34 [[ 6.27121218e-01 -7.77795770e-01 -4.18654797e-02 2.00253639e+02] [ 7.76033128e-01 6.28517009e-01 -5.23350093e-02 9.35248506e+01] [ 6.70191149e-02 3.31395668e-04 9.97751637e-01 1.53382513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.29, Y:93.57, Z:15.34 [[ 6.31487965e-01 -7.74255336e-01 -4.18524241e-02 2.00293770e+02] [ 7.72484178e-01 6.32872933e-01 -5.23454478e-02 9.35676491e+01] [ 6.70160087e-02 7.25184852e-04 9.97751637e-01 1.53421236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.33, Y:93.61, Z:15.35 [[ 6.32673519e-01 -7.73287594e-01 -4.18391680e-02 2.00333274e+02] [ 7.71513617e-01 6.34054874e-01 -5.23560412e-02 9.36107150e+01] [ 6.70146055e-02 8.44792965e-04 9.97751637e-01 1.53475540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.38, Y:93.65, Z:15.35 [[ 6.33379223e-01 -7.72710503e-01 -4.18238963e-02 2.00375459e+02] [ 7.70934463e-01 6.34757923e-01 -5.23682379e-02 9.36517714e+01] [ 6.70135370e-02 9.25470822e-04 9.97751637e-01 1.53543072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.42, Y:93.69, Z:15.36 [[ 6.33488767e-01 -7.72621411e-01 -4.18107341e-02 2.00415566e+02] [ 7.70844483e-01 6.34866324e-01 -5.23787445e-02 9.36934235e+01] [ 6.70131665e-02 9.51772563e-04 9.97751637e-01 1.53599890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.46, Y:93.73, Z:15.37 [[ 6.35130024e-01 -7.71273601e-01 -4.17957586e-02 2.00456291e+02] [ 7.69492964e-01 6.36502784e-01 -5.23906916e-02 9.37345527e+01] [ 6.70106740e-02 1.11335906e-03 9.97751637e-01 1.53654271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.50, Y:93.78, Z:15.37 [[ 6.36747131e-01 -7.69939920e-01 -4.17805096e-02 2.00495431e+02] [ 7.68155611e-01 6.38115113e-01 -5.24028495e-02 9.37780852e+01] [ 6.70078204e-02 1.27343117e-03 9.97751638e-01 1.53690465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.54, Y:93.82, Z:15.37 [[ 6.35356861e-01 -7.71088300e-01 -4.17671126e-02 2.00536852e+02] [ 7.69305763e-01 6.36727151e-01 -5.24135252e-02 9.38207412e+01] [ 6.70097107e-02 1.16961242e-03 9.97751638e-01 1.53709098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:93.86, Z:15.37 [[ 6.32342895e-01 -7.73562592e-01 -4.17537963e-02 2.00576436e+02] [ 7.71784717e-01 6.33719229e-01 -5.24241312e-02 9.38639840e+01] [ 6.70135304e-02 9.25085008e-04 9.97751638e-01 1.53736860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:93.91, Z:15.38 [[ 6.28644367e-01 -7.76572020e-01 -4.17391639e-02 2.00613900e+02] [ 7.74799962e-01 6.30028181e-01 -5.24357786e-02 9.39080830e+01] [ 6.70170081e-02 6.23954241e-04 9.97751638e-01 1.53791198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.65, Y:93.95, Z:15.38 [[ 6.25987764e-01 -7.78715845e-01 -4.17247158e-02 2.00649319e+02] [ 7.76947760e-01 6.27376651e-01 -5.24472730e-02 9.39546413e+01] [ 6.70186349e-02 4.13426657e-04 9.97751638e-01 1.53848586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.68, Y:94.00, Z:15.39 [[ 6.22117985e-01 -7.81811592e-01 -4.17114794e-02 2.00684517e+02] [ 7.80049713e-01 6.23514735e-01 -5.24577978e-02 9.40004382e+01] [ 6.70198364e-02 9.79119251e-05 9.97751638e-01 1.53895998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.72, Y:94.05, Z:15.39 [[ 6.19516366e-01 -7.83875109e-01 -4.17047520e-02 2.00720981e+02] [ 7.82117522e-01 6.20918513e-01 -5.24631456e-02 9.40459493e+01] [ 6.70198066e-02 -1.16239986e-04 9.97751638e-01 1.53948724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.76, Y:94.09, Z:15.40 [[ 6.10517714e-01 -7.90904581e-01 -4.16901013e-02 2.00758984e+02] [ 7.89162340e-01 6.11938884e-01 -5.24747853e-02 9.40889609e+01] [ 6.70143422e-02 -8.63472011e-04 9.97751639e-01 1.54000725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:94.14, Z:15.40 [[ 5.99381635e-01 -7.99377514e-01 -4.16802747e-02 2.00791067e+02] [ 7.97654806e-01 6.00826421e-01 -5.24825893e-02 9.41391803e+01] [ 6.69960121e-02 -1.78937125e-03 9.97751639e-01 1.54011797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.83, Y:94.19, Z:15.40 [[ 5.92602629e-01 -8.04416589e-01 -4.16662353e-02 2.00825148e+02] [ 8.02705377e-01 5.94061012e-01 -5.24937330e-02 9.41868824e+01] [ 6.69791155e-02 -2.33778693e-03 9.97751639e-01 1.54037600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.86, Y:94.23, Z:15.41 [[ 5.89749690e-01 -8.06511351e-01 -4.16502573e-02 2.00862747e+02] [ 8.04804425e-01 5.91213087e-01 -5.25064074e-02 9.42301874e+01] [ 6.69711908e-02 -2.55467394e-03 9.97751639e-01 1.54107902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73999999999998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:200.89, Y:94.28, Z:15.40 [[ 5.78593533e-01 -8.14552139e-01 -4.16453718e-02 2.00891707e+02] [ 8.12865240e-01 5.80079971e-01 -5.25102821e-02 9.42825206e+01] [ 6.69300086e-02 -3.46996550e-03 9.97751639e-01 1.54039691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.93, Y:94.32, Z:15.42 [[ 5.85898386e-01 -8.09314002e-01 -4.16404607e-02 2.00930673e+02] [ 8.07613523e-01 5.87369270e-01 -5.25141762e-02 9.43247606e+01] [ 6.69587851e-02 -2.86142803e-03 9.97751639e-01 1.54177138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:94.38, Z:15.42 [[ 5.87996978e-01 -8.07790830e-01 -4.16356562e-02 2.00961733e+02] [ 8.06086272e-01 5.89463132e-01 -5.25179852e-02 9.43759967e+01] [ 6.69662312e-02 -2.68151432e-03 9.97751639e-01 1.54169590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:94.42, Z:15.43 [[ 6.03238767e-01 -7.96473865e-01 -4.16217658e-02 2.00995825e+02] [ 7.94741001e-01 6.04671355e-01 -5.25289914e-02 9.44226174e+01] [ 6.70054583e-02 -1.39099978e-03 9.97751639e-01 1.54268086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.03, Y:94.47, Z:15.43 [[ 6.12371413e-01 -7.89474056e-01 -4.16169084e-02 2.01028230e+02] [ 7.87724547e-01 6.13783626e-01 -5.25328395e-02 9.44705680e+01] [ 6.70170908e-02 -6.13051140e-04 9.97751639e-01 1.54305083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.06, Y:94.52, Z:15.43 [[ 6.24952509e-01 -7.79553489e-01 -4.16019259e-02 2.01060311e+02] [ 7.77780770e-01 6.26335475e-01 -5.25447018e-02 9.45192042e+01] [ 6.70181676e-02 4.80765225e-04 9.97751639e-01 1.54337119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.09, Y:94.57, Z:15.43 [[ 6.28310203e-01 -7.76850583e-01 -4.15867753e-02 2.01093128e+02] [ 7.75071123e-01 6.29684483e-01 -5.25566900e-02 9.45688620e+01] [ 6.70152424e-02 7.89195933e-04 9.97751640e-01 1.54334108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.13, Y:94.61, Z:15.44 [[ 6.35843171e-01 -7.70697840e-01 -4.15728513e-02 2.01130791e+02] [ 7.68904368e-01 6.37199113e-01 -5.25677018e-02 9.46124136e+01] [ 6.70039982e-02 1.45926722e-03 9.97751640e-01 1.54420639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.17, Y:94.66, Z:15.45 [[ 6.37491288e-01 -7.69335403e-01 -4.15679601e-02 2.01167069e+02] [ 7.67538782e-01 6.38843055e-01 -5.25715692e-02 9.46577889e+01] [ 6.70005720e-02 1.60889593e-03 9.97751640e-01 1.54454280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:94.70, Z:15.45 [[ 6.35583688e-01 -7.70912933e-01 -4.15526836e-02 2.01202863e+02] [ 7.69118879e-01 6.36938860e-01 -5.25836411e-02 9.47047923e+01] [ 6.70039279e-02 1.46235110e-03 9.97751640e-01 1.54459341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.24, Y:94.75, Z:15.45 [[ 6.37338700e-01 -7.69463394e-01 -4.15387323e-02 2.01243034e+02] [ 7.67665541e-01 6.38688828e-01 -5.25946597e-02 9.47463910e+01] [ 6.69999896e-02 1.63275866e-03 9.97751640e-01 1.54516340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.28, Y:94.79, Z:15.46 [[ 6.35464062e-01 -7.71012558e-01 -4.15338593e-02 2.01281912e+02] [ 7.69217746e-01 6.36818229e-01 -5.25985076e-02 9.47892229e+01] [ 6.70036286e-02 1.47587966e-03 9.97751640e-01 1.54551461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.32, Y:94.83, Z:15.46 [[ 6.32061750e-01 -7.73804960e-01 -4.15189974e-02 2.01323011e+02] [ 7.72015362e-01 6.33422801e-01 -5.26102363e-02 9.48314291e+01] [ 6.70091414e-02 1.19961432e-03 9.97751640e-01 1.54577665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.36, Y:94.87, Z:15.46 [[ 6.27914945e-01 -7.77174421e-01 -4.15059265e-02 2.01363827e+02] [ 7.75391446e-01 6.29284660e-01 -5.26205464e-02 9.48725830e+01] [ 6.70143855e-02 8.57887140e-04 9.97751641e-01 1.54621135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:94.92, Z:15.47 [[ 6.24464337e-01 -7.79950520e-01 -4.14907123e-02 2.01403544e+02] [ 7.78172838e-01 6.25840914e-01 -5.26325399e-02 9.49156168e+01] [ 6.70173622e-02 5.80198796e-04 9.97751641e-01 1.54664808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.44, Y:94.96, Z:15.47 [[ 6.21045132e-01 -7.82676629e-01 -4.14757549e-02 2.01442677e+02] [ 7.80904203e-01 6.22428470e-01 -5.26443241e-02 9.49580087e+01] [ 6.70191728e-02 3.05909842e-04 9.97751641e-01 1.54706613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.48, Y:95.01, Z:15.47 [[ 6.12956367e-01 -7.89027756e-01 -4.14691700e-02 2.01478486e+02] [ 7.87269312e-01 6.14357436e-01 -5.26495106e-02 9.50050768e+01] [ 6.70188182e-02 -3.75552223e-04 9.97751641e-01 1.54724161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.52, Y:95.05, Z:15.48 [[ 6.15305704e-01 -7.87197726e-01 -4.14563749e-02 2.01519813e+02] [ 7.85434436e-01 6.16700669e-01 -5.26595836e-02 9.50452177e+01] [ 6.70196786e-02 -1.59522282e-04 9.97751641e-01 1.54833567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.55, Y:95.09, Z:15.49 [[ 6.16114685e-01 -7.86565213e-01 -4.14470738e-02 2.01554610e+02] [ 7.84799999e-01 6.17507214e-01 -5.26669032e-02 9.50914478e+01] [ 6.70198211e-02 -7.88109823e-05 9.97751641e-01 1.54890998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.59, Y:95.14, Z:15.48 [[ 6.13224466e-01 -7.88821333e-01 -4.14325926e-02 2.01585457e+02] [ 7.87060472e-01 6.14622495e-01 -5.26782930e-02 9.51429366e+01] [ 6.70191648e-02 -3.06337831e-04 9.97751641e-01 1.54849433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.63, Y:95.18, Z:15.49 [[ 6.20539320e-01 -7.83080754e-01 -4.14184217e-02 2.01625477e+02] [ 7.81306216e-01 6.21919947e-01 -5.26894326e-02 9.51845699e+01] [ 6.70190232e-02 3.35394308e-04 9.97751641e-01 1.54940678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.66, Y:95.23, Z:15.50 [[ 6.24669633e-01 -7.79790213e-01 -4.14134392e-02 2.01660119e+02] [ 7.78008144e-01 6.26040526e-01 -5.26933485e-02 9.52315566e+01] [ 6.70162487e-02 6.95941722e-04 9.97751641e-01 1.54972260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.69, Y:95.28, Z:15.50 [[ 6.26719313e-01 -7.78144629e-01 -4.13985277e-02 2.01694627e+02] [ 7.76358187e-01 6.28084502e-01 -5.27050612e-02 9.52783688e+01] [ 6.70139339e-02 8.91193824e-04 9.97751642e-01 1.55014140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.73, Y:95.32, Z:15.51 [[ 6.28191521e-01 -7.76957424e-01 -4.13832719e-02 2.01728741e+02] [ 7.75167613e-01 6.29552290e-01 -5.27170371e-02 9.53235699e+01] [ 6.70118269e-02 1.03742361e-03 9.97751642e-01 1.55066138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.76, Y:95.37, Z:15.51 [[ 6.27511935e-01 -7.77506760e-01 -4.13764415e-02 2.01764682e+02] [ 7.75717787e-01 6.28873806e-01 -5.27223976e-02 9.53692354e+01] [ 6.70125807e-02 9.87492078e-04 9.97751642e-01 1.55113013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.80, Y:95.41, Z:15.52 [[ 6.25733366e-01 -7.78939624e-01 -4.13620221e-02 2.01801742e+02] [ 7.77153022e-01 6.27098346e-01 -5.27337075e-02 9.54137373e+01] [ 6.70144300e-02 8.52619872e-04 9.97751642e-01 1.55162723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.84, Y:95.46, Z:15.52 [[ 6.25077966e-01 -7.79466472e-01 -4.13467790e-02 2.01838376e+02] [ 7.77680231e-01 6.26443417e-01 -5.27456564e-02 9.54581931e+01] [ 6.70148882e-02 8.15574984e-04 9.97751642e-01 1.55208824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.87, Y:95.50, Z:15.52 [[ 6.24737578e-01 -7.79740134e-01 -4.13313723e-02 2.01873447e+02] [ 7.77953693e-01 6.26102767e-01 -5.27577263e-02 9.55026185e+01] [ 6.70150032e-02 8.05840440e-04 9.97751642e-01 1.55238876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.91, Y:95.55, Z:15.53 [[ 6.24134562e-01 -7.80223444e-01 -4.13210084e-02 2.01909044e+02] [ 7.78437523e-01 6.25500430e-01 -5.27658424e-02 9.55483215e+01] [ 6.70154558e-02 7.67162497e-04 9.97751643e-01 1.55270610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.95, Y:95.59, Z:15.53 [[ 6.23468835e-01 -7.80756318e-01 -4.13059762e-02 2.01945065e+02] [ 7.78970785e-01 6.24835211e-01 -5.27776072e-02 9.55935626e+01] [ 6.70158786e-02 7.29044634e-04 9.97751643e-01 1.55294780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:95.64, Z:15.53 [[ 6.19151024e-01 -7.84185621e-01 -4.12906955e-02 2.01981784e+02] [ 7.82406859e-01 6.20526203e-01 -5.27895594e-02 9.56395258e+01] [ 6.70187719e-02 3.78586361e-04 9.97751643e-01 1.55313551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.02, Y:95.68, Z:15.53 [[ 6.14814058e-01 -7.87591202e-01 -4.12767895e-02 2.02019871e+02] [ 7.85819328e-01 6.16198100e-01 -5.28004305e-02 9.56837556e+01] [ 6.70198337e-02 2.63479554e-05 9.97751643e-01 1.55343422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.05, Y:95.74, Z:15.53 [[ 6.06963588e-01 -7.93657775e-01 -4.12618246e-02 2.02049918e+02] [ 7.91898938e-01 6.08364160e-01 -5.28121225e-02 9.57353403e+01] [ 6.70169669e-02 -6.20159673e-04 9.97751643e-01 1.55269989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.09, Y:95.78, Z:15.54 [[ 6.10575408e-01 -7.90882923e-01 -4.12537537e-02 2.02091202e+02] [ 7.89117295e-01 6.11967408e-01 -5.28184263e-02 9.57751915e+01] [ 6.70191441e-02 -3.04418316e-04 9.97751643e-01 1.55416897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.13, Y:95.82, Z:15.55 [[ 6.09589005e-01 -7.91643881e-01 -4.12457210e-02 2.02127353e+02] [ 7.89879566e-01 6.10982669e-01 -5.28246982e-02 9.58218041e+01] [ 6.70187698e-02 -3.77797038e-04 9.97751643e-01 1.55484872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.16, Y:95.87, Z:15.55 [[ 6.09461285e-01 -7.91742897e-01 -4.12326028e-02 2.02162696e+02] [ 7.89978115e-01 6.10854358e-01 -5.28349357e-02 9.58664254e+01] [ 6.70188002e-02 -3.72006046e-04 9.97751643e-01 1.55539960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.20, Y:95.91, Z:15.56 [[ 6.09702211e-01 -7.91558070e-01 -4.12193754e-02 2.02197353e+02] [ 7.89792168e-01 6.11093864e-01 -5.28452531e-02 9.59132312e+01] [ 6.70189939e-02 -3.34872218e-04 9.97751644e-01 1.55576819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.23, Y:95.97, Z:15.56 [[ 6.06848947e-01 -7.93748412e-01 -4.12045420e-02 2.02226203e+02] [ 7.91986748e-01 6.08245960e-01 -5.28568165e-02 9.59653988e+01] [ 6.70175104e-02 -5.57347797e-04 9.97751644e-01 1.55552169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.27, Y:96.01, Z:15.56 [[ 6.12510648e-01 -7.89388407e-01 -4.11903957e-02 2.02265448e+02] [ 7.87616057e-01 6.13894078e-01 -5.28678382e-02 9.60074471e+01] [ 6.70197986e-02 -6.01031761e-05 9.97751644e-01 1.55638846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.30, Y:96.05, Z:15.57 [[ 6.13689057e-01 -7.88472891e-01 -4.11854604e-02 2.02299580e+02] [ 7.86698219e-01 6.15069507e-01 -5.28716827e-02 9.60536515e+01] [ 6.70198093e-02 4.62447438e-05 9.97751644e-01 1.55690734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.33, Y:96.10, Z:15.57 [[ 6.14304792e-01 -7.87994058e-01 -4.11702194e-02 2.02334303e+02] [ 7.86217514e-01 6.15682833e-01 -5.28835479e-02 9.61002705e+01] [ 6.70197188e-02 1.17869297e-04 9.97751644e-01 1.55729990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.37, Y:96.15, Z:15.58 [[ 6.14806542e-01 -7.87603435e-01 -4.11551370e-02 2.02369388e+02] [ 7.85825230e-01 6.16182439e-01 -5.28952828e-02 9.61470134e+01] [ 6.70195790e-02 1.79620924e-04 9.97751644e-01 1.55794477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.40, Y:96.20, Z:15.58 [[ 6.11090576e-01 -7.90490856e-01 -4.11401800e-02 2.02400743e+02] [ 7.88718369e-01 6.12473831e-01 -5.29069132e-02 9.61969567e+01] [ 6.70197148e-02 -1.17099592e-04 9.97751645e-01 1.55796295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.44, Y:96.24, Z:15.59 [[ 6.12218326e-01 -7.89618502e-01 -4.11259373e-02 2.02435220e+02] [ 7.87843300e-01 6.13598095e-01 -5.29179822e-02 9.62423884e+01] [ 6.70198146e-02 -3.43561809e-06 9.97751645e-01 1.55854714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.47, Y:96.29, Z:15.59 [[ 6.14438553e-01 -7.87892538e-01 -4.11170591e-02 2.02469933e+02] [ 7.86112999e-01 6.15812723e-01 -5.29248796e-02 9.62898258e+01] [ 6.70195259e-02 1.96431812e-04 9.97751645e-01 1.55922766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44 meters Centerline goodness : 0.997755 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:96.33, Z:15.59 [[ 6.18077237e-01 -7.85042113e-01 -4.11024364e-02 2.02505656e+02] [ 7.83255482e-01 6.19442173e-01 -5.29362334e-02 9.63347567e+01] [ 6.70177551e-02 5.24972282e-04 9.97751645e-01 1.55914533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.54, Y:96.38, Z:15.60 [[ 6.19061434e-01 -7.84267016e-01 -4.10875746e-02 2.02540007e+02] [ 7.82477911e-01 6.20423124e-01 -5.29477663e-02 9.63816805e+01] [ 6.70168681e-02 6.27800562e-04 9.97751645e-01 1.55970437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.57, Y:96.43, Z:15.60 [[ 6.20365253e-01 -7.83237054e-01 -4.10690982e-02 2.02574867e+02] [ 7.81444739e-01 6.21722716e-01 -5.29620936e-02 9.64279398e+01] [ 6.70154655e-02 7.62611838e-04 9.97751645e-01 1.55996486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.61, Y:96.47, Z:15.60 [[ 6.20718206e-01 -7.82958156e-01 -4.10540547e-02 2.02611144e+02] [ 7.81164461e-01 6.22073844e-01 -5.29737522e-02 9.64737825e+01] [ 6.70148850e-02 8.11803893e-04 9.97751646e-01 1.56034659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:96.52, Z:15.60 [[ 6.17148207e-01 -7.85775977e-01 -4.10390560e-02 2.02644474e+02] [ 7.83987700e-01 6.18510984e-01 -5.29853693e-02 9.65224684e+01] [ 6.70177372e-02 5.25710611e-04 9.97751646e-01 1.56026878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.68, Y:96.57, Z:15.61 [[ 6.18571800e-01 -7.84656544e-01 -4.10248130e-02 2.02682479e+02] [ 7.82865070e-01 6.19930371e-01 -5.29963949e-02 9.65662174e+01] [ 6.70164956e-02 6.65182356e-04 9.97751646e-01 1.56080154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.72, Y:96.61, Z:15.62 [[ 6.22538367e-01 -7.81514096e-01 -4.10085298e-02 2.02721406e+02] [ 7.79714935e-01 6.23886742e-01 -5.30089918e-02 9.66085413e+01] [ 6.70119524e-02 1.02516806e-03 9.97751646e-01 1.56174918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.76, Y:96.65, Z:15.62 [[ 6.25138480e-01 -7.79436073e-01 -4.10035342e-02 2.02757816e+02] [ 7.77632177e-01 6.26480514e-01 -5.30128557e-02 9.66537925e+01] [ 6.70080473e-02 1.25470841e-03 9.97751646e-01 1.56218281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.79, Y:96.70, Z:15.62 [[ 6.25787253e-01 -7.78916092e-01 -4.09882278e-02 2.02793417e+02] [ 7.77110307e-01 6.27126744e-01 -5.30246877e-02 9.66997133e+01] [ 6.70065963e-02 1.32979937e-03 9.97751646e-01 1.56247197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.83, Y:96.75, Z:15.63 [[ 6.24029156e-01 -7.80326094e-01 -4.09731665e-02 2.02826856e+02] [ 7.78522572e-01 6.25371692e-01 -5.30363233e-02 9.67482198e+01] [ 6.70090854e-02 1.19767708e-03 9.97751646e-01 1.56264914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.86, Y:96.80, Z:15.62 [[ 6.21999611e-01 -7.81945598e-01 -4.09580846e-02 2.02860724e+02] [ 7.80144806e-01 6.23345806e-01 -5.30479680e-02 9.67964852e+01] [ 6.70116753e-02 1.04257851e-03 9.97751647e-01 1.56237892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.90, Y:96.84, Z:15.63 [[ 6.23096519e-01 -7.81072552e-01 -4.09438142e-02 2.02897819e+02] [ 7.79269151e-01 6.24439216e-01 -5.30589799e-02 9.68405538e+01] [ 6.70098361e-02 1.15461431e-03 9.97751647e-01 1.56294680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.94, Y:96.88, Z:15.64 [[ 6.25997069e-01 -7.78750668e-01 -4.09275745e-02 2.02936834e+02] [ 7.76941470e-01 6.27331944e-01 -5.30715037e-02 9.68824610e+01] [ 6.70046438e-02 1.42427587e-03 9.97751647e-01 1.56424970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.97, Y:96.93, Z:15.64 [[ 6.27670334e-01 -7.77403283e-01 -4.09156191e-02 2.02974878e+02] [ 7.75590619e-01 6.29000500e-01 -5.30807191e-02 9.69277662e+01] [ 6.70010701e-02 1.58342238e-03 9.97751647e-01 1.56424645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.01, Y:96.97, Z:15.65 [[ 6.27345653e-01 -7.77666007e-01 -4.09024757e-02 2.03010862e+02] [ 7.75853241e-01 6.28675679e-01 -5.30908451e-02 9.69733223e+01] [ 6.70013372e-02 1.57199250e-03 9.97751647e-01 1.56486264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.05, Y:97.02, Z:15.65 [[ 6.26642348e-01 -7.78233657e-01 -4.08869625e-02 2.03046753e+02] [ 7.76421317e-01 6.27972955e-01 -5.31027896e-02 9.70183564e+01] [ 6.70022848e-02 1.53094749e-03 9.97751647e-01 1.56532269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.08, Y:97.07, Z:15.66 [[ 6.22066111e-01 -7.81897216e-01 -4.08717102e-02 2.03078865e+02] [ 7.80091945e-01 6.23406292e-01 -5.31145264e-02 9.70679416e+01] [ 6.70097816e-02 1.15705501e-03 9.97751648e-01 1.56573029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.12, Y:97.11, Z:15.66 [[ 6.23641902e-01 -7.80641691e-01 -4.08574219e-02 2.03119512e+02] [ 7.78833002e-01 6.24977467e-01 -5.31255151e-02 9.71092252e+01] [ 6.70069600e-02 1.31018867e-03 9.97751648e-01 1.56628506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.16, Y:97.16, Z:15.67 [[ 6.23335212e-01 -7.80886862e-01 -4.08524320e-02 2.03155297e+02] [ 7.79078448e-01 6.24671148e-01 -5.31293520e-02 9.71553332e+01] [ 6.70073486e-02 1.29014659e-03 9.97751648e-01 1.56670936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.19, Y:97.20, Z:15.67 [[ 6.24028074e-01 -7.80334100e-01 -4.08369404e-02 2.03188990e+02] [ 7.78523724e-01 6.25361350e-01 -5.31412566e-02 9.72013287e+01] [ 6.70057789e-02 1.36910911e-03 9.97751648e-01 1.56696776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.22, Y:97.25, Z:15.67 [[ 6.25083233e-01 -7.79489768e-01 -4.08246712e-02 2.03223193e+02] [ 7.77676977e-01 6.26413223e-01 -5.31506806e-02 9.72488952e+01] [ 6.70035255e-02 1.47519238e-03 9.97751648e-01 1.56734093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.25, Y:97.30, Z:15.68 [[ 6.24556441e-01 -7.79912717e-01 -4.08093891e-02 2.03254359e+02] [ 7.78100061e-01 6.25886614e-01 -5.31624116e-02 9.72971064e+01] [ 6.70040913e-02 1.44913843e-03 9.97751648e-01 1.56785653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.29, Y:97.34, Z:15.68 [[ 6.25892603e-01 -7.78841456e-01 -4.07975116e-02 2.03291722e+02] [ 7.77025930e-01 6.27218856e-01 -5.31715250e-02 9.73422601e+01] [ 6.70011565e-02 1.57893976e-03 9.97751648e-01 1.56811366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.33, Y:97.39, Z:15.68 [[ 6.25448998e-01 -7.79198523e-01 -4.07825045e-02 2.03326486e+02] [ 7.77383005e-01 6.26775262e-01 -5.31830330e-02 9.73886614e+01] [ 6.70016057e-02 1.55964887e-03 9.97751649e-01 1.56843498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.36, Y:97.43, Z:15.69 [[ 6.24587213e-01 -7.79889839e-01 -4.07756330e-02 2.03361156e+02] [ 7.78075445e-01 6.25915015e-01 -5.31883009e-02 9.74343767e+01] [ 6.70030964e-02 1.49421384e-03 9.97751649e-01 1.56905520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.40, Y:97.48, Z:15.69 [[ 6.24878328e-01 -7.79657425e-01 -4.07599743e-02 2.03395948e+02] [ 7.77841755e-01 6.26204385e-01 -5.32002980e-02 9.74800338e+01] [ 6.70020820e-02 1.53890328e-03 9.97751649e-01 1.56947160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.43, Y:97.53, Z:15.70 [[ 6.25015548e-01 -7.79548123e-01 -4.07466414e-02 2.03430591e+02] [ 7.77731557e-01 6.26340377e-01 -5.32105078e-02 9.75261181e+01] [ 6.70014182e-02 1.56744586e-03 9.97751649e-01 1.56990389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.46, Y:97.58, Z:15.69 [[ 6.18881113e-01 -7.84427887e-01 -4.07315346e-02 2.03459450e+02] [ 7.82621011e-01 6.20219126e-01 -5.32220693e-02 9.75784866e+01] [ 6.70113522e-02 1.06077865e-03 9.97751649e-01 1.56922885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.50, Y:97.62, Z:15.71 [[ 6.23701726e-01 -7.80600900e-01 -4.07233454e-02 2.03500852e+02] [ 7.78785408e-01 6.25028025e-01 -5.32283346e-02 9.76184318e+01] [ 6.70033181e-02 1.48385696e-03 9.97751649e-01 1.57067640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.53, Y:97.67, Z:15.70 [[ 6.17079080e-01 -7.85847451e-01 -4.07086330e-02 2.03531093e+02] [ 7.84042498e-01 6.18419686e-01 -5.32395842e-02 9.76696251e+01] [ 6.70132115e-02 9.35735312e-04 9.97751649e-01 1.56982209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:97.71, Z:15.71 [[ 6.20775708e-01 -7.82931393e-01 -4.06934120e-02 2.03571777e+02] [ 7.81119382e-01 6.22106759e-01 -5.32512157e-02 9.77096167e+01] [ 6.70076952e-02 1.27064837e-03 9.97751650e-01 1.57128355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.61, Y:97.75, Z:15.72 [[ 6.18817857e-01 -7.84480118e-01 -4.06866716e-02 2.03607447e+02] [ 7.82671100e-01 6.20152972e-01 -5.32563653e-02 9.77544458e+01] [ 6.70105200e-02 1.11170784e-03 9.97751650e-01 1.57164208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.64, Y:97.80, Z:15.72 [[ 6.15245709e-01 -7.87285474e-01 -4.06730769e-02 2.03643059e+02] [ 7.85481859e-01 6.16588114e-01 -5.32667458e-02 9.78003947e+01] [ 6.70146710e-02 8.24172750e-04 9.97751650e-01 1.57224635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.68, Y:97.85, Z:15.73 [[ 6.11428222e-01 -7.90254303e-01 -4.06652936e-02 2.03679216e+02] [ 7.88456811e-01 6.12778816e-01 -5.32726871e-02 9.78461858e+01] [ 6.70178007e-02 5.09596636e-04 9.97751650e-01 1.57283012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.71, Y:97.89, Z:15.73 [[ 6.08623486e-01 -7.92417111e-01 -4.06518798e-02 2.03714766e+02] [ 7.90623736e-01 6.09979540e-01 -5.32829211e-02 9.78924341e+01] [ 6.70191134e-02 2.88896109e-04 9.97751650e-01 1.57323368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.75, Y:97.94, Z:15.74 [[ 6.06210103e-01 -7.94265667e-01 -4.06369370e-02 2.03749976e+02] [ 7.92475664e-01 6.07570604e-01 -5.32943151e-02 9.79380886e+01] [ 6.70196531e-02 1.03768625e-04 9.97751650e-01 1.57359776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.78, Y:97.98, Z:15.74 [[ 6.03449239e-01 -7.96366051e-01 -4.06217618e-02 2.03784740e+02] [ 7.94580004e-01 6.04814930e-01 -5.33058793e-02 9.79840451e+01] [ 6.70196407e-02 -1.09847387e-04 9.97751650e-01 1.57389161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.82, Y:98.03, Z:15.74 [[ 6.02580347e-01 -7.97024495e-01 -4.06064092e-02 2.03820338e+02] [ 7.95239152e-01 6.03946958e-01 -5.33175718e-02 9.80301492e+01] [ 6.70195280e-02 -1.63685493e-04 9.97751650e-01 1.57426376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.86, Y:98.08, Z:15.75 [[ 6.03234493e-01 -7.96530290e-01 -4.05911785e-02 2.03857303e+02] [ 7.94743047e-01 6.04598619e-01 -5.33291645e-02 9.80754513e+01] [ 6.70196654e-02 -8.95653582e-05 9.97751651e-01 1.57459502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:98.12, Z:15.75 [[ 6.05399466e-01 -7.94886832e-01 -4.05759889e-02 2.03893316e+02] [ 7.93095112e-01 6.06757704e-01 -5.33407193e-02 9.81214574e+01] [ 6.70196292e-02 1.11824532e-04 9.97751651e-01 1.57500074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.93, Y:98.17, Z:15.75 [[ 6.08084108e-01 -7.92835764e-01 -4.05606891e-02 2.03928018e+02] [ 7.91038686e-01 6.09435250e-01 -5.33523508e-02 9.81674810e+01] [ 6.70187655e-02 3.57642380e-04 9.97751651e-01 1.57545629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.96, Y:98.21, Z:15.76 [[ 6.12353123e-01 -7.89543716e-01 -4.05508710e-02 2.03962617e+02] [ 7.87738881e-01 6.13693885e-01 -5.33598121e-02 9.82137350e+01] [ 6.70157259e-02 7.31549828e-04 9.97751651e-01 1.57594676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.00, Y:98.26, Z:15.76 [[ 6.16447653e-01 -7.86351776e-01 -4.05361012e-02 2.03997550e+02] [ 7.84539263e-01 6.17778017e-01 -5.33710300e-02 9.82597007e+01] [ 6.70107164e-02 1.09828327e-03 9.97751651e-01 1.57640754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.03, Y:98.31, Z:15.77 [[ 6.18611793e-01 -7.84651201e-01 -4.05208760e-02 2.04031895e+02] [ 7.82834275e-01 6.19936123e-01 -5.33825869e-02 9.83064354e+01] [ 6.70070657e-02 1.30196723e-03 9.97751651e-01 1.57684794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:98.35, Z:15.77 [[ 6.21096893e-01 -7.82686384e-01 -4.05052300e-02 2.04066150e+02] [ 7.80864496e-01 6.22414388e-01 -5.33944560e-02 9.83536273e+01] [ 6.70021517e-02 1.53403467e-03 9.97751652e-01 1.57714630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.10, Y:98.40, Z:15.77 [[ 6.23119817e-01 -7.81077644e-01 -4.04896024e-02 2.04099559e+02] [ 7.79251587e-01 6.24431527e-01 -5.34063040e-02 9.84005238e+01] [ 6.69974544e-02 1.72693944e-03 9.97751652e-01 1.57727873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.13, Y:98.45, Z:15.77 [[ 6.19066791e-01 -7.84294551e-01 -4.04767266e-02 2.04130623e+02] [ 7.82474674e-01 6.20387064e-01 -5.34160609e-02 9.84512635e+01] [ 6.70051630e-02 1.39609596e-03 9.97751652e-01 1.57718157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.17, Y:98.50, Z:15.78 [[ 6.17270722e-01 -7.85709615e-01 -4.04630358e-02 2.04166027e+02] [ 7.83892086e-01 6.18594224e-01 -5.34264297e-02 9.84968904e+01] [ 6.70078597e-02 1.25991735e-03 9.97751652e-01 1.57762597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.21, Y:98.54, Z:15.79 [[ 6.17512789e-01 -7.85520207e-01 -4.04470107e-02 2.04208399e+02] [ 7.83701478e-01 6.18834641e-01 -5.34385589e-02 9.85372072e+01] [ 6.70070792e-02 1.30061143e-03 9.97751652e-01 1.57859608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.25, Y:98.58, Z:15.79 [[ 6.13521491e-01 -7.88641755e-01 -4.04420948e-02 2.04245775e+02] [ 7.86829508e-01 6.14852216e-01 -5.34422790e-02 9.85817319e+01] [ 6.70127243e-02 9.66953146e-04 9.97751652e-01 1.57913724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.28, Y:98.63, Z:15.79 [[ 6.00067940e-01 -7.98926879e-01 -4.04265869e-02 2.04277334e+02] [ 7.97136657e-01 6.01428150e-01 -5.34540075e-02 9.86316572e+01] [ 6.70195307e-02 -1.49478156e-04 9.97751653e-01 1.57891590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.32, Y:98.67, Z:15.80 [[ 5.98647162e-01 -7.99992758e-01 -4.04124082e-02 2.04318971e+02] [ 7.98204234e-01 6.00009604e-01 -5.34647247e-02 9.86707737e+01] [ 6.70192256e-02 -2.50849563e-04 9.97751653e-01 1.58005251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.35, Y:98.72, Z:15.80 [[ 5.95441683e-01 -8.02382110e-01 -4.03998987e-02 2.04352610e+02] [ 8.00598411e-01 5.96810436e-01 -5.34741757e-02 9.87174741e+01] [ 6.70178031e-02 -5.03341602e-04 9.97751653e-01 1.58039252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:98.76, Z:15.81 [[ 5.91114426e-01 -8.05576083e-01 -4.03845187e-02 2.04386680e+02] [ 8.03798986e-01 5.92491738e-01 -5.34857884e-02 9.87639626e+01] [ 6.70143656e-02 -8.44814131e-04 9.97751653e-01 1.58071544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.42, Y:98.81, Z:15.81 [[ 5.83589860e-01 -8.11044514e-01 -4.03691942e-02 2.04421395e+02] [ 8.09279518e-01 5.84982645e-01 -5.34973523e-02 9.88099061e+01] [ 6.70040121e-02 -1.44944975e-03 9.97751653e-01 1.58124357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.45, Y:98.86, Z:15.82 [[ 5.78596532e-01 -8.14615020e-01 -4.03537267e-02 2.04454696e+02] [ 8.12857802e-01 5.79999119e-01 -5.35090171e-02 9.88561337e+01] [ 6.69943750e-02 -1.84170985e-03 9.97751653e-01 1.58163879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.49, Y:98.90, Z:15.82 [[ 5.74608656e-01 -8.17433527e-01 -4.03400600e-02 2.04486499e+02] [ 8.15682466e-01 5.76018921e-01 -5.35193184e-02 9.89043535e+01] [ 6.69851230e-02 -2.15201599e-03 9.97751654e-01 1.58217457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.51, Y:98.96, Z:15.81 [[ 5.66238153e-01 -8.23254690e-01 -4.03245608e-02 2.04510832e+02] [ 8.21517283e-01 5.67665206e-01 -5.35309938e-02 9.89602765e+01] [ 6.69604918e-02 -2.81603259e-03 9.97751654e-01 1.58123257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.54, Y:99.01, Z:15.82 [[ 5.70118301e-01 -8.20573177e-01 -4.03086225e-02 2.04544700e+02] [ 8.18828209e-01 5.71536098e-01 -5.35429927e-02 9.90077961e+01] [ 6.69737764e-02 -2.47999718e-03 9.97751654e-01 1.58222259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.58, Y:99.05, Z:15.83 [[ 5.73853858e-01 -8.17965835e-01 -4.02944441e-02 2.04577551e+02] [ 8.16213676e-01 5.75262758e-01 -5.35536607e-02 9.90544541e+01] [ 6.69849578e-02 -2.15690151e-03 9.97751654e-01 1.58306162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:99.10, Z:15.84 [[ 5.82705718e-01 -8.11683931e-01 -4.02894730e-02 2.04611496e+02] [ 8.09916313e-01 5.84095173e-01 -5.35574002e-02 9.90999580e+01] [ 6.70045679e-02 -1.42289811e-03 9.97751654e-01 1.58368027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.64, Y:99.15, Z:15.84 [[ 5.83220710e-01 -8.11314557e-01 -4.02777012e-02 2.04638816e+02] [ 8.09545448e-01 5.84608266e-01 -5.35662517e-02 9.91532150e+01] [ 6.70057569e-02 -1.36568236e-03 9.97751654e-01 1.58409894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.67, Y:99.21, Z:15.84 [[ 5.84630452e-01 -8.10299997e-01 -4.02634928e-02 2.04666177e+02] [ 8.08527745e-01 5.86013991e-01 -5.35769295e-02 9.92066640e+01] [ 6.70083559e-02 -1.23144650e-03 9.97751654e-01 1.58356051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.70, Y:99.26, Z:15.85 [[ 5.94184169e-01 -8.03321342e-01 -4.02491538e-02 2.04698072e+02] [ 8.01532104e-01 5.95545670e-01 -5.35876994e-02 9.92554622e+01] [ 6.70183519e-02 -4.20026306e-04 9.97751655e-01 1.58450734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.73, Y:99.30, Z:15.85 [[ 6.03253895e-01 -7.96533680e-01 -4.02347419e-02 2.04732137e+02] [ 7.94728401e-01 6.04594052e-01 -5.35985180e-02 9.93025435e+01] [ 6.70187104e-02 3.57822646e-04 9.97751655e-01 1.58519103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.76, Y:99.35, Z:15.85 [[ 6.05175425e-01 -7.95075474e-01 -4.02205726e-02 2.04763751e+02] [ 7.93266259e-01 6.06510265e-01 -5.36091486e-02 9.93510877e+01] [ 6.70175094e-02 5.37316143e-04 9.97751655e-01 1.58545242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.80, Y:99.40, Z:15.86 [[ 6.06309329e-01 -7.94211901e-01 -4.02051538e-02 2.04795537e+02] [ 7.92400018e-01 6.07640545e-01 -5.36207097e-02 9.93995299e+01] [ 6.70164873e-02 6.52171975e-04 9.97751655e-01 1.58566279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.83, Y:99.45, Z:15.86 [[ 6.06383889e-01 -7.94155749e-01 -4.01898713e-02 2.04828611e+02] [ 7.92342983e-01 6.07713903e-01 -5.36321618e-02 9.94455132e+01] [ 6.70162332e-02 6.77516333e-04 9.97751655e-01 1.58599746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.86, Y:99.49, Z:15.86 [[ 6.06278686e-01 -7.94236760e-01 -4.01761589e-02 2.04863036e+02] [ 7.92423492e-01 6.07608014e-01 -5.36424320e-02 9.94922625e+01] [ 6.70161475e-02 6.85731087e-04 9.97751655e-01 1.58639344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.90, Y:99.54, Z:15.87 [[ 6.06057850e-01 -7.94406066e-01 -4.01607477e-02 2.04897391e+02] [ 7.92592405e-01 6.07386641e-01 -5.36539674e-02 9.95386869e+01] [ 6.70161388e-02 6.86304497e-04 9.97751656e-01 1.58688544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.93, Y:99.59, Z:15.86 [[ 6.00142198e-01 -7.98885277e-01 -4.01454302e-02 2.04927198e+02] [ 7.97080768e-01 6.01483392e-01 -5.36654260e-02 9.95906499e+01] [ 6.70193283e-02 2.07736371e-04 9.97751656e-01 1.58634878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.96, Y:99.63, Z:15.87 [[ 6.00577226e-01 -7.98559017e-01 -4.01309266e-02 2.04964966e+02] [ 7.96753055e-01 6.01916462e-01 -5.36762696e-02 9.96349216e+01] [ 6.70191344e-02 2.62306679e-04 9.97751656e-01 1.58732217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.00, Y:99.68, Z:15.88 [[ 5.98435592e-01 -8.00165929e-01 -4.01164237e-02 2.04999706e+02] [ 7.98362837e-01 5.99778688e-01 -5.36871066e-02 9.96798520e+01] [ 6.70195695e-02 1.00813623e-04 9.97751656e-01 1.58773867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.04, Y:99.73, Z:15.88 [[ 5.94034575e-01 -8.03439053e-01 -4.01075037e-02 2.05035434e+02] [ 8.01642911e-01 5.95386952e-01 -5.36937695e-02 9.97258527e+01] [ 6.70191557e-02 -2.55940428e-04 9.97751656e-01 1.58819354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.07, Y:99.77, Z:15.89 [[ 5.92921905e-01 -8.04261354e-01 -4.00910172e-02 2.05072786e+02] [ 8.02466255e-01 5.94275666e-01 -5.37060765e-02 9.97699085e+01] [ 6.70188378e-02 -3.28179229e-04 9.97751656e-01 1.58894524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.11, Y:99.82, Z:15.90 [[ 5.87362018e-01 -8.08331146e-01 -4.00826445e-02 2.05108937e+02] [ 8.06545000e-01 5.88727569e-01 -5.37123247e-02 9.98157157e+01] [ 6.70151028e-02 -7.79877069e-04 9.97751656e-01 1.58954619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:99.86, Z:15.90 [[ 5.84617345e-01 -8.10319145e-01 -4.00679728e-02 2.05144499e+02] [ 8.08536892e-01 5.85987973e-01 -5.37232671e-02 9.98619666e+01] [ 6.70123421e-02 -9.88880444e-04 9.97751657e-01 1.59006281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.18, Y:99.91, Z:15.90 [[ 5.83632875e-01 -8.11029262e-01 -4.00525078e-02 2.05179508e+02] [ 8.09247886e-01 5.85004642e-01 -5.37347943e-02 9.99087493e+01] [ 6.70113936e-02 -1.05101475e-03 9.97751657e-01 1.59043723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.21, Y:99.96, Z:15.91 [[ 5.82524508e-01 -8.11826478e-01 -4.00370740e-02 2.05211577e+02] [ 8.10046189e-01 5.83897686e-01 -5.37462914e-02 9.99568429e+01] [ 6.70102173e-02 -1.12334727e-03 9.97751657e-01 1.59071177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.25, Y:100.00, Z:15.91 [[ 5.88686022e-01 -8.07370499e-01 -4.00205517e-02 2.05247028e+02] [ 8.05578977e-01 5.90044512e-01 -5.37585914e-02 1.00002622e+02] [ 6.70170077e-02 -5.92783801e-04 9.97751657e-01 1.59101246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23999999999998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:205.28, Y:100.05, Z:15.91 [[ 5.91896108e-01 -8.05020345e-01 -4.00155096e-02 2.05281022e+02] [ 8.03223175e-01 5.93247117e-01 -5.37623443e-02 1.00049177e+02] [ 6.70188667e-02 -3.19662223e-04 9.97751657e-01 1.59138363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.31, Y:100.10, Z:15.92 [[ 5.95754994e-01 -8.02169530e-01 -4.00003950e-02 2.05314364e+02] [ 8.00365140e-01 5.97096344e-01 -5.37735876e-02 1.00095111e+02] [ 6.70196231e-02 2.09616194e-05 9.97751657e-01 1.59154623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.35, Y:100.14, Z:15.92 [[ 6.01682091e-01 -7.97734303e-01 -3.99830274e-02 2.05347847e+02] [ 7.95919168e-01 6.03008865e-01 -5.37864981e-02 1.00141836e+02] [ 6.70174545e-02 5.39114746e-04 9.97751658e-01 1.59226898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.38, Y:100.19, Z:15.93 [[ 6.05801477e-01 -7.94611407e-01 -3.99660218e-02 2.05383163e+02] [ 7.92788600e-01 6.07117690e-01 -5.37991311e-02 1.00187711e+02] [ 6.70134821e-02 9.06986548e-04 9.97751658e-01 1.59273316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.42, Y:100.23, Z:15.93 [[ 6.11257698e-01 -7.90422666e-01 -3.99504065e-02 2.05419335e+02] [ 7.88590086e-01 6.12560269e-01 -5.38107243e-02 1.00233208e+02] [ 6.70052479e-02 1.38772501e-03 9.97751658e-01 1.59313029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:100.28, Z:15.93 [[ 6.09057494e-01 -7.92120071e-01 -3.99344836e-02 2.05451693e+02] [ 7.90290347e-01 6.10364074e-01 -5.38225386e-02 1.00282654e+02] [ 6.70084871e-02 1.22118361e-03 9.97751658e-01 1.59289161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.48, Y:100.33, Z:15.92 [[ 6.03972436e-01 -7.96004836e-01 -3.99198802e-02 2.05483359e+02] [ 7.94182803e-01 6.05289719e-01 -5.38333677e-02 1.00333239e+02] [ 6.70147141e-02 8.10187901e-04 9.97751658e-01 1.59177183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.53, Y:100.37, Z:15.94 [[ 6.13889246e-01 -7.88382888e-01 -3.99050883e-02 2.05532045e+02] [ 7.86543798e-01 6.15182609e-01 -5.38443303e-02 1.00367932e+02] [ 6.69988649e-02 1.66735562e-03 9.97751658e-01 1.59393757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.57, Y:100.41, Z:15.94 [[ 6.10976254e-01 -7.90643052e-01 -3.98946279e-02 2.05571867e+02] [ 7.88808243e-01 6.12275681e-01 -5.38520795e-02 1.00410860e+02] [ 6.70042830e-02 1.43313043e-03 9.97751659e-01 1.59429424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.61, Y:100.45, Z:15.95 [[ 6.07721814e-01 -7.93148062e-01 -3.98791721e-02 2.05610336e+02] [ 7.91317859e-01 6.09027723e-01 -5.38635226e-02 1.00452915e+02] [ 6.70092699e-02 1.17693658e-03 9.97751659e-01 1.59469091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.65, Y:100.49, Z:15.95 [[ 6.01817063e-01 -7.97638374e-01 -3.98653746e-02 2.05651853e+02] [ 7.95817241e-01 6.03135590e-01 -5.38737325e-02 1.00492716e+02] [ 6.70159826e-02 6.96579014e-04 9.97751659e-01 1.59514495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.69, Y:100.54, Z:15.94 [[ 5.88388175e-01 -8.07595933e-01 -3.98517775e-02 2.05685681e+02] [ 8.05796435e-01 5.89736078e-01 -5.38837887e-02 1.00541979e+02] [ 6.70183596e-02 -4.07836136e-04 9.97751659e-01 1.59421734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.73, Y:100.59, Z:15.95 [[ 5.84892223e-01 -8.10132139e-01 -3.98372434e-02 2.05726327e+02] [ 8.08337753e-01 5.86246924e-01 -5.38945319e-02 1.00585518e+02] [ 6.70161538e-02 -6.79455244e-04 9.97751659e-01 1.59469766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.77, Y:100.63, Z:15.95 [[ 5.82543506e-01 -8.11823388e-01 -3.98227419e-02 2.05765400e+02] [ 8.10032203e-01 5.83902436e-01 -5.39052449e-02 1.00629108e+02] [ 6.70141346e-02 -8.55553021e-04 9.97751659e-01 1.59517406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.80, Y:100.68, Z:15.96 [[ 5.86112183e-01 -8.09251387e-01 -3.98083081e-02 2.05800015e+02] [ 8.07453514e-01 5.87462253e-01 -5.39159021e-02 1.00675705e+02] [ 6.70173969e-02 -5.42591146e-04 9.97751660e-01 1.59566344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:100.72, Z:15.96 [[ 5.88612792e-01 -8.07435201e-01 -3.97916850e-02 2.05834815e+02] [ 8.05632332e-01 5.89956183e-01 -5.39281677e-02 1.00723164e+02] [ 6.70188515e-02 -3.14658620e-04 9.97751660e-01 1.59611870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.87, Y:100.77, Z:15.97 [[ 5.91123416e-01 -8.05599701e-01 -3.97772380e-02 2.05870952e+02] [ 8.03791944e-01 5.92460221e-01 -5.39388217e-02 1.00769007e+02] [ 6.70195298e-02 -8.81229309e-05 9.97751660e-01 1.59700814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.90, Y:100.82, Z:15.98 [[ 5.91722579e-01 -8.05160429e-01 -3.97627104e-02 2.05904297e+02] [ 8.03350960e-01 5.93057065e-01 -5.39495290e-02 1.00816442e+02] [ 6.70195823e-02 -2.02571408e-05 9.97751660e-01 1.59756242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:100.86, Z:15.98 [[ 5.94113642e-01 -8.03398548e-01 -3.97461212e-02 2.05935992e+02] [ 8.01584304e-01 5.95441629e-01 -5.39617480e-02 1.00864561e+02] [ 6.70192851e-02 1.99543732e-04 9.97751660e-01 1.59817468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.97, Y:100.91, Z:15.98 [[ 5.95973813e-01 -8.02020425e-01 -3.97297485e-02 2.05967981e+02] [ 8.00202306e-01 5.97296491e-01 -5.39737998e-02 1.00912312e+02] [ 6.70185292e-02 3.75134876e-04 9.97751660e-01 1.59815492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:100.96, Z:15.99 [[ 5.98684512e-01 -7.99999549e-01 -3.97187228e-02 2.06003726e+02] [ 7.98176428e-01 6.00000285e-01 -5.39819123e-02 1.00958245e+02] [ 6.70167505e-02 6.15586559e-04 9.97751661e-01 1.59885868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:101.00, Z:15.99 [[ 6.02220783e-01 -7.97341650e-01 -3.97041765e-02 2.06040849e+02] [ 7.95512018e-01 6.03527487e-01 -5.39926091e-02 1.01002330e+02] [ 6.70131179e-02 9.30321782e-04 9.97751661e-01 1.59913070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.08, Y:101.05, Z:16.00 [[ 6.00928569e-01 -7.98316252e-01 -3.96990731e-02 2.06076150e+02] [ 7.96488492e-01 6.02237889e-01 -5.39963613e-02 1.01048669e+02] [ 6.70144588e-02 8.28101259e-04 9.97751661e-01 1.59976187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.11, Y:101.10, Z:16.00 [[ 5.94960445e-01 -8.02774652e-01 -3.96853454e-02 2.06106571e+02] [ 8.00956032e-01 5.96282432e-01 -5.40064487e-02 1.01099163e+02] [ 6.70186824e-02 3.45484010e-04 9.97751661e-01 1.59952894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.14, Y:101.14, Z:16.00 [[ 5.93564719e-01 -8.03807578e-01 -3.96774581e-02 2.06142007e+02] [ 8.01990871e-01 5.94889334e-01 -5.40122427e-02 1.01144891e+02] [ 6.70191467e-02 2.38802463e-04 9.97751661e-01 1.59991890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:101.19, Z:16.01 [[ 5.97668840e-01 -8.00761477e-01 -3.96612533e-02 2.06182363e+02] [ 7.98937230e-01 5.98983051e-01 -5.40241394e-02 1.01185789e+02] [ 6.70168681e-02 6.01692908e-04 9.97751661e-01 1.60104725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.21, Y:101.24, Z:16.01 [[ 5.94079262e-01 -8.03428831e-01 -3.96477583e-02 2.06213307e+02] [ 8.01609824e-01 5.95400716e-01 -5.40340414e-02 1.01236944e+02] [ 6.70188104e-02 3.18470815e-04 9.97751661e-01 1.60068577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:101.29, Z:16.01 [[ 5.95534518e-01 -8.02351451e-01 -3.96331516e-02 2.06245019e+02] [ 8.00529341e-01 5.96851689e-01 -5.40447531e-02 1.01287289e+02] [ 6.70179995e-02 4.58015195e-04 9.97751661e-01 1.60051363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.28, Y:101.33, Z:16.02 [[ 6.02353836e-01 -7.97245397e-01 -3.96186083e-02 2.06284430e+02] [ 7.95411423e-01 6.03654438e-01 -5.40554122e-02 1.01328282e+02] [ 6.70113773e-02 1.04739127e-03 9.97751662e-01 1.60184391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.32, Y:101.37, Z:16.02 [[ 6.02293876e-01 -7.97291293e-01 -3.96065796e-02 2.06317820e+02] [ 7.95456840e-01 6.03593800e-01 -5.40642243e-02 1.01373888e+02] [ 6.70112212e-02 1.05722657e-03 9.97751662e-01 1.60218113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.35, Y:101.42, Z:16.03 [[ 6.01917443e-01 -7.97576043e-01 -3.95960503e-02 2.06352869e+02] [ 7.95741698e-01 6.03217520e-01 -5.40719348e-02 1.01419552e+02] [ 6.70115110e-02 1.03861243e-03 9.97751662e-01 1.60258694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.1 meters Centerline goodness : 0.997503 with order 1 Centerline is valid? [True, True] Translation: X:206.39, Y:101.46, Z:16.03 [[ 6.00646609e-01 -7.98534295e-01 -3.95806879e-02 2.06389392e+02] [ 7.96701283e-01 6.01948566e-01 -5.40831777e-02 1.01463508e+02] [ 6.70128105e-02 9.50892444e-04 9.97751662e-01 1.60284049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.42, Y:101.51, Z:16.04 [[ 5.95148458e-01 -8.02641329e-01 -3.95627354e-02 2.06424778e+02] [ 8.00816431e-01 5.96461762e-01 -5.40963071e-02 1.01509386e+02] [ 6.70175907e-02 5.12845201e-04 9.97751662e-01 1.60360344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.46, Y:101.56, Z:16.04 [[ 5.89352748e-01 -8.06907436e-01 -3.95439918e-02 2.06461121e+02] [ 8.05091126e-01 5.90677904e-01 -5.41100051e-02 1.01555889e+02] [ 6.70195277e-02 5.33633067e-05 9.97751663e-01 1.60431894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.49, Y:101.61, Z:16.04 [[ 5.80327880e-01 -8.13422953e-01 -3.95303921e-02 2.06489676e+02] [ 8.11620841e-01 5.81672281e-01 -5.41199386e-02 1.01608298e+02] [ 6.70161336e-02 -6.76380872e-04 9.97751663e-01 1.60380875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.52, Y:101.66, Z:16.04 [[ 5.76975467e-01 -8.15805011e-01 -3.95157478e-02 2.06523403e+02] [ 8.14007717e-01 5.78326301e-01 -5.41306291e-02 1.01655588e+02] [ 6.70130347e-02 -9.34078659e-04 9.97751663e-01 1.60440068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.56, Y:101.70, Z:16.05 [[ 5.78921694e-01 -8.14425312e-01 -3.95105465e-02 2.06560364e+02] [ 8.12624539e-01 5.80267888e-01 -5.41344253e-02 1.01698766e+02] [ 6.70151476e-02 -7.67646494e-04 9.97751663e-01 1.60546696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.59, Y:101.75, Z:16.06 [[ 5.76476129e-01 -8.16158631e-01 -3.95014202e-02 2.06592284e+02] [ 8.14361449e-01 5.77827114e-01 -5.41410839e-02 1.01746152e+02] [ 6.70127045e-02 -9.57391321e-04 9.97751663e-01 1.60569241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.62, Y:101.79, Z:16.06 [[ 5.74285949e-01 -8.17701732e-01 -3.94908369e-02 2.06624102e+02] [ 8.15907650e-01 5.75641047e-01 -5.41488023e-02 1.01794552e+02] [ 6.70101161e-02 -1.12397964e-03 9.97751663e-01 1.60597751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.66, Y:101.84, Z:16.06 [[ 5.74231130e-01 -8.17740974e-01 -3.94754319e-02 2.06657014e+02] [ 8.15946213e-01 5.75585328e-01 -5.41600305e-02 1.01841741e+02] [ 6.70103555e-02 -1.10945365e-03 9.97751663e-01 1.60639779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.69, Y:101.89, Z:16.07 [[ 5.76256668e-01 -8.16315609e-01 -3.94598508e-02 2.06689201e+02] [ 8.14516721e-01 5.77605378e-01 -5.41713802e-02 1.01889383e+02] [ 6.70131652e-02 -9.24089297e-04 9.97751663e-01 1.60681204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.72, Y:101.94, Z:16.07 [[ 5.78789014e-01 -8.14522752e-01 -3.94457108e-02 2.06721071e+02] [ 8.12718984e-01 5.80131191e-01 -5.41816745e-02 1.01937364e+02] [ 6.70158938e-02 -6.98520107e-04 9.97751664e-01 1.60714355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.75, Y:101.99, Z:16.07 [[ 5.82506611e-01 -8.11869024e-01 -3.94301527e-02 2.06753339e+02] [ 8.10058374e-01 5.83839490e-01 -5.41929944e-02 1.01985983e+02] [ 6.70184937e-02 -3.72947885e-04 9.97751664e-01 1.60747320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.78, Y:102.04, Z:16.07 [[ 5.84127907e-01 -8.10704059e-01 -3.94146760e-02 2.06780698e+02] [ 8.08889992e-01 5.85456130e-01 -5.42042483e-02 1.02040191e+02] [ 6.70191678e-02 -2.19922842e-04 9.97751664e-01 1.60675788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.81, Y:102.09, Z:16.07 [[ 5.92071616e-01 -8.04921634e-01 -3.94000627e-02 2.06814798e+02] [ 8.03093888e-01 5.93380953e-01 -5.42148683e-02 1.02087609e+02] [ 6.70179672e-02 4.57135145e-04 9.97751664e-01 1.60745702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.85, Y:102.13, Z:16.08 [[ 5.94315625e-01 -8.03266911e-01 -3.93853711e-02 2.06847536e+02] [ 8.01434813e-01 5.95618864e-01 -5.42255393e-02 1.02134941e+02] [ 6.70162514e-02 6.62277714e-04 9.97751664e-01 1.60786266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.88, Y:102.18, Z:16.08 [[ 5.95149906e-01 -8.02649807e-01 -3.93684789e-02 2.06881225e+02] [ 8.00815546e-01 5.96450100e-01 -5.42378005e-02 1.02182083e+02] [ 6.70152932e-02 7.52731909e-04 9.97751664e-01 1.60817526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:102.22, Z:16.10 [[ 5.99358801e-01 -7.99512637e-01 -3.93518874e-02 2.06920402e+02] [ 7.97670783e-01 6.00648214e-01 -5.42498357e-02 1.02224537e+02] [ 6.70100701e-02 1.12526560e-03 9.97751665e-01 1.60950825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.95, Y:102.27, Z:16.10 [[ 5.99053165e-01 -7.99742035e-01 -3.93444035e-02 2.06954876e+02] [ 7.97900319e-01 6.00342775e-01 -5.42552628e-02 1.02271309e+02] [ 6.70103427e-02 1.10887481e-03 9.97751665e-01 1.60987260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.98, Y:102.32, Z:16.09 [[ 5.94175647e-01 -8.03373246e-01 -3.93284615e-02 2.06984102e+02] [ 8.01538648e-01 5.95475363e-01 -5.42668164e-02 1.02323198e+02] [ 6.70156383e-02 7.20738939e-04 9.97751665e-01 1.60896074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.02, Y:102.36, Z:16.10 [[ 6.01500074e-01 -7.97904916e-01 -3.93116516e-02 2.07023942e+02] [ 7.96057712e-01 6.02781810e-01 -5.42789910e-02 1.02364378e+02] [ 6.70058222e-02 1.35447358e-03 9.97751665e-01 1.61021742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:102.41, Z:16.10 [[ 5.98052427e-01 -8.00492530e-01 -3.93065336e-02 2.07054831e+02] [ 7.98650630e-01 5.99341772e-01 -5.42826969e-02 1.02414558e+02] [ 6.70109410e-02 1.07171079e-03 9.97751665e-01 1.60997414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.10, Y:102.46, Z:16.11 [[ 6.01462405e-01 -7.97934048e-01 -3.92966923e-02 2.07095622e+02] [ 7.96086199e-01 6.02743211e-01 -5.42898205e-02 1.02455460e+02] [ 6.70055107e-02 1.36973158e-03 9.97751665e-01 1.61125874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.13, Y:102.50, Z:16.12 [[ 5.96011351e-01 -8.02014273e-01 -3.92883664e-02 2.07128042e+02] [ 8.00174798e-01 5.97304155e-01 -5.42958450e-02 1.02504033e+02] [ 6.70131472e-02 9.23379260e-04 9.97751665e-01 1.61150258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:102.55, Z:16.12 [[ 5.97244377e-01 -8.01096743e-01 -3.92831007e-02 2.07167181e+02] [ 7.99255032e-01 5.98533994e-01 -5.42996545e-02 1.02546395e+02] [ 6.70115475e-02 1.03294747e-03 9.97751665e-01 1.61241148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.20, Y:102.59, Z:16.13 [[ 5.93661292e-01 -8.03755905e-01 -3.92774107e-02 2.07201829e+02] [ 8.01919700e-01 5.94958735e-01 -5.43037700e-02 1.02591450e+02] [ 6.70154144e-02 7.40716901e-04 9.97751665e-01 1.61278879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.23, Y:102.64, Z:16.13 [[ 5.89690887e-01 -8.06674076e-01 -3.92631192e-02 2.07233318e+02] [ 8.04843604e-01 5.90996406e-01 -5.43141013e-02 1.02641016e+02] [ 6.70181398e-02 4.27860205e-04 9.97751665e-01 1.61295355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.27, Y:102.69, Z:16.13 [[ 5.89304573e-01 -8.06957157e-01 -3.92462382e-02 2.07267491e+02] [ 8.05126499e-01 5.90609832e-01 -5.43262963e-02 1.02687481e+02] [ 6.70182078e-02 4.16548494e-04 9.97751666e-01 1.61329072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:102.73, Z:16.14 [[ 5.89329768e-01 -8.06939569e-01 -3.92295467e-02 2.07301771e+02] [ 8.05108070e-01 5.90633845e-01 -5.43383468e-02 1.02734045e+02] [ 6.70180602e-02 4.39180650e-04 9.97751666e-01 1.61374408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:207.34, Y:102.78, Z:16.14 [[ 5.91796163e-01 -8.05133314e-01 -3.92128470e-02 2.07337767e+02] [ 8.03297037e-01 5.93093504e-01 -5.43503954e-02 1.02778810e+02] [ 6.70161988e-02 6.64791608e-04 9.97751666e-01 1.61396644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.37, Y:102.83, Z:16.14 [[ 5.87481645e-01 -8.08287874e-01 -3.91922263e-02 2.07368379e+02] [ 8.06457572e-01 5.88787401e-01 -5.43652610e-02 1.02827907e+02] [ 6.70186702e-02 3.31725274e-04 9.97751666e-01 1.61448557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.40, Y:102.88, Z:16.15 [[ 5.85835852e-01 -8.09482491e-01 -3.91720849e-02 2.07401212e+02] [ 8.07653881e-01 5.87143976e-01 -5.43797697e-02 1.02875910e+02] [ 6.70191251e-02 2.20132296e-04 9.97751667e-01 1.61454110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.43, Y:102.92, Z:16.15 [[ 5.84242134e-01 -8.10634315e-01 -3.91552897e-02 2.07433423e+02] [ 8.08807474e-01 5.85552726e-01 -5.43918602e-02 1.02923179e+02] [ 6.70193949e-02 1.08925463e-04 9.97751667e-01 1.61472557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.47, Y:102.97, Z:16.15 [[ 5.82709441e-01 -8.11737194e-01 -3.91463376e-02 2.07467181e+02] [ 8.09912401e-01 5.84022883e-01 -5.43983023e-02 1.02970534e+02] [ 6.70194822e-02 -6.69990516e-06 9.97751667e-01 1.61500626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:103.01, Z:16.16 [[ 5.85927201e-01 -8.09418429e-01 -3.91295547e-02 2.07504546e+02] [ 8.07587631e-01 5.87232262e-01 -5.44103718e-02 1.03013359e+02] [ 6.70188946e-02 2.79972453e-04 9.97751667e-01 1.61606214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.53, Y:103.07, Z:16.15 [[ 5.78907027e-01 -8.14454563e-01 -3.91205644e-02 2.07533131e+02] [ 8.12634682e-01 5.80227267e-01 -5.44168350e-02 1.03065477e+02] [ 6.70188578e-02 -2.88439212e-04 9.97751667e-01 1.61528822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.57, Y:103.11, Z:16.16 [[ 5.77056577e-01 -8.15767444e-01 -3.91047934e-02 2.07568105e+02] [ 8.13949799e-01 5.78379893e-01 -5.44281660e-02 1.03113221e+02] [ 6.70181520e-02 -4.21207539e-04 9.97751667e-01 1.61576452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:103.16, Z:16.16 [[ 5.76333412e-01 -8.16278916e-01 -3.90964152e-02 2.07601643e+02] [ 8.14462037e-01 5.77657779e-01 -5.44341835e-02 1.03160047e+02] [ 6.70178247e-02 -4.70307333e-04 9.97751667e-01 1.61620426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.64, Y:103.20, Z:16.18 [[ 5.80389455e-01 -8.13400806e-01 -3.90795220e-02 2.07638867e+02] [ 8.11576543e-01 5.81703631e-01 -5.44463088e-02 1.03203131e+02] [ 6.70193713e-02 -1.15959918e-04 9.97751668e-01 1.61754681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.67, Y:103.25, Z:16.17 [[ 5.76335001e-01 -8.16279085e-01 -3.90694552e-02 2.07668948e+02] [ 8.14460895e-01 5.77657567e-01 -5.44535315e-02 1.03253444e+02] [ 6.70180453e-02 -4.37067331e-04 9.97751668e-01 1.61685033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.70, Y:103.30, Z:16.17 [[ 5.76586348e-01 -8.16102344e-01 -3.90531499e-02 2.07702242e+02] [ 8.14282956e-01 5.77907266e-01 -5.44652230e-02 1.03300835e+02] [ 6.70182952e-02 -3.96410346e-04 9.97751668e-01 1.61715562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:103.35, Z:16.18 [[ 5.77749045e-01 -8.15280443e-01 -3.90363822e-02 2.07734579e+02] [ 8.13458364e-01 5.79066248e-01 -5.44772381e-02 1.03347861e+02] [ 6.70188782e-02 -2.80299294e-04 9.97751668e-01 1.61752741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.77, Y:103.40, Z:16.18 [[ 5.81290149e-01 -8.12759891e-01 -3.90271968e-02 2.07765354e+02] [ 8.10931658e-01 5.82598798e-01 -5.44838177e-02 1.03395280e+02] [ 6.70194596e-02 2.25171397e-05 9.97751668e-01 1.61808774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:103.44, Z:16.18 [[ 5.80386232e-01 -8.13406319e-01 -3.90125832e-02 2.07797701e+02] [ 8.11578840e-01 5.81695934e-01 -5.44942796e-02 1.03444473e+02] [ 6.70194524e-02 -3.40573579e-05 9.97751668e-01 1.61827369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.83, Y:103.49, Z:16.19 [[ 5.82729050e-01 -8.11730252e-01 -3.89981147e-02 2.07832454e+02] [ 8.09898313e-01 5.84032505e-01 -5.45046318e-02 1.03492116e+02] [ 6.70192251e-02 1.76924980e-04 9.97751669e-01 1.61902398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.86, Y:103.54, Z:16.19 [[ 5.82478244e-01 -8.11910951e-01 -3.89833627e-02 2.07864607e+02] [ 8.10078711e-01 5.83781275e-01 -5.45151808e-02 1.03540845e+02] [ 6.70192295e-02 1.74314572e-04 9.97751669e-01 1.61932220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.90, Y:103.59, Z:16.21 [[ 5.86520650e-01 -8.08996379e-01 -3.89664602e-02 2.07901103e+02] [ 8.07156862e-01 5.87813387e-01 -5.45272598e-02 1.03585074e+02] [ 6.70173627e-02 5.29318099e-04 9.97751669e-01 1.62063773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.93, Y:103.64, Z:16.20 [[ 5.82042178e-01 -8.12224788e-01 -3.89589132e-02 2.07931466e+02] [ 8.10392081e-01 5.83344551e-01 -5.45326515e-02 1.03635665e+02] [ 6.70192410e-02 1.68308525e-04 9.97751669e-01 1.62022659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.97, Y:103.68, Z:16.21 [[ 5.84726768e-01 -8.10294637e-01 -3.89513558e-02 2.07967832e+02] [ 8.08457272e-01 5.86022560e-01 -5.45380490e-02 1.03679605e+02] [ 6.70182619e-02 3.99350295e-04 9.97751669e-01 1.62124277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.00, Y:103.73, Z:16.21 [[ 5.80531792e-01 -8.13305621e-01 -3.89461888e-02 2.08000297e+02] [ 8.11474728e-01 5.81836716e-01 -5.45417386e-02 1.03728736e+02] [ 6.70194252e-02 5.93652885e-05 9.97751669e-01 1.62141324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.04, Y:103.78, Z:16.22 [[ 5.80521941e-01 -8.13313353e-01 -3.89315419e-02 2.08035004e+02] [ 8.11481777e-01 5.81825905e-01 -5.45521915e-02 1.03776134e+02] [ 6.70194054e-02 7.65073385e-05 9.97751669e-01 1.62200508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:103.82, Z:16.23 [[ 5.82527443e-01 -8.11878840e-01 -3.89169404e-02 2.08068880e+02] [ 8.10043357e-01 5.83825901e-01 -5.45626060e-02 1.03821272e+02] [ 6.70189431e-02 2.59806288e-04 9.97751669e-01 1.62255993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.10, Y:103.87, Z:16.24 [[ 5.83076867e-01 -8.11484757e-01 -3.89083139e-02 2.08101519e+02] [ 8.09647986e-01 5.84373502e-01 -5.45687569e-02 1.03868683e+02] [ 6.70187021e-02 3.15741810e-04 9.97751669e-01 1.62350088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.13, Y:103.92, Z:16.24 [[ 5.85691619e-01 -8.09600387e-01 -3.88914040e-02 2.08134820e+02] [ 8.07758644e-01 5.86981183e-01 -5.45808060e-02 1.03916781e+02] [ 6.70171639e-02 5.52652944e-04 9.97751670e-01 1.62351704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:103.97, Z:16.24 [[ 5.88673855e-01 -8.07435295e-01 -3.88759163e-02 2.08167311e+02] [ 8.05588082e-01 5.89955570e-01 -5.45918351e-02 1.03965432e+02] [ 6.70144378e-02 8.18811209e-04 9.97751670e-01 1.62383163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.20, Y:104.01, Z:16.24 [[ 5.90157135e-01 -8.06352603e-01 -3.88591759e-02 2.08200036e+02] [ 8.04502255e-01 5.91434318e-01 -5.46037486e-02 1.04012472e+02] [ 6.70125250e-02 9.62497193e-04 9.97751670e-01 1.62410848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.24, Y:104.06, Z:16.25 [[ 5.89908200e-01 -8.06535392e-01 -3.88455564e-02 2.08235369e+02] [ 8.04684802e-01 5.91185032e-01 -5.46134359e-02 1.04059190e+02] [ 6.70125804e-02 9.58484776e-04 9.97751670e-01 1.62503923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.27, Y:104.11, Z:16.25 [[ 5.88143537e-01 -8.07823814e-01 -3.88312392e-02 2.08270045e+02] [ 8.05975349e-01 5.89423445e-01 -5.46236138e-02 1.04105061e+02] [ 6.70142988e-02 8.29503893e-04 9.97751670e-01 1.62507566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.30, Y:104.15, Z:16.26 [[ 5.83804369e-01 -8.10965691e-01 -3.88214761e-02 2.08304872e+02] [ 8.09123654e-01 5.85093510e-01 -5.46305516e-02 1.04151184e+02] [ 6.70176968e-02 4.82180101e-04 9.97751670e-01 1.62584770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.34, Y:104.20, Z:16.26 [[ 5.78660113e-01 -8.14645117e-01 -3.88047357e-02 2.08337611e+02] [ 8.12810480e-01 5.79959764e-01 -5.46424400e-02 1.04200579e+02] [ 6.70193823e-02 7.85046383e-05 9.97751671e-01 1.62562668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.38, Y:104.24, Z:16.26 [[ 5.79311100e-01 -8.14183022e-01 -3.87898991e-02 2.08375121e+02] [ 8.12346643e-01 5.80608288e-01 -5.46529702e-02 1.04244690e+02] [ 6.70192574e-02 1.50227967e-04 9.97751671e-01 1.62636292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.41, Y:104.29, Z:16.27 [[ 5.74246876e-01 -8.17762968e-01 -3.87847184e-02 2.08409374e+02] [ 8.15934427e-01 5.75555090e-01 -5.46566465e-02 1.04291258e+02] [ 6.70189236e-02 -2.59378441e-04 9.97751671e-01 1.62655956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.44, Y:104.34, Z:16.27 [[ 5.69108278e-01 -8.21348103e-01 -3.87693294e-02 2.08441509e+02] [ 8.19527059e-01 5.70426907e-01 -5.46675602e-02 1.04340039e+02] [ 6.70161655e-02 -6.60753418e-04 9.97751671e-01 1.62681155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.48, Y:104.39, Z:16.27 [[ 5.69473920e-01 -8.21095035e-01 -3.87607873e-02 2.08476817e+02] [ 8.19272993e-01 5.70791169e-01 -5.46736161e-02 1.04385366e+02] [ 6.70165498e-02 -6.20467759e-04 9.97751671e-01 1.62721900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.51, Y:104.43, Z:16.28 [[ 5.68736619e-01 -8.21606469e-01 -3.87487889e-02 2.08508705e+02] [ 8.19785032e-01 5.70054705e-01 -5.46821184e-02 1.04433715e+02] [ 6.70161116e-02 -6.65954062e-04 9.97751671e-01 1.62761406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.54, Y:104.48, Z:16.28 [[ 5.69084931e-01 -8.21365999e-01 -3.87329054e-02 2.08541444e+02] [ 8.19543240e-01 5.70401187e-01 -5.46933669e-02 1.04482085e+02] [ 6.70165671e-02 -6.18119851e-04 9.97751671e-01 1.62837788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.57, Y:104.53, Z:16.28 [[ 5.70354817e-01 -8.20485373e-01 -3.87186688e-02 2.08573718e+02] [ 8.18659898e-01 5.71667303e-01 -5.47034434e-02 1.04529108e+02] [ 6.70175721e-02 -4.97049004e-04 9.97751671e-01 1.62830880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.61, Y:104.58, Z:16.29 [[ 5.71313222e-01 -8.19818993e-01 -3.87042842e-02 2.08606456e+02] [ 8.17991297e-01 5.72622614e-01 -5.47136191e-02 1.04576459e+02] [ 6.70182124e-02 -4.01153641e-04 9.97751672e-01 1.62876015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.64, Y:104.62, Z:16.29 [[ 5.73473138e-01 -8.18310312e-01 -3.86884134e-02 2.08638120e+02] [ 8.16478414e-01 5.74776645e-01 -5.47248391e-02 1.04623713e+02] [ 6.70190966e-02 -2.05029226e-04 9.97751672e-01 1.62913636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.67, Y:104.67, Z:16.30 [[ 5.75224968e-01 -8.17080501e-01 -3.86741605e-02 2.08670885e+02] [ 8.15245139e-01 5.76523592e-01 -5.47349098e-02 1.04671319e+02] [ 6.70193935e-02 -4.40346413e-05 9.97751672e-01 1.62963499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:104.72, Z:16.30 [[ 5.77521839e-01 -8.15459416e-01 -3.86583314e-02 2.08703784e+02] [ 8.13619660e-01 5.78814231e-01 -5.47460874e-02 1.04719326e+02] [ 6.70192048e-02 1.63882665e-04 9.97751672e-01 1.63001616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.74, Y:104.77, Z:16.31 [[ 5.81420538e-01 -8.12685001e-01 -3.86425504e-02 2.08736315e+02] [ 8.10838339e-01 5.82703042e-01 -5.47572241e-02 1.04767764e+02] [ 6.70175064e-02 5.04113350e-04 9.97751672e-01 1.63085348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.77, Y:104.82, Z:16.31 [[ 5.82066700e-01 -8.12223065e-01 -3.86270673e-02 2.08768149e+02] [ 8.10374660e-01 5.83346690e-01 -5.47681442e-02 1.04816216e+02] [ 6.70169218e-02 5.76316390e-04 9.97751673e-01 1.63062012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.80, Y:104.86, Z:16.32 [[ 5.84576721e-01 -8.10418950e-01 -3.86158495e-02 2.08804420e+02] [ 8.08566073e-01 5.85850229e-01 -5.47760525e-02 1.04861626e+02] [ 6.70146551e-02 7.97339364e-04 9.97751673e-01 1.63205455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.84, Y:104.91, Z:16.32 [[ 5.81593844e-01 -8.12562986e-01 -3.86004520e-02 2.08836158e+02] [ 8.10714084e-01 5.82873116e-01 -5.47869008e-02 1.04910446e+02] [ 6.70169735e-02 5.69794160e-04 9.97751673e-01 1.63150986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.87, Y:104.96, Z:16.32 [[ 5.80881360e-01 -8.13072769e-01 -3.85942766e-02 2.08870101e+02] [ 8.11224701e-01 5.82161836e-01 -5.47912508e-02 1.04957314e+02] [ 6.70173889e-02 5.18585812e-04 9.97751673e-01 1.63191358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.91, Y:105.00, Z:16.32 [[ 5.79514495e-01 -8.14048298e-01 -3.85787425e-02 2.08905058e+02] [ 8.12201657e-01 5.80797028e-01 -5.48021862e-02 1.05003743e+02] [ 6.70180454e-02 4.24942603e-04 9.97751673e-01 1.63219418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.94, Y:105.05, Z:16.33 [[ 5.76706437e-01 -8.16040776e-01 -3.85634194e-02 2.08940662e+02] [ 8.14197846e-01 5.77994297e-01 -5.48129667e-02 1.05049652e+02] [ 6.70190524e-02 2.12737714e-04 9.97751673e-01 1.63267969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.98, Y:105.10, Z:16.33 [[ 5.74732885e-01 -8.17432683e-01 -3.85476370e-02 2.08975201e+02] [ 8.15592127e-01 5.76024135e-01 -5.48240636e-02 1.05096412e+02] [ 6.70193506e-02 7.00430427e-05 9.97751673e-01 1.63304942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.01, Y:105.14, Z:16.33 [[ 5.72611973e-01 -8.18920515e-01 -3.85320515e-02 2.09009182e+02] [ 8.17082577e-01 5.73906947e-01 -5.48350154e-02 1.05143127e+02] [ 6.70193310e-02 -8.46816077e-05 9.97751674e-01 1.63345026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:105.19, Z:16.34 [[ 5.68937311e-01 -8.21478438e-01 -3.85163877e-02 2.09042747e+02] [ 8.19645577e-01 5.70239460e-01 -5.48460155e-02 1.05190357e+02] [ 6.70183833e-02 -3.65842211e-04 9.97751674e-01 1.63392229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.08, Y:105.24, Z:16.34 [[ 5.65347303e-01 -8.23953949e-01 -3.85008553e-02 2.09075769e+02] [ 8.22126048e-01 5.66656404e-01 -5.48569168e-02 1.05237342e+02] [ 6.70163295e-02 -6.39345966e-04 9.97751674e-01 1.63446595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.11, Y:105.28, Z:16.35 [[ 5.59744251e-01 -8.27770899e-01 -3.84930154e-02 2.09109436e+02] [ 8.25951544e-01 5.61065203e-01 -5.48624175e-02 1.05284907e+02] [ 6.70106042e-02 -1.08444271e-03 9.97751674e-01 1.63507437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.14, Y:105.33, Z:16.35 [[ 5.50528969e-01 -8.33928761e-01 -3.84795581e-02 2.09140498e+02] [ 8.32123511e-01 5.51869135e-01 -5.48718546e-02 1.05333635e+02] [ 6.69948981e-02 -1.81119947e-03 9.97751674e-01 1.63546555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.17, Y:105.38, Z:16.36 [[ 5.43116382e-01 -8.38775688e-01 -3.84700089e-02 2.09170121e+02] [ 8.36981915e-01 5.44471871e-01 -5.48785486e-02 1.05383168e+02] [ 6.69766301e-02 -2.39326297e-03 9.97751674e-01 1.63592398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:105.43, Z:16.36 [[ 5.38255135e-01 -8.41904199e-01 -3.84542468e-02 2.09201116e+02] [ 8.40117515e-01 5.39619953e-01 -5.48895912e-02 1.05431812e+02] [ 6.69624561e-02 -2.76148201e-03 9.97751674e-01 1.63627857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.23, Y:105.48, Z:16.37 [[ 5.33607855e-01 -8.44858066e-01 -3.84383412e-02 2.09232329e+02] [ 8.43078134e-01 5.34981467e-01 -5.49007274e-02 1.05481382e+02] [ 6.69471225e-02 -3.11106560e-03 9.97751675e-01 1.63664976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:105.54, Z:16.36 [[ 5.23885881e-01 -8.50921417e-01 -3.84229899e-02 2.09257634e+02] [ 8.49156574e-01 5.25278825e-01 -5.49114691e-02 1.05536164e+02] [ 6.69081281e-02 -3.85979117e-03 9.97751675e-01 1.63625245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.29, Y:105.58, Z:16.37 [[ 5.25310593e-01 -8.50043279e-01 -3.84083932e-02 2.09288565e+02] [ 8.48275367e-01 5.26699640e-01 -5.49216770e-02 1.05583414e+02] [ 6.69154893e-02 -3.72995510e-03 9.97751675e-01 1.63747066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.31, Y:105.64, Z:16.36 [[ 5.20498753e-01 -8.52998756e-01 -3.83949313e-02 2.09307907e+02] [ 8.51238036e-01 5.21896907e-01 -5.49310864e-02 1.05642863e+02] [ 6.68943443e-02 -4.09166391e-03 9.97751675e-01 1.63639540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.34, Y:105.69, Z:16.38 [[ 5.31698477e-01 -8.46063638e-01 -3.83803338e-02 2.09339876e+02] [ 8.44283910e-01 5.33072353e-01 -5.49412838e-02 1.05689327e+02] [ 6.69433173e-02 -3.19170132e-03 9.97751675e-01 1.63829384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.37, Y:105.74, Z:16.38 [[ 5.37200655e-01 -8.42581075e-01 -3.83743190e-02 2.09365162e+02] [ 8.40792134e-01 5.38562513e-01 -5.49454846e-02 1.05743774e+02] [ 6.69629952e-02 -2.74807526e-03 9.97751675e-01 1.63825933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.38, Y:105.80, Z:16.38 [[ 5.49558556e-01 -8.34574101e-01 -3.83596516e-02 2.09383976e+02] [ 8.32764575e-01 5.50892939e-01 -5.49557226e-02 1.05802319e+02] [ 6.69966840e-02 -1.74317142e-03 9.97751675e-01 1.63797861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.41, Y:105.86, Z:16.38 [[ 5.65222066e-01 -8.24046860e-01 -3.83508611e-02 2.09408211e+02] [ 8.22212041e-01 5.66521451e-01 -5.49618564e-02 1.05857097e+02] [ 6.70177307e-02 -4.66885775e-04 9.97751675e-01 1.63837032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:105.90, Z:16.39 [[ 5.71768819e-01 -8.19518667e-01 -3.83349999e-02 2.09438918e+02] [ 8.17672814e-01 5.73052482e-01 -5.49729171e-02 1.05904178e+02] [ 6.70192986e-02 8.63126704e-05 9.97751676e-01 1.63934280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.47, Y:105.96, Z:16.40 [[ 5.77523631e-01 -8.15474150e-01 -3.83192700e-02 2.09467636e+02] [ 8.13618581e-01 5.78793208e-01 -5.49838796e-02 1.05955148e+02] [ 6.70168657e-02 5.77219695e-04 9.97751676e-01 1.63975057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:106.00, Z:16.40 [[ 5.80360200e-01 -8.13458616e-01 -3.83029833e-02 2.09497300e+02] [ 8.11597890e-01 5.81622207e-01 -5.49952229e-02 1.06003292e+02] [ 6.70142036e-02 8.30418196e-04 9.97751676e-01 1.64019123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.53, Y:106.05, Z:16.41 [[ 5.79615110e-01 -8.13990116e-01 -3.82938093e-02 2.09529159e+02] [ 8.12130125e-01 5.80878200e-01 -5.50016102e-02 1.06052061e+02] [ 6.70148060e-02 7.80208200e-04 9.97751676e-01 1.64065569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:106.10, Z:16.41 [[ 5.77283003e-01 -8.15646456e-01 -3.82778411e-02 2.09562010e+02] [ 8.13789353e-01 5.78550334e-01 -5.50127208e-02 1.06099747e+02] [ 6.70165886e-02 6.07809173e-04 9.97751676e-01 1.64106476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.59, Y:106.15, Z:16.41 [[ 5.70748059e-01 -8.20233317e-01 -3.82617094e-02 2.09592623e+02] [ 8.18385648e-01 5.72029105e-01 -5.50239383e-02 1.06148635e+02] [ 6.70192788e-02 9.19721376e-05 9.97751676e-01 1.64139323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:106.20, Z:16.42 [[ 5.67624962e-01 -8.22398483e-01 -3.82444616e-02 2.09625360e+02] [ 8.20554892e-01 5.68911870e-01 -5.50359238e-02 1.06195785e+02] [ 6.70191884e-02 -1.41915904e-04 9.97751677e-01 1.64160801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.1 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.66, Y:106.24, Z:16.42 [[ 5.63329111e-01 -8.25347537e-01 -3.82329066e-02 2.09659399e+02] [ 8.23510139e-01 5.64624844e-01 -5.50439497e-02 1.06242544e+02] [ 6.70176373e-02 -4.77326982e-04 9.97751677e-01 1.64198915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:106.29, Z:16.42 [[ 5.59527547e-01 -8.27930237e-01 -3.82157990e-02 2.09692106e+02] [ 8.26098007e-01 5.60830579e-01 -5.50558246e-02 1.06291460e+02] [ 6.70149706e-02 -7.64744927e-04 9.97751677e-01 1.64210881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.72, Y:106.34, Z:16.42 [[ 5.54981332e-01 -8.30985199e-01 -3.82010414e-02 2.09724570e+02] [ 8.29159437e-01 5.56293409e-01 -5.50660625e-02 1.06339439e+02] [ 6.70100705e-02 -1.11411724e-03 9.97751677e-01 1.64237117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.76, Y:106.39, Z:16.43 [[ 5.52885043e-01 -8.32382181e-01 -3.81842012e-02 2.09757857e+02] [ 8.30558928e-01 5.54200605e-01 -5.50777375e-02 1.06386508e+02] [ 6.70074346e-02 -1.26257193e-03 9.97751677e-01 1.64285038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.79, Y:106.43, Z:16.44 [[ 5.51702359e-01 -8.33167304e-01 -3.81674019e-02 2.09791866e+02] [ 8.31345118e-01 5.53019398e-01 -5.50893765e-02 1.06433128e+02] [ 6.70059809e-02 -1.33734427e-03 9.97751678e-01 1.64351444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.82, Y:106.48, Z:16.44 [[ 5.51236674e-01 -8.33476253e-01 -3.81505456e-02 2.09823231e+02] [ 8.31653999e-01 5.52553618e-01 -5.51010474e-02 1.06480532e+02] [ 6.70056365e-02 -1.35433568e-03 9.97751678e-01 1.64378256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:106.52, Z:16.45 [[ 5.55547364e-01 -8.30609630e-01 -3.81414276e-02 2.09859725e+02] [ 8.28780145e-01 5.56854245e-01 -5.51073582e-02 1.06524998e+02] [ 6.70119183e-02 -9.96110339e-04 9.97751678e-01 1.64477953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.89, Y:106.57, Z:16.45 [[ 5.58006543e-01 -8.28960290e-01 -3.81252580e-02 2.09891453e+02] [ 8.27126178e-01 5.59306921e-01 -5.51185426e-02 1.06572746e+02] [ 6.70148038e-02 -7.77891553e-04 9.97751678e-01 1.64523136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.92, Y:106.62, Z:16.46 [[ 5.59481191e-01 -8.27966240e-01 -3.81143359e-02 2.09923129e+02] [ 8.26129302e-01 5.60777576e-01 -5.51260942e-02 1.06620776e+02] [ 6.70162098e-02 -6.45356803e-04 9.97751678e-01 1.64559694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.95, Y:106.67, Z:16.46 [[ 5.61127999e-01 -8.26851800e-01 -3.80981525e-02 2.09954517e+02] [ 8.25011529e-01 5.62419646e-01 -5.51372765e-02 1.06668922e+02] [ 6.70175057e-02 -4.92345398e-04 9.97751678e-01 1.64587936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.99, Y:106.72, Z:16.46 [[ 5.61816767e-01 -8.26384622e-01 -3.80838102e-02 2.09986960e+02] [ 8.24542605e-01 5.63105923e-01 -5.51471811e-02 1.06716893e+02] [ 6.70180015e-02 -4.19113089e-04 9.97751678e-01 1.64634372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.02, Y:106.76, Z:16.47 [[ 5.62064107e-01 -8.26217155e-01 -3.80677371e-02 2.10019165e+02] [ 8.24374002e-01 5.63351639e-01 -5.51582740e-02 1.06764741e+02] [ 6.70182343e-02 -3.79566761e-04 9.97751679e-01 1.64671044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:106.81, Z:16.47 [[ 5.61277570e-01 -8.26752410e-01 -3.80518374e-02 2.10051118e+02] [ 8.24909742e-01 5.62565794e-01 -5.51692405e-02 1.06813359e+02] [ 6.70179647e-02 -4.24074193e-04 9.97751679e-01 1.64715559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:106.86, Z:16.48 [[ 5.59774056e-01 -8.27771882e-01 -3.80357498e-02 2.10081482e+02] [ 8.25930806e-01 5.61064555e-01 -5.51803297e-02 1.06862325e+02] [ 6.70172364e-02 -5.26380494e-04 9.97751679e-01 1.64785652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:106.91, Z:16.48 [[ 5.62735794e-01 -8.25762077e-01 -3.80186572e-02 2.10115029e+02] [ 8.23915596e-01 5.64018548e-01 -5.51921038e-02 1.06909819e+02] [ 6.70187741e-02 -2.65592195e-04 9.97751679e-01 1.64800731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.15, Y:106.96, Z:16.48 [[ 5.64921621e-01 -8.24268602e-01 -3.80109861e-02 2.10146934e+02] [ 8.22418374e-01 5.66198964e-01 -5.51973864e-02 1.06958728e+02] [ 6.70192534e-02 -7.87364342e-05 9.97751679e-01 1.64827385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:107.01, Z:16.49 [[ 5.68511843e-01 -8.21797226e-01 -3.79947777e-02 2.10177410e+02] [ 8.19940700e-01 5.69780014e-01 -5.52085412e-02 1.07006423e+02] [ 6.70188909e-02 2.33244895e-04 9.97751679e-01 1.64858186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.21, Y:107.06, Z:16.49 [[ 5.66052654e-01 -8.23493674e-01 -3.79810802e-02 2.10206445e+02] [ 8.21640317e-01 5.67325450e-01 -5.52179628e-02 1.07058328e+02] [ 6.70192765e-02 4.94875700e-05 9.97751680e-01 1.64870562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.24, Y:107.10, Z:16.49 [[ 5.71408461e-01 -8.19787132e-01 -3.79661537e-02 2.10243860e+02] [ 8.17924837e-01 5.72668145e-01 -5.52282239e-02 1.07102534e+02] [ 6.70173941e-02 5.04414406e-04 9.97751680e-01 1.64946771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:107.15, Z:16.50 [[ 5.71902842e-01 -8.19442557e-01 -3.79609662e-02 2.10276668e+02] [ 8.17579267e-01 5.73161052e-01 -5.52317893e-02 1.07149960e+02] [ 6.70170260e-02 5.51118276e-04 9.97751680e-01 1.64979346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:107.20, Z:16.50 [[ 5.73903795e-01 -8.18043150e-01 -3.79452106e-02 2.10309893e+02] [ 8.16176076e-01 5.75156384e-01 -5.52426116e-02 1.07197502e+02] [ 6.70152701e-02 7.33971372e-04 9.97751680e-01 1.65016430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35999999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:107.24, Z:16.51 [[ 5.78466684e-01 -8.14823693e-01 -3.79294597e-02 2.10343654e+02] [ 8.12948942e-01 5.79707752e-01 -5.52534240e-02 1.07244066e+02] [ 6.70098008e-02 1.12755092e-03 9.97751680e-01 1.65057795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:107.29, Z:16.51 [[ 5.83345562e-01 -8.11338730e-01 -3.79133333e-02 2.10378439e+02] [ 8.09455848e-01 5.84574260e-01 -5.52644873e-02 1.07291507e+02] [ 6.70013777e-02 1.54912409e-03 9.97751680e-01 1.65085702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:107.34, Z:16.51 [[ 5.86053004e-01 -8.09385896e-01 -3.78991919e-02 2.10413889e+02] [ 8.07498295e-01 5.87274440e-01 -5.52741834e-02 1.07338961e+02] [ 6.69953712e-02 1.79006835e-03 9.97751680e-01 1.65112777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.45, Y:107.39, Z:16.51 [[ 5.87354184e-01 -8.08442814e-01 -3.78850842e-02 2.10451063e+02] [ 8.06552630e-01 5.88571619e-01 -5.52838512e-02 1.07385415e+02] [ 6.69919176e-02 1.91488702e-03 9.97751681e-01 1.65145605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.6 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:107.43, Z:16.52 [[ 5.86900400e-01 -8.08772917e-01 -3.78720019e-02 2.10485318e+02] [ 8.06882842e-01 5.88118002e-01 -5.52928118e-02 1.07432250e+02] [ 6.69925348e-02 1.89310488e-03 9.97751681e-01 1.65184096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.52, Y:107.48, Z:16.52 [[ 5.85041324e-01 -8.10119475e-01 -3.78561289e-02 2.10522177e+02] [ 8.08231501e-01 5.86262181e-01 -5.53036771e-02 1.07478217e+02] [ 6.69962025e-02 1.75842064e-03 9.97751681e-01 1.65242501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:107.52, Z:16.53 [[ 5.82642181e-01 -8.11847324e-01 -3.78419380e-02 2.10558496e+02] [ 8.09962341e-01 5.83867652e-01 -5.53133856e-02 1.07522155e+02] [ 6.70007076e-02 1.57736694e-03 9.97751681e-01 1.65286393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.60, Y:107.57, Z:16.53 [[ 5.78187020e-01 -8.15026707e-01 -3.78316865e-02 2.10598181e+02] [ 8.13148008e-01 5.79422101e-01 -5.53203963e-02 1.07565548e+02] [ 6.70081157e-02 1.22277457e-03 9.97751681e-01 1.65339477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:107.61, Z:16.54 [[ 5.75512834e-01 -8.16917953e-01 -3.78158193e-02 2.10634947e+02] [ 8.15042601e-01 5.76752991e-01 -5.53312406e-02 1.07610129e+02] [ 6.70114707e-02 1.02233542e-03 9.97751681e-01 1.65382680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:107.65, Z:16.54 [[ 5.71961680e-01 -8.19408941e-01 -3.77998038e-02 2.10674346e+02] [ 8.17538267e-01 5.73208884e-01 -5.53421795e-02 1.07653863e+02] [ 6.70150601e-02 7.50819852e-04 9.97751682e-01 1.65412553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95999999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:107.70, Z:16.54 [[ 5.66130550e-01 -8.23449190e-01 -3.77840070e-02 2.10710987e+02] [ 8.21586700e-01 5.67389940e-01 -5.53529625e-02 1.07699698e+02] [ 6.70186176e-02 2.94165489e-04 9.97751682e-01 1.65413862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:107.74, Z:16.54 [[ 5.63646862e-01 -8.25151614e-01 -3.77760359e-02 2.10748795e+02] [ 8.23292563e-01 5.64911324e-01 -5.53584019e-02 1.07744575e+02] [ 6.70191851e-02 1.01860051e-04 9.97751682e-01 1.65442279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:107.79, Z:16.55 [[ 5.59409377e-01 -8.28030933e-01 -3.77613982e-02 2.10785817e+02] [ 8.26177716e-01 5.60682374e-01 -5.53683849e-02 1.07789108e+02] [ 6.70188857e-02 -2.24031989e-04 9.97751682e-01 1.65489023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:107.83, Z:16.55 [[ 5.53353071e-01 -8.32091180e-01 -3.77445103e-02 2.10826294e+02] [ 8.30246516e-01 5.54638431e-01 -5.53798949e-02 1.07833030e+02] [ 6.70156781e-02 -6.92613270e-04 9.97751682e-01 1.65548167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.86, Y:107.88, Z:16.55 [[ 5.47360261e-01 -8.36046179e-01 -3.77297142e-02 2.10859639e+02] [ 8.34210106e-01 5.48657862e-01 -5.53899735e-02 1.07881847e+02] [ 6.70092800e-02 -1.15623849e-03 9.97751682e-01 1.65516849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:107.92, Z:16.56 [[ 5.51436842e-01 -8.33363641e-01 -3.77154014e-02 2.10902542e+02] [ 8.31520588e-01 5.52724509e-01 -5.53997175e-02 1.07921938e+02] [ 6.70143370e-02 -8.11687546e-04 9.97751682e-01 1.65639088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:210.94, Y:107.97, Z:16.57 [[ 5.52013937e-01 -8.32981738e-01 -3.77099036e-02 2.10938733e+02] [ 8.31137539e-01 5.53299962e-01 -5.54034595e-02 1.07966819e+02] [ 6.70149583e-02 -7.58634652e-04 9.97751682e-01 1.65684082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:210.98, Y:108.01, Z:16.57 [[ 5.55037644e-01 -8.30970741e-01 -3.76940383e-02 2.10976755e+02] [ 8.29121149e-01 5.56315901e-01 -5.54142515e-02 1.08010871e+02] [ 6.70174145e-02 -4.95928679e-04 9.97751683e-01 1.65704815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:211.01, Y:108.06, Z:16.57 [[ 5.57777728e-01 -8.29134694e-01 -3.76784590e-02 2.11012628e+02] [ 8.27280178e-01 5.59048830e-01 -5.54248425e-02 1.08057032e+02] [ 6.70187582e-02 -2.55899535e-04 9.97751683e-01 1.65743814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:108.10, Z:16.58 [[ 5.61270104e-01 -8.26775298e-01 -3.76626776e-02 2.11047653e+02] [ 8.24914719e-01 5.62532315e-01 -5.54355643e-02 1.08103766e+02] [ 6.70192284e-02 4.58278847e-05 9.97751683e-01 1.65782303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:211.08, Y:108.15, Z:16.58 [[ 5.64918625e-01 -8.24287366e-01 -3.76468541e-02 2.11084081e+02] [ 8.22420512e-01 5.66171536e-01 -5.54463081e-02 1.08149640e+02] [ 6.70182685e-02 3.61107122e-04 9.97751683e-01 1.65835345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:211.12, Y:108.20, Z:16.59 [[ 5.65126222e-01 -8.24145770e-01 -3.76311328e-02 2.11118946e+02] [ 8.22277892e-01 5.66377605e-01 -5.54569761e-02 1.08195492e+02] [ 6.70180631e-02 3.96942806e-04 9.97751683e-01 1.65886025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:108.24, Z:16.59 [[ 5.62987837e-01 -8.25608739e-01 -3.76152265e-02 2.11155042e+02] [ 8.23743392e-01 5.64242989e-01 -5.54677629e-02 1.08240466e+02] [ 6.70187976e-02 2.42381625e-04 9.97751684e-01 1.65932368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:108.29, Z:16.60 [[ 5.59890573e-01 -8.27713023e-01 -3.75991755e-02 2.11190141e+02] [ 8.25851663e-01 5.61151630e-01 -5.54786410e-02 1.08286159e+02] [ 6.70192323e-02 1.06264694e-05 9.97751684e-01 1.65958986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.8 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:211.22, Y:108.33, Z:16.60 [[ 5.58502348e-01 -8.28651022e-01 -3.75847263e-02 2.11223835e+02] [ 8.26791121e-01 5.59765556e-01 -5.54884281e-02 1.08333516e+02] [ 6.70191779e-02 -8.43006410e-05 9.97751684e-01 1.66002218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:108.38, Z:16.60 [[ 5.59485932e-01 -8.27987967e-01 -3.75688623e-02 2.11254974e+02] [ 8.26125847e-01 5.60745867e-01 -5.54991669e-02 1.08382302e+02] [ 6.70192266e-02 1.43949365e-05 9.97751684e-01 1.66037834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:211.29, Y:108.43, Z:16.61 [[ 5.60438922e-01 -8.27343941e-01 -3.75528783e-02 2.11286789e+02] [ 8.25479649e-01 5.61695639e-01 -5.55099802e-02 1.08430721e+02] [ 6.70191338e-02 1.10816627e-04 9.97751684e-01 1.66072072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:108.48, Z:16.61 [[ 5.55820825e-01 -8.30454189e-01 -3.75373132e-02 2.11313673e+02] [ 8.28596219e-01 5.57086869e-01 -5.55205038e-02 1.08483321e+02] [ 6.70187792e-02 -2.43823518e-04 9.97751684e-01 1.66056667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03999999999996 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:211.35, Y:108.53, Z:16.62 [[ 5.58577796e-01 -8.28602854e-01 -3.75254017e-02 2.11350257e+02] [ 8.26740146e-01 5.59836860e-01 -5.55285534e-02 1.08527425e+02] [ 6.70192209e-02 -6.73912682e-06 9.97751685e-01 1.66152445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09999999999997 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:211.38, Y:108.58, Z:16.62 [[ 5.56443235e-01 -8.30038053e-01 -3.75200807e-02 2.11383035e+02] [ 8.28178350e-01 5.57706734e-01 -5.55321485e-02 1.08575576e+02] [ 6.70189981e-02 -1.72830154e-04 9.97751685e-01 1.66202950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15999999999997 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:211.42, Y:108.62, Z:16.63 [[ 5.55252348e-01 -8.30835885e-01 -3.75041528e-02 2.11415532e+02] [ 8.28977272e-01 5.56517447e-01 -5.55429035e-02 1.08623560e+02] [ 6.70187528e-02 -2.49762689e-04 9.97751685e-01 1.66256218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21999999999997 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:211.44, Y:108.68, Z:16.63 [[ 5.53037518e-01 -8.32312532e-01 -3.74880275e-02 2.11443164e+02] [ 8.30456558e-01 5.54306487e-01 -5.55537849e-02 1.08675777e+02] [ 6.70179683e-02 -4.08851005e-04 9.97751685e-01 1.66315270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:108.73, Z:16.63 [[ 5.52329405e-01 -8.32783283e-01 -3.74730857e-02 2.11472527e+02] [ 8.30927707e-01 5.53598955e-01 -5.55638620e-02 1.08727131e+02] [ 6.70177164e-02 -4.47870349e-04 9.97751685e-01 1.66308420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:211.50, Y:108.78, Z:16.63 [[ 5.52866979e-01 -8.32427162e-01 -3.74582906e-02 2.11502929e+02] [ 8.30570092e-01 5.54134343e-01 -5.55738342e-02 1.08776002e+02] [ 6.70180944e-02 -3.86798035e-04 9.97751685e-01 1.66348384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:211.53, Y:108.83, Z:16.64 [[ 5.54493391e-01 -8.31345424e-01 -3.74415019e-02 2.11533241e+02] [ 8.29485118e-01 5.55755999e-01 -5.55851429e-02 1.08825211e+02] [ 6.70187935e-02 -2.35574287e-04 9.97751685e-01 1.66404375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.57, Y:108.87, Z:16.64 [[ 5.60534114e-01 -8.27285268e-01 -3.74244783e-02 2.11566913e+02] [ 8.25415052e-01 5.61781995e-01 -5.55966023e-02 1.08872369e+02] [ 6.70186481e-02 2.73064501e-04 9.97751686e-01 1.66449691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:211.60, Y:108.92, Z:16.65 [[ 5.61025506e-01 -8.26952345e-01 -3.74192540e-02 2.11596699e+02] [ 8.25081153e-01 5.62271925e-01 -5.56001183e-02 1.08921851e+02] [ 6.70184441e-02 3.19163298e-04 9.97751686e-01 1.66485557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.63, Y:108.97, Z:16.65 [[ 5.61169346e-01 -8.26855443e-01 -3.74037678e-02 2.11626944e+02] [ 8.24983342e-01 5.62414398e-01 -5.56105344e-02 1.08971726e+02] [ 6.70182905e-02 3.49441891e-04 9.97751686e-01 1.66509458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:109.02, Z:16.66 [[ 5.60869823e-01 -8.27059350e-01 -3.73881454e-02 2.11658138e+02] [ 8.25187002e-01 5.62114502e-01 -5.56210356e-02 1.09020538e+02] [ 6.70183163e-02 3.43948754e-04 9.97751686e-01 1.66559343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.69, Y:109.07, Z:16.66 [[ 5.60878724e-01 -8.27054026e-01 -3.73723898e-02 2.11688767e+02] [ 8.25180960e-01 5.62122323e-01 -5.56316200e-02 1.09070211e+02] [ 6.70182099e-02 3.63607559e-04 9.97751686e-01 1.66617814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.72, Y:109.12, Z:16.66 [[ 5.61008461e-01 -8.26966662e-01 -3.73583599e-02 2.11719155e+02] [ 8.25092775e-01 5.62250823e-01 -5.56410399e-02 1.09117994e+02] [ 6.70180536e-02 3.90981387e-04 9.97751686e-01 1.66649876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.75, Y:109.17, Z:16.67 [[ 5.61388756e-01 -8.26709033e-01 -3.73475501e-02 2.11751115e+02] [ 8.24834093e-01 5.62629528e-01 -5.56482947e-02 1.09165870e+02] [ 6.70177824e-02 4.34794292e-04 9.97751686e-01 1.66699336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:109.21, Z:16.67 [[ 5.62176759e-01 -8.26174107e-01 -3.73314348e-02 2.11782945e+02] [ 8.24297269e-01 5.63414657e-01 -5.56591036e-02 1.09213751e+02] [ 6.70171878e-02 5.18054689e-04 9.97751687e-01 1.66742396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:109.26, Z:16.68 [[ 5.63785461e-01 -8.25077878e-01 -3.73155397e-02 2.11815193e+02] [ 8.23197928e-01 5.65018627e-01 -5.56697581e-02 1.09261730e+02] [ 6.70158609e-02 6.67725297e-04 9.97751687e-01 1.66762203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:109.31, Z:16.68 [[ 5.64277870e-01 -8.24741923e-01 -3.72994155e-02 2.11847412e+02] [ 8.22860525e-01 5.65508826e-01 -5.56805594e-02 1.09310127e+02] [ 6.70152403e-02 7.27090853e-04 9.97751687e-01 1.66842763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.88, Y:109.36, Z:16.69 [[ 5.64974093e-01 -8.24265964e-01 -3.72813003e-02 2.11880076e+02] [ 8.22382728e-01 5.66202237e-01 -5.56926860e-02 1.09358426e+02] [ 6.70143411e-02 8.05427285e-04 9.97751687e-01 1.66894638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.91, Y:109.41, Z:16.70 [[ 5.64499097e-01 -8.24592063e-01 -3.72652647e-02 2.11913328e+02] [ 8.22708829e-01 5.65727242e-01 -5.57034137e-02 1.09406388e+02] [ 6.70145682e-02 7.86064475e-04 9.97751687e-01 1.66950975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.95, Y:109.45, Z:16.70 [[ 5.63277108e-01 -8.25428011e-01 -3.72491293e-02 2.11947489e+02] [ 8.23545887e-01 5.64506952e-01 -5.57142014e-02 1.09453589e+02] [ 6.70154550e-02 7.06167011e-04 9.97751688e-01 1.67037388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:109.50, Z:16.70 [[ 5.59190412e-01 -8.28202691e-01 -3.72341859e-02 2.11980040e+02] [ 8.26326006e-01 5.60428539e-01 -5.57241864e-02 1.09501633e+02] [ 6.70180216e-02 3.92854658e-04 9.97751688e-01 1.67028379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.01, Y:109.55, Z:16.71 [[ 5.56000929e-01 -8.30347653e-01 -3.72255542e-02 2.12012959e+02] [ 8.28475358e-01 5.57245686e-01 -5.57299521e-02 1.09549468e+02] [ 6.70190144e-02 1.45450873e-04 9.97751688e-01 1.67062170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36 meters Centerline goodness : 0.996890 with order 1 Centerline is valid? [True, True] Translation: X:212.05, Y:109.60, Z:16.71 [[ 5.54767717e-01 -8.31172798e-01 -3.72096683e-02 2.12050161e+02] [ 8.29301643e-01 5.56014186e-01 -5.57405568e-02 1.09595095e+02] [ 6.70191380e-02 6.50223536e-05 9.97751688e-01 1.67107134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.08, Y:109.65, Z:16.71 [[ 5.48698372e-01 -8.35192451e-01 -3.71976613e-02 2.12077393e+02] [ 8.33329884e-01 5.49957637e-01 -5.57485683e-02 1.09645398e+02] [ 6.70179213e-02 -4.08774071e-04 9.97751688e-01 1.67139819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.11, Y:109.69, Z:16.72 [[ 5.45260415e-01 -8.37441655e-01 -3.71827123e-02 2.12108720e+02] [ 8.35583602e-01 5.46526331e-01 -5.57585371e-02 1.09693162e+02] [ 6.70158529e-02 -6.66341584e-04 9.97751688e-01 1.67179637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.14, Y:109.74, Z:16.72 [[ 5.43292059e-01 -8.38720438e-01 -3.71721109e-02 2.12140658e+02] [ 8.36864880e-01 5.44561631e-01 -5.57656038e-02 1.09742013e+02] [ 6.70142569e-02 -8.11024490e-04 9.97751688e-01 1.67232371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.17, Y:109.79, Z:16.73 [[ 5.42133030e-01 -8.39470774e-01 -3.71563914e-02 2.12172022e+02] [ 8.37616256e-01 5.43404119e-01 -5.57760756e-02 1.09790429e+02] [ 6.70133216e-02 -8.84744604e-04 9.97751689e-01 1.67283218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.20, Y:109.84, Z:16.73 [[ 5.42194941e-01 -8.39431497e-01 -3.71403838e-02 2.12202632e+02] [ 8.37576157e-01 5.43464830e-01 -5.57867329e-02 1.09839036e+02] [ 6.70136330e-02 -8.60615598e-04 9.97751689e-01 1.67320506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.23, Y:109.89, Z:16.74 [[ 5.44006124e-01 -8.38259346e-01 -3.71295854e-02 2.12232742e+02] [ 8.36400779e-01 5.45271286e-01 -5.57939190e-02 1.09889183e+02] [ 6.70154708e-02 -7.02980534e-04 9.97751689e-01 1.67360252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.26, Y:109.94, Z:16.74 [[ 5.45103262e-01 -8.37547003e-01 -3.71140288e-02 2.12262513e+02] [ 8.35686079e-01 5.46364953e-01 -5.58042653e-02 1.09939583e+02] [ 6.70164997e-02 -5.96590126e-04 9.97751689e-01 1.67398126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.30, Y:109.99, Z:16.76 [[ 5.48666005e-01 -8.35218150e-01 -3.70979349e-02 2.12295730e+02] [ 8.33351147e-01 5.49918682e-01 -5.58149622e-02 1.09986349e+02] [ 6.70185170e-02 -2.91834254e-04 9.97751689e-01 1.67572342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.32, Y:110.04, Z:16.75 [[ 5.45155283e-01 -8.37514558e-01 -3.70821133e-02 2.12322159e+02] [ 8.35652115e-01 5.46414732e-01 -5.58254718e-02 1.10038961e+02] [ 6.70168583e-02 -5.54195567e-04 9.97751689e-01 1.67475030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.36, Y:110.08, Z:16.77 [[ 5.48557123e-01 -8.35291009e-01 -3.70676806e-02 2.12356822e+02] [ 8.33422814e-01 5.49808021e-01 -5.58350533e-02 1.10084564e+02] [ 6.70186262e-02 -2.64334478e-04 9.97751689e-01 1.67664038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.39, Y:110.13, Z:16.77 [[ 5.51326574e-01 -8.33466041e-01 -3.70589733e-02 2.12385466e+02] [ 8.31593316e-01 5.52570681e-01 -5.58408319e-02 1.10134887e+02] [ 6.70191393e-02 -3.14599651e-05 9.97751690e-01 1.67686032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.41, Y:110.19, Z:16.76 [[ 5.50833984e-01 -8.33792038e-01 -3.70507609e-02 2.12410390e+02] [ 8.31919683e-01 5.52078648e-01 -5.58462805e-02 1.10188606e+02] [ 6.70191180e-02 -6.12280611e-05 9.97751690e-01 1.67581474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.44, Y:110.24, Z:16.76 [[ 5.53962139e-01 -8.31717687e-01 -3.70356150e-02 2.12440156e+02] [ 8.29840000e-01 5.55198744e-01 -5.58563229e-02 1.10238403e+02] [ 6.70188187e-02 2.08653323e-04 9.97751690e-01 1.67614025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.47, Y:110.29, Z:16.76 [[ 5.56691846e-01 -8.29893781e-01 -3.70202796e-02 2.12469015e+02] [ 8.28011366e-01 5.57921243e-01 -5.58664851e-02 1.10287372e+02] [ 6.70176489e-02 4.47204420e-04 9.97751690e-01 1.67646588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.50, Y:110.34, Z:16.77 [[ 5.56865660e-01 -8.29777766e-01 -3.70067018e-02 2.12499606e+02] [ 8.27894498e-01 5.58093748e-01 -5.58754777e-02 1.10336909e+02] [ 6.70174380e-02 4.77489983e-04 9.97751690e-01 1.67684573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.53, Y:110.39, Z:16.77 [[ 5.56407741e-01 -8.30085567e-01 -3.69915914e-02 2.12530270e+02] [ 8.28202313e-01 5.57635850e-01 -5.58854796e-02 1.10385512e+02] [ 6.70175675e-02 4.58591909e-04 9.97751690e-01 1.67723638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.56, Y:110.44, Z:16.77 [[ 5.53180409e-01 -8.32240487e-01 -3.69757576e-02 2.12559106e+02] [ 8.30361318e-01 5.54414758e-01 -5.58959538e-02 1.10436386e+02] [ 6.70187816e-02 2.17307751e-04 9.97751690e-01 1.67695935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.59, Y:110.48, Z:16.78 [[ 5.55557505e-01 -8.30656209e-01 -3.69610766e-02 2.12593310e+02] [ 8.28772874e-01 5.56785489e-01 -5.59056600e-02 1.10482344e+02] [ 6.70177747e-02 4.26471287e-04 9.97751691e-01 1.67798380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.62, Y:110.53, Z:16.79 [[ 5.54870958e-01 -8.31115621e-01 -3.69465135e-02 2.12624604e+02] [ 8.29232662e-01 5.56099518e-01 -5.59152827e-02 1.10530647e+02] [ 6.70180032e-02 3.88510778e-04 9.97751691e-01 1.67850365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.65, Y:110.58, Z:16.78 [[ 5.48301437e-01 -8.35464894e-01 -3.69316328e-02 2.12650573e+02] [ 8.33591018e-01 5.49543807e-01 -5.59251095e-02 1.10583491e+02] [ 6.70190158e-02 -1.22059534e-04 9.97751691e-01 1.67760558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.69, Y:110.63, Z:16.79 [[ 5.49335265e-01 -8.34785892e-01 -3.69226296e-02 2.12688607e+02] [ 8.32910082e-01 5.50574712e-01 -5.59310530e-02 1.10627725e+02] [ 6.70191201e-02 -2.83306000e-05 9.97751691e-01 1.67912485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.72, Y:110.68, Z:16.80 [[ 5.46852254e-01 -8.36415159e-01 -3.69092699e-02 2.12721539e+02] [ 8.34542446e-01 5.48096376e-01 -5.59398678e-02 1.10675615e+02] [ 6.70187904e-02 -2.11509530e-04 9.97751691e-01 1.67971056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:110.72, Z:16.80 [[ 5.44921382e-01 -8.37675089e-01 -3.68935340e-02 2.12754282e+02] [ 8.35804550e-01 5.46168769e-01 -5.59502440e-02 1.10722829e+02] [ 6.70182217e-02 -3.47299327e-04 9.97751691e-01 1.67995704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.78, Y:110.77, Z:16.79 [[ 5.38206467e-01 -8.42005701e-01 -3.68808652e-02 2.12782518e+02] [ 8.40144624e-01 5.39467929e-01 -5.59585937e-02 1.10773432e+02] [ 6.70134988e-02 -8.67983569e-04 9.97751691e-01 1.67897614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.82, Y:110.82, Z:16.81 [[ 5.41429815e-01 -8.39937116e-01 -3.68699987e-02 2.12819918e+02] [ 8.38070731e-01 5.42683410e-01 -5.59657525e-02 1.10817228e+02] [ 6.70164494e-02 -5.98139820e-04 9.97751691e-01 1.68084215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.85, Y:110.86, Z:16.81 [[ 5.41219952e-01 -8.40073009e-01 -3.68551659e-02 2.12853028e+02] [ 8.38206274e-01 5.42473025e-01 -5.59755186e-02 1.10863385e+02] [ 6.70164557e-02 -5.97163821e-04 9.97751692e-01 1.68127129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.89, Y:110.91, Z:16.82 [[ 5.41718918e-01 -8.39752029e-01 -3.68394267e-02 2.12885733e+02] [ 8.37883848e-01 5.42969833e-01 -5.59858753e-02 1.10911042e+02] [ 6.70169497e-02 -5.38552746e-04 9.97751692e-01 1.68170766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.92, Y:110.96, Z:16.82 [[ 5.43594816e-01 -8.38539571e-01 -3.68247838e-02 2.12918533e+02] [ 8.36667947e-01 5.44840574e-01 -5.59955050e-02 1.10958362e+02] [ 6.70180830e-02 -3.71250002e-04 9.97751692e-01 1.68221202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.95, Y:111.01, Z:16.83 [[ 5.45801353e-01 -8.37105679e-01 -3.68098525e-02 2.12950150e+02] [ 8.35230120e-01 5.47041178e-01 -5.60053187e-02 1.11005652e+02] [ 6.70188754e-02 -1.76918810e-04 9.97751692e-01 1.68258998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.98, Y:111.05, Z:16.83 [[ 5.51727044e-01 -8.33212732e-01 -3.67941839e-02 2.12981960e+02] [ 8.31327738e-01 5.52952478e-01 -5.60156107e-02 1.11052734e+02] [ 6.70183552e-02 3.17301647e-04 9.97751692e-01 1.68291232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:111.10, Z:16.83 [[ 5.55375695e-01 -8.30785659e-01 -3.67835168e-02 2.13013588e+02] [ 8.28894847e-01 5.56592131e-01 -5.60226145e-02 1.11101277e+02] [ 6.70162007e-02 6.23930907e-04 9.97751692e-01 1.68325904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:111.15, Z:16.84 [[ 5.59237139e-01 -8.28191913e-01 -3.67692490e-02 2.13045486e+02] [ 8.26294845e-01 5.60443795e-01 -5.60319774e-02 1.11148946e+02] [ 6.70123280e-02 9.52921858e-04 9.97751692e-01 1.68364005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:111.20, Z:16.84 [[ 5.60554894e-01 -8.27301235e-01 -3.67542751e-02 2.13078169e+02] [ 8.25401607e-01 5.61757514e-01 -5.60417978e-02 1.11196280e+02] [ 6.70104388e-02 1.07746632e-03 9.97751693e-01 1.68403858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.11, Y:111.24, Z:16.85 [[ 5.62349469e-01 -8.26083058e-01 -3.67403869e-02 2.13111397e+02] [ 8.24180230e-01 5.63547021e-01 -5.60509013e-02 1.11243505e+02] [ 6.70076356e-02 1.23949414e-03 9.97751693e-01 1.68489649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:111.29, Z:16.85 [[ 5.63622471e-01 -8.25215762e-01 -3.67240506e-02 2.13143922e+02] [ 8.23310395e-01 5.64815979e-01 -5.60616027e-02 1.11291474e+02] [ 6.70052488e-02 1.36228649e-03 9.97751693e-01 1.68527304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.18, Y:111.34, Z:16.86 [[ 5.65000927e-01 -8.24273318e-01 -3.67076428e-02 2.13175972e+02] [ 8.22365263e-01 5.66190133e-01 -5.60723440e-02 1.11338602e+02] [ 6.70024422e-02 1.49383599e-03 9.97751693e-01 1.68555918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:111.39, Z:16.86 [[ 5.66240771e-01 -8.23422737e-01 -3.66931194e-02 2.13210523e+02] [ 8.21512282e-01 5.67426116e-01 -5.60818464e-02 1.11386051e+02] [ 6.69997017e-02 1.61197965e-03 9.97751693e-01 1.68582316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.24, Y:111.44, Z:16.85 [[ 5.59684139e-01 -8.27893974e-01 -3.66773935e-02 2.13235948e+02] [ 8.25992320e-01 5.60883553e-01 -5.60921293e-02 1.11440264e+02] [ 6.70100826e-02 1.09862977e-03 9.97751693e-01 1.68519008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:111.48, Z:16.86 [[ 5.66118211e-01 -8.23508364e-01 -3.66625973e-02 2.13277909e+02] [ 8.21596798e-01 5.67301763e-01 -5.61017985e-02 1.11480396e+02] [ 6.69990564e-02 1.63837727e-03 9.97751694e-01 1.68642345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.31, Y:111.53, Z:16.87 [[ 5.64902983e-01 -8.24342724e-01 -3.66564227e-02 2.13311471e+02] [ 8.22432645e-01 5.66088933e-01 -5.61058327e-02 1.11527213e+02] [ 6.70012302e-02 1.54691359e-03 9.97751694e-01 1.68678518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.34, Y:111.58, Z:16.86 [[ 5.54159913e-01 -8.31603343e-01 -3.66424793e-02 2.13337483e+02] [ 8.29708211e-01 5.55369605e-01 -5.61149376e-02 1.11581857e+02] [ 6.70154890e-02 6.94082922e-04 9.97751694e-01 1.68586723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.37, Y:111.63, Z:16.87 [[ 5.52125977e-01 -8.32955751e-01 -3.66281704e-02 2.13374563e+02] [ 8.31062963e-01 5.53339333e-01 -5.61242760e-02 1.11627863e+02] [ 6.70168458e-02 5.47354850e-04 9.97751694e-01 1.68670783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.41, Y:111.67, Z:16.87 [[ 5.47053422e-01 -8.36296621e-01 -3.66130546e-02 2.13408287e+02] [ 8.34410583e-01 5.48277245e-01 -5.61341352e-02 1.11674729e+02] [ 6.70188923e-02 1.58050526e-04 9.97751694e-01 1.68714199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.45, Y:111.71, Z:16.89 [[ 5.45514903e-01 -8.37301763e-01 -3.65957480e-02 2.13449550e+02] [ 8.35417223e-01 5.46741031e-01 -5.61454157e-02 1.11714783e+02] [ 6.70190525e-02 5.54427992e-05 9.97751694e-01 1.68855437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.48, Y:111.77, Z:16.88 [[ 5.29714838e-01 -8.47386611e-01 -3.65803560e-02 2.13477029e+02] [ 8.45524710e-01 5.30975076e-01 -5.61554422e-02 1.11768139e+02] [ 6.70086272e-02 -1.18322396e-03 9.97751694e-01 1.68755136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.51, Y:111.82, Z:16.88 [[ 5.25608960e-01 -8.49940123e-01 -3.65651201e-02 2.13511404e+02] [ 8.48083654e-01 5.26877186e-01 -5.61653612e-02 1.11815451e+02] [ 6.70025216e-02 -1.48926351e-03 9.97751695e-01 1.68804339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:111.86, Z:16.89 [[ 5.23441363e-01 -8.51277414e-01 -3.65500153e-02 2.13544938e+02] [ 8.49423499e-01 5.24713320e-01 -5.61751891e-02 1.11861785e+02] [ 6.69989496e-02 -1.64202431e-03 9.97751695e-01 1.68880035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.58, Y:111.91, Z:16.90 [[ 5.21362119e-01 -8.52552795e-01 -3.65413829e-02 2.13579479e+02] [ 8.50701598e-01 5.22638028e-01 -5.61808038e-02 1.11907721e+02] [ 6.69950176e-02 -1.79526992e-03 9.97751695e-01 1.68980548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:111.96, Z:16.90 [[ 5.21673326e-01 -8.52363143e-01 -3.65241518e-02 2.13611801e+02] [ 8.50510699e-01 5.22947425e-01 -5.61920038e-02 1.11955052e+02] [ 6.69962041e-02 -1.75031236e-03 9.97751695e-01 1.69048722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:112.00, Z:16.91 [[ 5.22958982e-01 -8.51575684e-01 -3.65069629e-02 2.13644114e+02] [ 8.49720543e-01 5.24229150e-01 -5.62031689e-02 1.12002565e+02] [ 6.69992662e-02 -1.62876437e-03 9.97751695e-01 1.69107053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:112.05, Z:16.92 [[ 5.27683437e-01 -8.48656995e-01 -3.64896491e-02 2.13677575e+02] [ 8.46794050e-01 5.28942130e-01 -5.62144076e-02 1.12049037e+02] [ 6.70076630e-02 -1.23580588e-03 9.97751696e-01 1.69152114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:112.10, Z:16.92 [[ 5.30351597e-01 -8.46992779e-01 -3.64748604e-02 2.13708015e+02] [ 8.45125224e-01 5.31603440e-01 -5.62240017e-02 1.12098903e+02] [ 6.70114847e-02 -1.00733548e-03 9.97751696e-01 1.69176560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:112.15, Z:16.92 [[ 5.34895489e-01 -8.44131232e-01 -3.64592780e-02 2.13736392e+02] [ 8.42256290e-01 5.36136240e-01 -5.62341045e-02 1.12149214e+02] [ 6.70161042e-02 -6.28687377e-04 9.97751696e-01 1.69204599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:112.20, Z:16.92 [[ 5.34280998e-01 -8.44520989e-01 -3.64433096e-02 2.13764230e+02] [ 8.42646246e-01 5.35522050e-01 -5.62444512e-02 1.12201740e+02] [ 6.70158154e-02 -6.58476547e-04 9.97751696e-01 1.69233324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.80, Y:112.25, Z:16.93 [[ 5.39151612e-01 -8.41420546e-01 -3.64280720e-02 2.13795926e+02] [ 8.39537999e-01 5.40380792e-01 -5.62543184e-02 1.12248835e+02] [ 6.70185698e-02 -2.53144255e-04 9.97751696e-01 1.69280556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.82, Y:112.30, Z:16.93 [[ 5.40314879e-01 -8.40674633e-01 -3.64141779e-02 2.13824867e+02] [ 8.38789783e-01 5.41540525e-01 -5.62633109e-02 1.12299431e+02] [ 6.70188913e-02 -1.43936303e-04 9.97751696e-01 1.69306929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:112.35, Z:16.94 [[ 5.42659010e-01 -8.39164103e-01 -3.63978969e-02 2.13853661e+02] [ 8.37275134e-01 5.43878299e-01 -5.62738414e-02 1.12348344e+02] [ 6.70190139e-02 6.24530800e-05 9.97751697e-01 1.69354267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.88, Y:112.40, Z:16.94 [[ 5.40905561e-01 -8.40296038e-01 -3.63832710e-02 2.13880562e+02] [ 8.38408985e-01 5.42127812e-01 -5.62832961e-02 1.12400905e+02] [ 6.70190138e-02 -6.01133865e-05 9.97751697e-01 1.69361863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:112.45, Z:16.94 [[ 5.46656818e-01 -8.36566588e-01 -3.63684916e-02 2.13913237e+02] [ 8.34670561e-01 5.47865102e-01 -5.62928444e-02 1.12448321e+02] [ 6.70177402e-02 4.17157866e-04 9.97751697e-01 1.69414912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.94, Y:112.50, Z:16.94 [[ 5.47648344e-01 -8.35918058e-01 -3.63633249e-02 2.13943546e+02] [ 8.34020379e-01 5.48854031e-01 -5.62961818e-02 1.12497611e+02] [ 6.70171524e-02 5.02756699e-04 9.97751697e-01 1.69448568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.97, Y:112.55, Z:16.95 [[ 5.48130055e-01 -8.35602974e-01 -3.63471015e-02 2.13974823e+02] [ 8.33703908e-01 5.49333555e-01 -5.63066543e-02 1.12545111e+02] [ 6.70166903e-02 5.60648992e-04 9.97751697e-01 1.69484867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:112.59, Z:16.95 [[ 5.47854848e-01 -8.35784066e-01 -3.63326433e-02 2.14007308e+02] [ 8.33884779e-01 5.49057999e-01 -5.63159822e-02 1.12593676e+02] [ 6.70167290e-02 5.55745659e-04 9.97751697e-01 1.69532172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.04, Y:112.64, Z:16.96 [[ 5.48162971e-01 -8.35582672e-01 -3.63174293e-02 2.14039235e+02] [ 8.33682292e-01 5.49364397e-01 -5.63257917e-02 1.12642531e+02] [ 6.70163582e-02 5.98515626e-04 9.97751697e-01 1.69568119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:112.69, Z:16.96 [[ 5.48433369e-01 -8.35405929e-01 -3.63011628e-02 2.14070880e+02] [ 8.33504468e-01 5.49633082e-01 -5.63362734e-02 1.12690714e+02] [ 6.70159768e-02 6.39510765e-04 9.97751698e-01 1.69601452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:112.74, Z:16.96 [[ 5.48031632e-01 -8.35670226e-01 -3.62850265e-02 2.14102527e+02] [ 8.33768657e-01 5.49231172e-01 -5.63466645e-02 1.12738111e+02] [ 6.70160975e-02 6.26436756e-04 9.97751698e-01 1.69601235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:112.79, Z:16.97 [[ 5.48629421e-01 -8.35278697e-01 -3.62664699e-02 2.14134658e+02] [ 8.33375482e-01 5.49826348e-01 -5.63586056e-02 1.12785449e+02] [ 6.70154034e-02 6.96402336e-04 9.97751698e-01 1.69700375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.17, Y:112.83, Z:16.97 [[ 5.48484262e-01 -8.35374876e-01 -3.62468102e-02 2.14166837e+02] [ 8.33471036e-01 5.49680194e-01 -5.63712469e-02 1.12833862e+02] [ 6.70152770e-02 7.08075328e-04 9.97751698e-01 1.69739658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:112.88, Z:16.98 [[ 5.48838062e-01 -8.35143169e-01 -3.62307710e-02 2.14198785e+02] [ 8.33238144e-01 5.50032105e-01 -5.63815536e-02 1.12882885e+02] [ 6.70147566e-02 7.55482215e-04 9.97751698e-01 1.69767126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.23, Y:112.93, Z:16.98 [[ 5.50080230e-01 -8.34325924e-01 -3.62214345e-02 2.14229482e+02] [ 8.32418730e-01 5.51270806e-01 -5.63875511e-02 1.12931982e+02] [ 6.70134151e-02 8.66276536e-04 9.97751698e-01 1.69809086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.26, Y:112.98, Z:16.98 [[ 5.51585630e-01 -8.33332187e-01 -3.62043979e-02 2.14260714e+02] [ 8.31422131e-01 5.52771608e-01 -5.63984876e-02 1.12981547e+02] [ 6.70114383e-02 1.00745764e-03 9.97751699e-01 1.69829517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:113.03, Z:16.99 [[ 5.53106731e-01 -8.32324076e-01 -3.61880613e-02 2.14292208e+02] [ 8.30411173e-01 5.54288112e-01 -5.64089680e-02 1.13029713e+02] [ 6.70091544e-02 1.14920947e-03 9.97751699e-01 1.69859934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:113.09, Z:16.97 [[ 5.44422972e-01 -8.38030561e-01 -3.61719082e-02 2.14315115e+02] [ 8.36129358e-01 5.45623091e-01 -5.64193242e-02 1.13085611e+02] [ 6.70173462e-02 4.71581809e-04 9.97751699e-01 1.69742410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:113.13, Z:16.98 [[ 5.44645827e-01 -8.37886440e-01 -3.61557193e-02 2.14348759e+02] [ 8.35984231e-01 5.45844350e-01 -5.64296968e-02 1.13133789e+02] [ 6.70170729e-02 5.08587677e-04 9.97751699e-01 1.69811007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.39, Y:113.18, Z:17.00 [[ 5.49031606e-01 -8.35019841e-01 -3.61408342e-02 2.14388197e+02] [ 8.33110748e-01 5.50219133e-01 -5.64392285e-02 1.13175446e+02] [ 6.70132541e-02 8.77602866e-04 9.97751699e-01 1.69990384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.42, Y:113.22, Z:17.00 [[ 5.47607305e-01 -8.35955034e-01 -3.61306075e-02 2.14419065e+02] [ 8.34047538e-01 5.48797394e-01 -5.64457745e-02 1.13222794e+02] [ 6.70145126e-02 7.75474222e-04 9.97751699e-01 1.70028977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.45, Y:113.27, Z:17.01 [[ 5.45883295e-01 -8.37082487e-01 -3.61156244e-02 2.14449980e+02] [ 8.35176815e-01 5.47076302e-01 -5.64553595e-02 1.13271341e+02] [ 6.70157950e-02 6.55105479e-04 9.97751700e-01 1.70071313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.48, Y:113.32, Z:17.01 [[ 5.44097260e-01 -8.38245201e-01 -3.60992488e-02 2.14481774e+02] [ 8.36341383e-01 5.45293225e-01 -5.64658287e-02 1.13319687e+02] [ 6.70168857e-02 5.31606967e-04 9.97751700e-01 1.70098993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.51, Y:113.37, Z:17.01 [[ 5.42693011e-01 -8.39155712e-01 -3.60830533e-02 2.14513652e+02] [ 8.37253213e-01 5.43891073e-01 -5.64761761e-02 1.13368158e+02] [ 6.70175563e-02 4.38573789e-04 9.97751700e-01 1.70122020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09999999999997 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:214.54, Y:113.42, Z:17.02 [[ 5.43991254e-01 -8.38315403e-01 -3.60666201e-02 2.14544839e+02] [ 8.36410358e-01 5.45185262e-01 -5.64866687e-02 1.13415547e+02] [ 6.70166341e-02 5.61759055e-04 9.97751700e-01 1.70150620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.58, Y:113.47, Z:17.02 [[ 5.40206619e-01 -8.40759988e-01 -3.60479108e-02 2.14575728e+02] [ 8.38859549e-01 5.41407946e-01 -5.64986059e-02 1.13465035e+02] [ 6.70183925e-02 2.81786684e-04 9.97751700e-01 1.70177408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:113.51, Z:17.02 [[ 5.39030735e-01 -8.41515186e-01 -3.60285848e-02 2.14607501e+02] [ 8.39615607e-01 5.40233420e-01 -5.65109271e-02 1.13513161e+02] [ 6.70186489e-02 2.10964479e-04 9.97751701e-01 1.70215393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.64, Y:113.56, Z:17.03 [[ 5.38316086e-01 -8.41973219e-01 -3.60123723e-02 2.14638935e+02] [ 8.40073972e-01 5.39519295e-01 -5.65212569e-02 1.13560887e+02] [ 6.70187543e-02 1.73245142e-04 9.97751701e-01 1.70259285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.67, Y:113.61, Z:17.03 [[ 5.38886817e-01 -8.41608667e-01 -3.59979249e-02 2.14670701e+02] [ 8.39707991e-01 5.40087768e-01 -5.65304569e-02 1.13608635e+02] [ 6.70185613e-02 2.35772777e-04 9.97751701e-01 1.70318460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.70, Y:113.66, Z:17.04 [[ 5.38815731e-01 -8.41654822e-01 -3.59829050e-02 2.14702267e+02] [ 8.39753611e-01 5.40015833e-01 -5.65400157e-02 1.13657577e+02] [ 6.70185153e-02 2.47875462e-04 9.97751701e-01 1.70350565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:113.71, Z:17.04 [[ 5.38120037e-01 -8.42100484e-01 -3.59666701e-02 2.14733767e+02] [ 8.40199577e-01 5.39320619e-01 -5.65503413e-02 1.13706572e+02] [ 6.70186366e-02 2.11690726e-04 9.97751701e-01 1.70388915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.76, Y:113.76, Z:17.04 [[ 5.38629172e-01 -8.41775615e-01 -3.59503795e-02 2.14764285e+02] [ 8.39873292e-01 5.39827510e-01 -5.65606958e-02 1.13755678e+02] [ 6.70184183e-02 2.71477117e-04 9.97751702e-01 1.70413618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.79, Y:113.81, Z:17.04 [[ 5.39335781e-01 -8.41323748e-01 -3.59341970e-02 2.14794470e+02] [ 8.39419737e-01 5.40531434e-01 -5.65709750e-02 1.13805447e+02] [ 6.70180678e-02 3.46876836e-04 9.97751702e-01 1.70434005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.82, Y:113.85, Z:17.05 [[ 5.40334573e-01 -8.40683320e-01 -3.59180180e-02 2.14824101e+02] [ 8.38777209e-01 5.41526875e-01 -5.65812456e-02 1.13854983e+02] [ 6.70174814e-02 4.45588306e-04 9.97751702e-01 1.70461844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.85, Y:113.90, Z:17.05 [[ 5.40299717e-01 -8.40706416e-01 -3.59017753e-02 2.14854994e+02] [ 8.38799671e-01 5.41491005e-01 -5.65915500e-02 1.13904037e+02] [ 6.70173675e-02 4.62001154e-04 9.97751702e-01 1.70510380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:113.95, Z:17.06 [[ 5.40192537e-01 -8.40775978e-01 -3.58856179e-02 2.14885914e+02] [ 8.38868706e-01 5.41382980e-01 -5.66017938e-02 1.13953460e+02] [ 6.70172913e-02 4.72544730e-04 9.97751702e-01 1.70570244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.92, Y:114.00, Z:17.06 [[ 5.40547755e-01 -8.40548326e-01 -3.58697260e-02 2.14915911e+02] [ 8.38639884e-01 5.41736322e-01 -5.66118630e-02 1.14003006e+02] [ 6.70169401e-02 5.19632556e-04 9.97751702e-01 1.70622181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.95, Y:114.05, Z:17.06 [[ 5.41902903e-01 -8.39676004e-01 -3.58531908e-02 2.14945678e+02] [ 8.37764957e-01 5.43087276e-01 -5.66223331e-02 1.14051387e+02] [ 6.70158261e-02 6.47259894e-04 9.97751703e-01 1.70647877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.98, Y:114.10, Z:17.07 [[ 5.43989963e-01 -8.38326009e-01 -3.58388409e-02 2.14975441e+02] [ 8.36411425e-01 5.45168608e-01 -5.66314144e-02 1.14101617e+02] [ 6.70137986e-02 8.30904992e-04 9.97751703e-01 1.70668295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.01, Y:114.15, Z:17.07 [[ 5.48349675e-01 -8.35481513e-01 -3.58228208e-02 2.15005486e+02] [ 8.33560155e-01 5.49517246e-01 -5.66415462e-02 1.14151537e+02] [ 6.70082226e-02 1.19889741e-03 9.97751703e-01 1.70706517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:114.20, Z:17.08 [[ 5.50609355e-01 -8.33994735e-01 -3.58066998e-02 2.15036227e+02] [ 8.32069563e-01 5.51770626e-01 -5.66517356e-02 1.14200861e+02] [ 6.70043343e-02 1.39931054e-03 9.97751703e-01 1.70751006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.07, Y:114.25, Z:17.08 [[ 5.52817193e-01 -8.32533595e-01 -3.57905692e-02 2.15066043e+02] [ 8.30604695e-01 5.53972262e-01 -5.66619244e-02 1.14249909e+02] [ 6.69999382e-02 1.59587118e-03 9.97751703e-01 1.70802150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.10, Y:114.30, Z:17.08 [[ 5.52937999e-01 -8.32454010e-01 -3.57755496e-02 2.15096697e+02] [ 8.30524332e-01 5.54091766e-01 -5.66714061e-02 1.14299136e+02] [ 6.69992767e-02 1.62330945e-03 9.97751703e-01 1.70841007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.13, Y:114.35, Z:17.09 [[ 5.50368176e-01 -8.34155947e-01 -3.57592951e-02 2.15128580e+02] [ 8.32229172e-01 5.51526785e-01 -5.66816607e-02 1.14348609e+02] [ 6.70035534e-02 1.43585366e-03 9.97751704e-01 1.70897161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.16, Y:114.40, Z:17.10 [[ 5.47248889e-01 -8.36206281e-01 -3.57450657e-02 2.15160179e+02] [ 8.34283262e-01 5.48413722e-01 -5.66906328e-02 1.14397283e+02] [ 6.70081477e-02 1.20237582e-03 9.97751704e-01 1.70954637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.19, Y:114.45, Z:17.10 [[ 5.41467158e-01 -8.39962349e-01 -3.57291019e-02 2.15191936e+02] [ 8.38046750e-01 5.42644152e-01 -5.67006921e-02 1.14445272e+02] [ 6.70146348e-02 7.58904821e-04 9.97751704e-01 1.71000860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.22, Y:114.49, Z:17.10 [[ 5.36056328e-01 -8.43426476e-01 -3.57126408e-02 2.15223676e+02] [ 8.41517794e-01 5.37244505e-01 -5.67110582e-02 1.14494138e+02] [ 6.70180280e-02 3.47498936e-04 9.97751704e-01 1.71030411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.26, Y:114.54, Z:17.10 [[ 5.24331099e-01 -8.50765942e-01 -3.56960892e-02 2.15256255e+02] [ 8.48873180e-01 5.25544478e-01 -5.67214745e-02 1.14541699e+02] [ 6.70165812e-02 -5.60619698e-04 9.97751704e-01 1.71033691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.29, Y:114.59, Z:17.11 [[ 5.17817889e-01 -8.54746365e-01 -3.56831178e-02 2.15286814e+02] [ 8.52862366e-01 5.19044828e-01 -5.67296335e-02 1.14590771e+02] [ 6.70105858e-02 -1.05716920e-03 9.97751704e-01 1.71069797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.32, Y:114.64, Z:17.11 [[ 5.06120094e-01 -8.61725194e-01 -3.56670837e-02 2.15318777e+02] [ 8.59857385e-01 5.07371542e-01 -5.67397128e-02 1.14639442e+02] [ 6.69905032e-02 -1.95149656e-03 9.97751705e-01 1.71118470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.35, Y:114.69, Z:17.12 [[ 4.98819757e-01 -8.65972209e-01 -3.56508440e-02 2.15349624e+02] [ 8.64114319e-01 5.00085883e-01 -5.67499147e-02 1.14688799e+02] [ 6.69723328e-02 -2.49842619e-03 9.97751705e-01 1.71168599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.38, Y:114.74, Z:17.12 [[ 4.94949324e-01 -8.68190846e-01 -3.56345671e-02 2.15378739e+02] [ 8.66337896e-01 4.96222669e-01 -5.67601335e-02 1.14738589e+02] [ 6.69613083e-02 -2.77818619e-03 9.97751705e-01 1.71214993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.40, Y:114.79, Z:17.13 [[ 4.97627928e-01 -8.66658733e-01 -3.56242353e-02 2.15404782e+02] [ 8.64801399e-01 4.98894870e-01 -5.67666173e-02 1.14790094e+02] [ 6.69700328e-02 -2.55923437e-03 9.97751705e-01 1.71265391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.43, Y:114.85, Z:17.12 [[ 4.97537228e-01 -8.66711237e-01 -3.56137271e-02 2.15426673e+02] [ 8.64853568e-01 4.98803677e-01 -5.67732091e-02 1.14846519e+02] [ 6.69702363e-02 -2.55387383e-03 9.97751705e-01 1.71189564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:114.90, Z:17.13 [[ 5.14287828e-01 -8.56878516e-01 -3.55982932e-02 2.15454508e+02] [ 8.54995916e-01 5.15516912e-01 -5.67828849e-02 1.14895717e+02] [ 6.70075563e-02 -1.23364879e-03 9.97751705e-01 1.71316264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:114.95, Z:17.13 [[ 5.23014683e-01 -8.51580606e-01 -3.55824753e-02 2.15480012e+02] [ 8.49684876e-01 5.24223416e-01 -5.67927953e-02 1.14947591e+02] [ 6.70168098e-02 -5.30425338e-04 9.97751706e-01 1.71345605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.50, Y:115.00, Z:17.14 [[ 5.35468237e-01 -8.43806049e-01 -3.55685062e-02 2.15503714e+02] [ 8.41892187e-01 5.36648051e-01 -5.68015427e-02 1.15000555e+02] [ 6.70172548e-02 4.70574474e-04 9.97751706e-01 1.71389303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:115.05, Z:17.14 [[ 5.41838258e-01 -8.39730444e-01 -3.55539449e-02 2.15530871e+02] [ 8.37807113e-01 5.43002570e-01 -5.68106556e-02 1.15052400e+02] [ 6.70115205e-02 9.94838767e-04 9.97751706e-01 1.71445351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.56, Y:115.10, Z:17.15 [[ 5.46015156e-01 -8.37021219e-01 -3.55377180e-02 2.15558553e+02] [ 8.35091452e-01 5.47168770e-01 -5.68208045e-02 1.15103066e+02] [ 6.70053485e-02 1.34777588e-03 9.97751706e-01 1.71494647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.59, Y:115.15, Z:17.15 [[ 5.47825565e-01 -8.35838123e-01 -3.55215793e-02 2.15587877e+02] [ 8.33905212e-01 5.48973904e-01 -5.68308918e-02 1.15153309e+02] [ 6.70018460e-02 1.51178534e-03 9.97751706e-01 1.71538861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.62, Y:115.20, Z:17.16 [[ 5.47651222e-01 -8.35953062e-01 -3.55051794e-02 2.15617886e+02] [ 8.34019729e-01 5.48798849e-01 -5.68411359e-02 1.15203401e+02] [ 6.70017231e-02 1.51709741e-03 9.97751706e-01 1.71576313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:115.25, Z:17.16 [[ 5.46052230e-01 -8.36999102e-01 -3.54889388e-02 2.15648963e+02] [ 8.35067310e-01 5.47202449e-01 -5.68512739e-02 1.15252794e+02] [ 6.70040995e-02 1.40811225e-03 9.97751707e-01 1.71599546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.68, Y:115.30, Z:17.16 [[ 5.44289661e-01 -8.38147042e-01 -3.54725330e-02 2.15680486e+02] [ 8.36217010e-01 5.45442830e-01 -5.68615085e-02 1.15301292e+02] [ 6.70065440e-02 1.28639574e-03 9.97751707e-01 1.71618699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:115.35, Z:17.17 [[ 5.43261161e-01 -8.38814726e-01 -3.54565357e-02 2.15712271e+02] [ 8.36885461e-01 5.44415612e-01 -5.68714821e-02 1.15349402e+02] [ 6.70077283e-02 1.22300813e-03 9.97751707e-01 1.71653355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.75, Y:115.40, Z:17.17 [[ 5.40655474e-01 -8.40497281e-01 -3.54397876e-02 2.15745036e+02] [ 8.38570926e-01 5.41814774e-01 -5.68819169e-02 1.15396886e+02] [ 6.70108970e-02 1.03474422e-03 9.97751707e-01 1.71682016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.78, Y:115.44, Z:17.17 [[ 5.37830740e-01 -8.42308318e-01 -3.54230508e-02 2.15778231e+02] [ 8.40385181e-01 5.38995371e-01 -5.68923377e-02 1.15444980e+02] [ 6.70137497e-02 8.29441158e-04 9.97751707e-01 1.71724641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:115.49, Z:17.18 [[ 5.32893961e-01 -8.45440952e-01 -3.54065299e-02 2.15812772e+02] [ 8.43523980e-01 5.34068711e-01 -5.69026176e-02 1.15491984e+02] [ 6.70173230e-02 4.56804307e-04 9.97751707e-01 1.71796070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.85, Y:115.54, Z:17.18 [[ 5.29591282e-01 -8.47514290e-01 -3.53921235e-02 2.15845268e+02] [ 8.45601318e-01 5.30772535e-01 -5.69115766e-02 1.15539674e+02] [ 6.70185415e-02 2.12248523e-04 9.97751708e-01 1.71846672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.88, Y:115.59, Z:17.19 [[ 5.27074647e-01 -8.49082357e-01 -3.53760803e-02 2.15877731e+02] [ 8.47172230e-01 5.28260494e-01 -5.69215473e-02 1.15588050e+02] [ 6.70188672e-02 3.22715913e-05 9.97751708e-01 1.71885841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.91, Y:115.64, Z:17.19 [[ 5.24935077e-01 -8.50407456e-01 -3.53599267e-02 2.15910292e+02] [ 8.48499646e-01 5.26124648e-01 -5.69315802e-02 1.15636690e+02] [ 6.70187693e-02 -1.17501880e-04 9.97751708e-01 1.71914231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:115.69, Z:17.19 [[ 5.23868997e-01 -8.51065293e-01 -3.53431859e-02 2.15941605e+02] [ 8.49158276e-01 5.25059838e-01 -5.69419710e-02 1.15685803e+02] [ 6.70186228e-02 -1.81825582e-04 9.97751708e-01 1.71940191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:115.73, Z:17.20 [[ 5.23034322e-01 -8.51579197e-01 -3.53265943e-02 2.15973119e+02] [ 8.49672655e-01 5.24225923e-01 -5.69522626e-02 1.15733239e+02] [ 6.70184786e-02 -2.28053137e-04 9.97751708e-01 1.71969114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:115.78, Z:17.20 [[ 5.22598503e-01 -8.51847328e-01 -3.53119492e-02 2.16004774e+02] [ 8.49940784e-01 5.23790100e-01 -5.69613415e-02 1.15782188e+02] [ 6.70184160e-02 -2.45153937e-04 9.97751709e-01 1.72019887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:115.83, Z:17.21 [[ 5.22372507e-01 -8.51986602e-01 -3.52958101e-02 2.16035502e+02] [ 8.50079699e-01 5.23563531e-01 -5.69713403e-02 1.15830910e+02] [ 6.70184176e-02 -2.43989752e-04 9.97751709e-01 1.72068059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:115.88, Z:17.21 [[ 5.21800595e-01 -8.52337648e-01 -3.52799246e-02 2.16067016e+02] [ 8.50430882e-01 5.22991836e-01 -5.69811758e-02 1.15879603e+02] [ 6.70183139e-02 -2.70325932e-04 9.97751709e-01 1.72107947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:115.93, Z:17.22 [[ 5.21369697e-01 -8.52601959e-01 -3.52638490e-02 2.16098532e+02] [ 8.50695124e-01 5.22560827e-01 -5.69911228e-02 1.15928656e+02] [ 6.70182490e-02 -2.85339949e-04 9.97751709e-01 1.72151383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:115.98, Z:17.22 [[ 5.21455254e-01 -8.52550298e-01 -3.52478058e-02 2.16129125e+02] [ 8.50642674e-01 5.22645120e-01 -5.70010435e-02 1.15978125e+02] [ 6.70183503e-02 -2.59794170e-04 9.97751709e-01 1.72181350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:116.03, Z:17.22 [[ 5.21388567e-01 -8.52591767e-01 -3.52312575e-02 2.16159982e+02] [ 8.50683547e-01 5.22577476e-01 -5.70112698e-02 1.16026866e+02] [ 6.70184009e-02 -2.45626785e-04 9.97751709e-01 1.72180984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:116.07, Z:17.22 [[ 5.22008676e-01 -8.52212844e-01 -3.52166282e-02 2.16189975e+02] [ 8.50303151e-01 5.23195218e-01 -5.70203051e-02 1.16074983e+02] [ 6.70186078e-02 -1.79715979e-04 9.97751710e-01 1.72203743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:116.12, Z:17.22 [[ 5.25648238e-01 -8.49973368e-01 -3.52023211e-02 2.16220102e+02] [ 8.48058028e-01 5.26825643e-01 -5.70291364e-02 1.16124584e+02] [ 6.70187326e-02 1.23654097e-04 9.97751710e-01 1.72230200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.25, Y:116.17, Z:17.23 [[ 5.28963787e-01 -8.47914654e-01 -3.51859600e-02 2.16248987e+02] [ 8.45994061e-01 5.30132602e-01 -5.70392292e-02 1.16173659e+02] [ 6.70176228e-02 4.04573465e-04 9.97751710e-01 1.72262183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.27, Y:116.23, Z:17.22 [[ 5.25417489e-01 -8.50117307e-01 -3.51713924e-02 2.16272892e+02] [ 8.48201012e-01 5.26593339e-01 -5.70482104e-02 1.16228703e+02] [ 6.70186920e-02 1.41716858e-04 9.97751710e-01 1.72189897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.31, Y:116.27, Z:17.23 [[ 5.31707759e-01 -8.46197904e-01 -3.51563009e-02 2.16309455e+02] [ 8.44272329e-01 5.32868348e-01 -5.70575091e-02 1.16273634e+02] [ 6.70156246e-02 6.56428314e-04 9.97751710e-01 1.72332998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.34, Y:116.32, Z:17.24 [[ 5.31264077e-01 -8.46477053e-01 -3.51436963e-02 2.16340245e+02] [ 8.44551574e-01 5.32424825e-01 -5.70652717e-02 1.16323090e+02] [ 6.70158194e-02 6.36064847e-04 9.97751710e-01 1.72377830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.37, Y:116.37, Z:17.24 [[ 5.30496091e-01 -8.46959258e-01 -3.51271022e-02 2.16370844e+02] [ 8.45034157e-01 5.31657467e-01 -5.70754845e-02 1.16372412e+02] [ 6.70161962e-02 5.94720203e-04 9.97751710e-01 1.72412897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.40, Y:116.42, Z:17.24 [[ 5.29527601e-01 -8.47565799e-01 -3.51103278e-02 2.16401425e+02] [ 8.45641345e-01 5.30690047e-01 -5.70858016e-02 1.16421815e+02] [ 6.70166746e-02 5.37762785e-04 9.97751711e-01 1.72437362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.43, Y:116.47, Z:17.25 [[ 5.28449309e-01 -8.48239208e-01 -3.50937964e-02 2.16432322e+02] [ 8.46315560e-01 5.29613089e-01 -5.70959625e-02 1.16471514e+02] [ 6.70171679e-02 4.71895993e-04 9.97751711e-01 1.72464749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.46, Y:116.52, Z:17.25 [[ 5.26913557e-01 -8.49194722e-01 -3.50774608e-02 2.16464699e+02] [ 8.47272517e-01 5.28079717e-01 -5.71059967e-02 1.16519245e+02] [ 6.70178066e-02 3.69755340e-04 9.97751711e-01 1.72500924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.50, Y:116.57, Z:17.25 [[ 5.26569316e-01 -8.49408893e-01 -3.50612190e-02 2.16496469e+02] [ 8.47486498e-01 5.27735163e-01 -5.71159669e-02 1.16568006e+02] [ 6.70178484e-02 3.61605912e-04 9.97751711e-01 1.72541543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.53, Y:116.62, Z:17.26 [[ 5.27686674e-01 -8.48715872e-01 -3.50448718e-02 2.16529006e+02] [ 8.46791280e-01 5.28848890e-01 -5.71259954e-02 1.16615576e+02] [ 6.70171806e-02 4.68934695e-04 9.97751711e-01 1.72590026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.56, Y:116.66, Z:17.26 [[ 5.28057458e-01 -8.48485891e-01 -3.50287513e-02 2.16559799e+02] [ 8.46560138e-01 5.29217748e-01 -5.71358785e-02 1.16664641e+02] [ 6.70168237e-02 5.17082205e-04 9.97751712e-01 1.72632687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.59, Y:116.71, Z:17.27 [[ 5.30165449e-01 -8.47171006e-01 -3.50126184e-02 2.16592312e+02] [ 8.45241722e-01 5.31319859e-01 -5.71457630e-02 1.16712296e+02] [ 6.70151330e-02 7.02583266e-04 9.97751712e-01 1.72679405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.62, Y:116.76, Z:17.27 [[ 5.31764984e-01 -8.46168578e-01 -3.49962726e-02 2.16624132e+02] [ 8.44236460e-01 5.32914644e-01 -5.71557715e-02 1.16761133e+02] [ 6.70134441e-02 8.48308639e-04 9.97751712e-01 1.72728036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.66, Y:116.81, Z:17.28 [[ 5.32894569e-01 -8.45458335e-01 -3.49797396e-02 2.16656368e+02] [ 8.43524021e-01 5.34040530e-01 -5.71658880e-02 1.16809971e+02] [ 6.70119752e-02 9.57140630e-04 9.97751712e-01 1.72753805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.69, Y:116.86, Z:17.28 [[ 5.33133743e-01 -8.45308217e-01 -3.49632718e-02 2.16687229e+02] [ 8.43372920e-01 5.34278044e-01 -5.71759582e-02 1.16857817e+02] [ 6.70114157e-02 9.95355972e-04 9.97751712e-01 1.72782840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.72, Y:116.91, Z:17.28 [[ 5.32515961e-01 -8.45698139e-01 -3.49486629e-02 2.16719664e+02] [ 8.43763094e-01 5.33660687e-01 -5.71848865e-02 1.16906010e+02] [ 6.70118795e-02 9.63472814e-04 9.97751712e-01 1.72830795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.75, Y:116.95, Z:17.29 [[ 5.30884945e-01 -8.46723639e-01 -3.49321382e-02 2.16751163e+02] [ 8.44790142e-01 5.32032283e-01 -5.71949790e-02 1.16954605e+02] [ 6.70133660e-02 8.53627276e-04 9.97751713e-01 1.72866806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.78, Y:117.00, Z:17.29 [[ 5.28019830e-01 -8.48513966e-01 -3.49157296e-02 2.16782894e+02] [ 8.46583698e-01 5.29172591e-01 -5.72049942e-02 1.17002985e+02] [ 6.70156836e-02 6.46283894e-04 9.97751713e-01 1.72904476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.82, Y:117.05, Z:17.30 [[ 5.21409605e-01 -8.52592549e-01 -3.48994235e-02 2.16816043e+02] [ 8.50670633e-01 5.22576239e-01 -5.72149404e-02 1.17050950e+02] [ 6.70186414e-02 1.44504810e-04 9.97751713e-01 1.72952111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.85, Y:117.10, Z:17.30 [[ 5.16740937e-01 -8.55430867e-01 -3.48831867e-02 2.16847750e+02] [ 8.53514690e-01 5.17916973e-01 -5.72248381e-02 1.17099863e+02] [ 6.70184873e-02 -2.02895853e-04 9.97751713e-01 1.73002431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.88, Y:117.15, Z:17.31 [[ 5.12462340e-01 -8.58001537e-01 -3.48670641e-02 2.16877518e+02] [ 8.56090591e-01 5.13646856e-01 -5.72346600e-02 1.17149848e+02] [ 6.70167841e-02 -5.18757724e-04 9.97751713e-01 1.73059198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.91, Y:117.20, Z:17.31 [[ 5.09348470e-01 -8.59854399e-01 -3.48503787e-02 2.16906965e+02] [ 8.57947067e-01 5.10538795e-01 -5.72448179e-02 1.17200130e+02] [ 6.70146789e-02 -7.42219812e-04 9.97751714e-01 1.73092733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.94, Y:117.25, Z:17.31 [[ 5.03702099e-01 -8.63174843e-01 -3.48336905e-02 2.16936635e+02] [ 8.61274653e-01 5.04903794e-01 -5.72549710e-02 1.17249975e+02] [ 6.70087131e-02 -1.16192555e-03 9.97751714e-01 1.73123939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.96, Y:117.30, Z:17.31 [[ 4.98460746e-01 -8.66212820e-01 -3.48171617e-02 2.16964149e+02] [ 8.64319250e-01 4.99672845e-01 -5.72650205e-02 1.17300153e+02] [ 6.70008852e-02 -1.54877821e-03 9.97751714e-01 1.73146245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.99, Y:117.35, Z:17.32 [[ 4.96318809e-01 -8.67442432e-01 -3.48032512e-02 2.16992240e+02] [ 8.65551273e-01 4.97534666e-01 -5.72734735e-02 1.17350333e+02] [ 6.69972651e-02 -1.69809621e-03 9.97751714e-01 1.73188939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.02, Y:117.40, Z:17.33 [[ 4.97478380e-01 -8.66778573e-01 -3.47874577e-02 2.17018488e+02] [ 8.64885121e-01 4.98690663e-01 -5.72830647e-02 1.17401438e+02] [ 6.69999135e-02 -1.59006837e-03 9.97751714e-01 1.73255773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.05, Y:117.45, Z:17.33 [[ 5.01432303e-01 -8.64497890e-01 -3.47713010e-02 2.17045281e+02] [ 8.62598243e-01 5.02634855e-01 -5.72928704e-02 1.17452892e+02] [ 6.70068334e-02 -1.26516719e-03 9.97751714e-01 1.73302604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.07, Y:117.51, Z:17.33 [[ 5.08536115e-01 -8.60338946e-01 -3.47551197e-02 2.17069717e+02] [ 8.58428789e-01 5.09721901e-01 -5.73026846e-02 1.17505961e+02] [ 6.70151770e-02 -6.94310736e-04 9.97751715e-01 1.73331918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.10, Y:117.56, Z:17.34 [[ 5.12959129e-01 -8.57709814e-01 -3.47391291e-02 2.17096514e+02] [ 8.55792922e-01 5.14133996e-01 -5.73123771e-02 1.17557023e+02] [ 6.70179556e-02 -3.30593769e-04 9.97751715e-01 1.73371670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.12, Y:117.61, Z:17.34 [[ 5.18459050e-01 -8.54397193e-01 -3.47224590e-02 2.17122330e+02] [ 8.52472118e-01 5.19620459e-01 -5.73224749e-02 1.17608330e+02] [ 6.70186617e-02 1.19427761e-04 9.97751715e-01 1.73391558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.15, Y:117.66, Z:17.34 [[ 5.21728791e-01 -8.52405028e-01 -3.47093110e-02 2.17148664e+02] [ 8.50474989e-01 5.22881932e-01 -5.73304350e-02 1.17659855e+02] [ 6.70176227e-02 3.91537639e-04 9.97751715e-01 1.73419030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:117.71, Z:17.35 [[ 5.22977401e-01 -8.51640215e-01 -3.46926756e-02 2.17177175e+02] [ 8.49707822e-01 5.24126592e-01 -5.73404999e-02 1.17710118e+02] [ 6.70168295e-02 5.09147856e-04 9.97751715e-01 1.73455245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:117.76, Z:17.35 [[ 5.23413682e-01 -8.51372801e-01 -3.46766667e-02 2.17206521e+02] [ 8.49439179e-01 5.24560804e-01 -5.73501797e-02 1.17760827e+02] [ 6.70164033e-02 5.62149424e-04 9.97751715e-01 1.73503125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.24, Y:117.81, Z:17.35 [[ 5.23620934e-01 -8.51245993e-01 -3.46608809e-02 2.17236265e+02] [ 8.49311462e-01 5.24766522e-01 -5.73597186e-02 1.17810659e+02] [ 6.70161006e-02 5.96865959e-04 9.97751716e-01 1.73545011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:117.86, Z:17.36 [[ 5.24076418e-01 -8.50966314e-01 -3.46444922e-02 2.17265886e+02] [ 8.49030517e-01 5.25219866e-01 -5.73696155e-02 1.17860815e+02] [ 6.70155858e-02 6.51831398e-04 9.97751716e-01 1.73577455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:117.91, Z:17.36 [[ 5.25429763e-01 -8.50132032e-01 -3.46279203e-02 2.17295680e+02] [ 8.48193761e-01 5.26569011e-01 -5.73796164e-02 1.17909387e+02] [ 6.70142397e-02 7.77772340e-04 9.97751716e-01 1.73603707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.33, Y:117.96, Z:17.36 [[ 5.25809165e-01 -8.49898021e-01 -3.46132196e-02 2.17326644e+02] [ 8.47958660e-01 5.26946556e-01 -5.73884830e-02 1.17958983e+02] [ 6.70136750e-02 8.24810996e-04 9.97751716e-01 1.73640145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.36, Y:118.01, Z:17.37 [[ 5.25482483e-01 -8.50100720e-01 -3.45966133e-02 2.17357672e+02] [ 8.48161139e-01 5.26619498e-01 -5.73984924e-02 1.18007572e+02] [ 6.70137508e-02 8.18399350e-04 9.97751716e-01 1.73668466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.39, Y:118.06, Z:17.37 [[ 5.22997152e-01 -8.51632660e-01 -3.45802258e-02 2.17389780e+02] [ 8.49695756e-01 5.24138723e-01 -5.74083635e-02 1.18056314e+02] [ 6.70156727e-02 6.41739485e-04 9.97751717e-01 1.73704998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.42, Y:118.11, Z:17.38 [[ 5.20037382e-01 -8.53443874e-01 -3.45640652e-02 2.17420677e+02] [ 8.51510301e-01 5.21184584e-01 -5.74180917e-02 1.18105279e+02] [ 6.70173766e-02 4.27896505e-04 9.97751717e-01 1.73755218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:118.15, Z:17.38 [[ 5.13822433e-01 -8.57200668e-01 -3.45473875e-02 2.17452378e+02] [ 8.55274808e-01 5.14982536e-01 -5.74281247e-02 1.18153045e+02] [ 6.70187281e-02 -3.96514730e-05 9.97751717e-01 1.73813522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.48, Y:118.21, Z:17.37 [[ 5.05385811e-01 -8.62202225e-01 -3.45326606e-02 2.17477753e+02] [ 8.60287239e-01 5.06563777e-01 -5.74369788e-02 1.18206913e+02] [ 6.70152860e-02 -6.80173126e-04 9.97751717e-01 1.73742014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:118.25, Z:17.39 [[ 5.06824839e-01 -8.61357728e-01 -3.45173412e-02 2.17514109e+02] [ 8.59440152e-01 5.07998584e-01 -5.74461837e-02 1.18250825e+02] [ 6.70164748e-02 -5.50436197e-04 9.97751717e-01 1.73910535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:118.30, Z:17.38 [[ 4.96370384e-01 -8.67424601e-01 -3.45109057e-02 2.17540022e+02] [ 8.65521093e-01 4.97566809e-01 -5.74500496e-02 1.18304674e+02] [ 6.70050676e-02 -1.35341359e-03 9.97751717e-01 1.73842407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:118.36, Z:17.38 [[ 4.92187667e-01 -8.69805345e-01 -3.44958344e-02 2.17568601e+02] [ 8.67906989e-01 4.93392249e-01 -5.74590978e-02 1.18356093e+02] [ 6.69982077e-02 -1.65851653e-03 9.97751717e-01 1.73824944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.60, Y:118.40, Z:17.40 [[ 4.96155372e-01 -8.67548815e-01 -3.44804458e-02 2.17604679e+02] [ 8.65644337e-01 4.97350252e-01 -5.74683308e-02 1.18400420e+02] [ 6.70054407e-02 -1.33458163e-03 9.97751718e-01 1.73970814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:118.45, Z:17.40 [[ 4.94167909e-01 -8.68682694e-01 -3.44739773e-02 2.17634053e+02] [ 8.66780687e-01 4.95366719e-01 -5.74722108e-02 1.18449410e+02] [ 6.70023759e-02 -1.48045546e-03 9.97751718e-01 1.74006248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.66, Y:118.50, Z:17.40 [[ 4.92202653e-01 -8.69798317e-01 -3.44592007e-02 2.17663244e+02] [ 8.67898408e-01 4.93404784e-01 -5.74810693e-02 1.18499511e+02] [ 6.69992718e-02 -1.61475060e-03 9.97751718e-01 1.74043045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.69, Y:118.55, Z:17.41 [[ 4.91836839e-01 -8.70005866e-01 -3.44429583e-02 2.17692448e+02] [ 8.68105784e-01 4.93038696e-01 -5.74908002e-02 1.18548990e+02] [ 6.69990446e-02 -1.62403787e-03 9.97751718e-01 1.74095179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:118.60, Z:17.42 [[ 4.94411612e-01 -8.68545887e-01 -3.44267252e-02 2.17720322e+02] [ 8.66641580e-01 4.95606762e-01 -5.75005193e-02 1.18599105e+02] [ 6.70039573e-02 -1.40670706e-03 9.97751718e-01 1.74157576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:118.65, Z:17.42 [[ 4.97618885e-01 -8.66712911e-01 -3.44118367e-02 2.17747651e+02] [ 8.64803585e-01 4.98806000e-01 -5.75094281e-02 1.18650090e+02] [ 6.70089945e-02 -1.14170224e-03 9.97751718e-01 1.74192266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:118.70, Z:17.42 [[ 5.03171772e-01 -8.63501686e-01 -3.43948547e-02 2.17773995e+02] [ 8.61584086e-01 5.04345477e-01 -5.75195828e-02 1.18701824e+02] [ 6.70151461e-02 -6.91829070e-04 9.97751718e-01 1.74216988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:118.75, Z:17.42 [[ 5.05928169e-01 -8.61890268e-01 -3.43781096e-02 2.17801865e+02] [ 8.59968249e-01 5.07094623e-01 -5.75295892e-02 1.18752857e+02] [ 6.70171476e-02 -4.58243045e-04 9.97751719e-01 1.74239943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.83, Y:118.81, Z:17.43 [[ 5.05108746e-01 -8.62371406e-01 -3.43614854e-02 2.17827969e+02] [ 8.60449824e-01 5.06275918e-01 -5.75395169e-02 1.18805020e+02] [ 6.70168266e-02 -5.02620826e-04 9.97751719e-01 1.74250202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:118.85, Z:17.43 [[ 5.09152677e-01 -8.59990732e-01 -3.43437459e-02 2.17858782e+02] [ 8.58062977e-01 5.10309625e-01 -5.75501032e-02 1.18853074e+02] [ 6.70184994e-02 -1.67307731e-04 9.97751719e-01 1.74292399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.89, Y:118.90, Z:17.44 [[ 5.09594579e-01 -8.59729540e-01 -3.43290352e-02 2.17887125e+02] [ 8.57800601e-01 5.10749552e-01 -5.75588769e-02 1.18902985e+02] [ 6.70186061e-02 -1.15775345e-04 9.97751719e-01 1.74353764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.92, Y:118.95, Z:17.44 [[ 5.09629661e-01 -8.59709401e-01 -3.43126120e-02 2.17915653e+02] [ 8.57779757e-01 5.10783455e-01 -5.75686656e-02 1.18953915e+02] [ 6.70186375e-02 -9.39644578e-05 9.97751719e-01 1.74396386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.94, Y:119.00, Z:17.44 [[ 5.10531905e-01 -8.59174570e-01 -3.42962427e-02 2.17944118e+02] [ 8.57243062e-01 5.11682576e-01 -5.75784158e-02 1.19004904e+02] [ 6.70187005e-02 -4.59784405e-06 9.97751720e-01 1.74427630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.97, Y:119.06, Z:17.45 [[ 5.12552779e-01 -8.57971176e-01 -3.42798748e-02 2.17973851e+02] [ 8.56036315e-01 5.13697802e-01 -5.75881590e-02 1.19055042e+02] [ 6.70184769e-02 1.72153262e-04 9.97751720e-01 1.74463772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.00, Y:119.11, Z:17.45 [[ 5.17760771e-01 -8.54839039e-01 -3.42637153e-02 2.18001640e+02] [ 8.52896616e-01 5.18892917e-01 -5.75977720e-02 1.19105835e+02] [ 6.70160232e-02 5.98460020e-04 9.97751720e-01 1.74498560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.03, Y:119.16, Z:17.45 [[ 5.21873304e-01 -8.52335245e-01 -3.42473948e-02 2.18029573e+02] [ 8.50386755e-01 5.22994976e-01 -5.76074745e-02 1.19155571e+02] [ 6.70120963e-02 9.40272074e-04 9.97751720e-01 1.74527599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.06, Y:119.21, Z:17.46 [[ 5.27242999e-01 -8.49024708e-01 -3.42325113e-02 2.18059091e+02] [ 8.47068605e-01 5.28351340e-01 -5.76163175e-02 1.19205738e+02] [ 6.70044704e-02 1.38051443e-03 9.97751720e-01 1.74585696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.09, Y:119.25, Z:17.46 [[ 5.31322544e-01 -8.46478373e-01 -3.42157698e-02 2.18089117e+02] [ 8.44516321e-01 5.32420321e-01 -5.76262578e-02 1.19254241e+02] [ 6.69965521e-02 1.72235386e-03 9.97751720e-01 1.74625418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.12, Y:119.30, Z:17.47 [[ 5.32294322e-01 -8.45868208e-01 -3.42013014e-02 2.18119038e+02] [ 8.43904348e-01 5.33388860e-01 -5.76348436e-02 1.19304128e+02] [ 6.69940750e-02 1.81607306e-03 9.97751721e-01 1.74665595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.15, Y:119.35, Z:17.48 [[ 5.33380313e-01 -8.45184515e-01 -3.41844570e-02 2.18151198e+02] [ 8.43218614e-01 5.34471180e-01 -5.76448326e-02 1.19352644e+02] [ 6.69911270e-02 1.92164845e-03 9.97751721e-01 1.74773628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.18, Y:119.40, Z:17.48 [[ 5.30583396e-01 -8.46943783e-01 -3.41685403e-02 2.18182209e+02] [ 8.44980893e-01 5.31679674e-01 -5.76542656e-02 1.19401076e+02] [ 6.69966401e-02 1.71863229e-03 9.97751721e-01 1.74777089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:119.45, Z:17.48 [[ 5.28359643e-01 -8.48333093e-01 -3.41621424e-02 2.18212958e+02] [ 8.46372842e-01 5.29460632e-01 -5.76580563e-02 1.19448964e+02] [ 6.70007467e-02 1.55028047e-03 9.97751721e-01 1.74815634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.24, Y:119.50, Z:17.48 [[ 5.25019315e-01 -8.50405019e-01 -3.41470670e-02 2.18244358e+02] [ 8.48448535e-01 5.26126983e-01 -5.76669831e-02 1.19497667e+02] [ 6.70059852e-02 1.30425101e-03 9.97751721e-01 1.74837227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.28, Y:119.55, Z:17.49 [[ 5.23213142e-01 -8.51518131e-01 -3.41303486e-02 2.18275126e+02] [ 8.49563359e-01 5.24323829e-01 -5.76768763e-02 1.19546518e+02] [ 6.70082609e-02 1.18140610e-03 9.97751721e-01 1.74856288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.31, Y:119.60, Z:17.49 [[ 5.20907621e-01 -8.52931117e-01 -3.41139394e-02 2.18306878e+02] [ 8.50978723e-01 5.22022482e-01 -5.76865801e-02 1.19595616e+02] [ 6.70109225e-02 1.01914266e-03 9.97751721e-01 1.74880439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.34, Y:119.65, Z:17.49 [[ 5.18889050e-01 -8.54161287e-01 -3.40976443e-02 2.18337862e+02] [ 8.52210905e-01 5.20007425e-01 -5.76962103e-02 1.19645061e+02] [ 6.70128975e-02 8.79547408e-04 9.97751722e-01 1.74917358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.37, Y:119.69, Z:17.49 [[ 5.14599155e-01 -8.56753278e-01 -3.40812389e-02 2.18369181e+02] [ 8.54807888e-01 5.15726191e-01 -5.77058994e-02 1.19692610e+02] [ 6.70163060e-02 5.62495276e-04 9.97751722e-01 1.74943362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.40, Y:119.74, Z:17.50 [[ 5.09920342e-01 -8.59546801e-01 -3.40667220e-02 2.18400552e+02] [ 8.57607013e-01 5.11056994e-01 -5.77144682e-02 1.19740129e+02] [ 6.70183230e-02 2.13921590e-04 9.97751722e-01 1.74975646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.43, Y:119.79, Z:17.50 [[ 5.03623259e-01 -8.63252113e-01 -3.40500095e-02 2.18428061e+02] [ 8.61320021e-01 5.04772943e-01 -5.77243265e-02 1.19792197e+02] [ 6.70181703e-02 -2.56641505e-04 9.97751722e-01 1.74969699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:218.46, Y:119.84, Z:17.50 [[ 4.91605905e-01 -8.70152449e-01 -3.40345273e-02 2.18457617e+02] [ 8.68235854e-01 4.92781241e-01 -5.77334534e-02 1.19842617e+02] [ 6.70084825e-02 -1.16789026e-03 9.97751722e-01 1.74953528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.50, Y:119.89, Z:17.51 [[ 4.92871711e-01 -8.69436743e-01 -3.40180206e-02 2.18495873e+02] [ 8.67517770e-01 4.94043160e-01 -5.77431780e-02 1.19886120e+02] [ 6.70104110e-02 -1.05125841e-03 9.97751722e-01 1.75106666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:119.93, Z:17.52 [[ 4.84711186e-01 -8.74013183e-01 -3.40003299e-02 2.18528273e+02] [ 8.72104532e-01 4.85899380e-01 -5.77535927e-02 1.19934577e+02] [ 6.69981406e-02 -1.65802944e-03 9.97751723e-01 1.75177299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.56, Y:119.98, Z:17.52 [[ 4.80520412e-01 -8.76324847e-01 -3.39837789e-02 2.18558858e+02] [ 8.74421223e-01 4.81716642e-01 -5.77633301e-02 1.19983417e+02] [ 6.69899933e-02 -1.95967832e-03 9.97751723e-01 1.75225687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.59, Y:120.03, Z:17.53 [[ 4.78115011e-01 -8.77640176e-01 -3.39670241e-02 2.18586888e+02] [ 8.75739144e-01 4.79315356e-01 -5.77731809e-02 1.20033038e+02] [ 6.69849809e-02 -2.12402762e-03 9.97751723e-01 1.75257353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.62, Y:120.08, Z:17.53 [[ 4.77424124e-01 -8.78016783e-01 -3.39519531e-02 2.18615281e+02] [ 8.76116071e-01 4.78624975e-01 -5.77820365e-02 1.20083469e+02] [ 6.69838505e-02 -2.15931359e-03 9.97751723e-01 1.75297286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.64, Y:120.13, Z:17.53 [[ 4.77322987e-01 -8.78072410e-01 -3.39353576e-02 2.18642654e+02] [ 8.76171148e-01 4.78522966e-01 -5.77917814e-02 1.20133451e+02] [ 6.69842167e-02 -2.14783550e-03 9.97751723e-01 1.75326283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.67, Y:120.19, Z:17.54 [[ 4.79903576e-01 -8.76665242e-01 -3.39206485e-02 2.18668654e+02] [ 8.74759852e-01 4.81096989e-01 -5.78004135e-02 1.20185821e+02] [ 6.69907354e-02 -1.93379635e-03 9.97751724e-01 1.75367715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.69, Y:120.24, Z:17.54 [[ 4.84324376e-01 -8.74231321e-01 -3.39042275e-02 2.18693435e+02] [ 8.72319257e-01 4.85507068e-01 -5.78100441e-02 1.20238271e+02] [ 6.70000933e-02 -1.57649706e-03 9.97751724e-01 1.75404748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.72, Y:120.29, Z:17.54 [[ 4.87589263e-01 -8.72415222e-01 -3.38879142e-02 2.18719041e+02] [ 8.70498089e-01 4.88763717e-01 -5.78196053e-02 1.20289048e+02] [ 6.70058867e-02 -1.30714585e-03 9.97751724e-01 1.75440491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.74, Y:120.34, Z:17.55 [[ 4.93277764e-01 -8.69211976e-01 -3.38760600e-02 2.18743417e+02] [ 8.67286736e-01 4.94438882e-01 -5.78265498e-02 1.20342472e+02] [ 6.70131708e-02 -8.55706301e-04 9.97751724e-01 1.75479631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.77, Y:120.39, Z:17.55 [[ 4.97310958e-01 -8.66911391e-01 -3.38592807e-02 2.18768406e+02] [ 8.64980109e-01 4.98461999e-01 -5.78363729e-02 1.20393676e+02] [ 6.70165752e-02 -5.24942265e-04 9.97751724e-01 1.75499932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.79, Y:120.45, Z:17.55 [[ 5.03298699e-01 -8.63449441e-01 -3.38449754e-02 2.18793410e+02] [ 8.61509678e-01 5.04435388e-01 -5.78447430e-02 1.20446794e+02] [ 6.70186143e-02 -4.45899159e-05 9.97751724e-01 1.75534619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.82, Y:120.50, Z:17.56 [[ 5.07295727e-01 -8.61107819e-01 -3.38285318e-02 2.18820683e+02] [ 8.59162168e-01 5.08422307e-01 -5.78543579e-02 1.20497755e+02] [ 6.70180201e-02 2.85073831e-04 9.97751724e-01 1.75582012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:120.55, Z:17.56 [[ 5.11800438e-01 -8.58438741e-01 -3.38118137e-02 2.18848106e+02] [ 8.56486570e-01 5.12915683e-01 -5.78641267e-02 1.20548866e+02] [ 6.70154177e-02 6.55521039e-04 9.97751725e-01 1.75627917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:120.60, Z:17.57 [[ 5.19101051e-01 -8.54044488e-01 -3.37951262e-02 2.18874150e+02] [ 8.52082247e-01 5.20198480e-01 -5.78738713e-02 1.20600546e+02] [ 6.70070341e-02 1.24616038e-03 9.97751725e-01 1.75662778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:120.65, Z:17.58 [[ 5.24639596e-01 -8.50654055e-01 -3.37783057e-02 2.18902729e+02] [ 8.48684095e-01 5.25723108e-01 -5.78836871e-02 1.20650419e+02] [ 6.69970289e-02 1.70096343e-03 9.97751725e-01 1.75828942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:120.70, Z:17.59 [[ 5.28664591e-01 -8.48159128e-01 -3.37615779e-02 2.18932523e+02] [ 8.46183436e-01 5.29737616e-01 -5.78934422e-02 1.20700674e+02] [ 6.69876292e-02 2.03772490e-03 9.97751725e-01 1.75872123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.96, Y:120.75, Z:17.59 [[ 5.29667197e-01 -8.47534050e-01 -3.37445439e-02 2.18963724e+02] [ 8.45556462e-01 5.30736723e-01 -5.79033692e-02 1.20749623e+02] [ 6.69845456e-02 2.13659812e-03 9.97751725e-01 1.75946646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.99, Y:120.80, Z:17.58 [[ 5.25933298e-01 -8.49856826e-01 -3.37274623e-02 2.18992629e+02] [ 8.47883328e-01 5.27010351e-01 -5.79133171e-02 1.20800532e+02] [ 6.69927496e-02 1.86158892e-03 9.97751726e-01 1.75822855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.02, Y:120.85, Z:17.60 [[ 5.22664180e-01 -8.51871668e-01 -3.37167184e-02 2.19024126e+02] [ 8.49901921e-01 5.23748077e-01 -5.79195715e-02 1.20849096e+02] [ 6.69991084e-02 1.61658162e-03 9.97751726e-01 1.75952960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.06, Y:120.90, Z:17.59 [[ 5.18080873e-01 -8.54667487e-01 -3.37000735e-02 2.19056161e+02] [ 8.52702963e-01 5.19174208e-01 -5.79292546e-02 1.20897532e+02] [ 6.70064594e-02 1.27588626e-03 9.97751726e-01 1.75902219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.09, Y:120.95, Z:17.59 [[ 5.12111058e-01 -8.58258300e-01 -3.36890758e-02 2.19088032e+02] [ 8.56301025e-01 5.13217318e-01 -5.79356497e-02 1.20946030e+02] [ 6.70135693e-02 8.21496748e-04 9.97751726e-01 1.75944705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.12, Y:121.00, Z:17.60 [[ 4.99638317e-01 -8.65579391e-01 -3.36729894e-02 2.19119030e+02] [ 8.63637700e-01 5.00771706e-01 -5.79449978e-02 1.20995692e+02] [ 6.70184762e-02 -1.29721916e-04 9.97751726e-01 1.75983971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.15, Y:121.04, Z:17.61 [[ 4.92851888e-01 -8.69461979e-01 -3.36583428e-02 2.19151521e+02] [ 8.67528633e-01 4.93999456e-01 -5.79535043e-02 1.21043597e+02] [ 6.70155715e-02 -6.37082123e-04 9.97751726e-01 1.76092394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.19, Y:121.09, Z:17.61 [[ 4.83974260e-01 -8.74435403e-01 -3.36398828e-02 2.19185377e+02] [ 8.72513099e-01 4.85140228e-01 -5.79642177e-02 1.21090516e+02] [ 6.70060245e-02 -1.29804908e-03 9.97751727e-01 1.76080464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.22, Y:121.14, Z:17.61 [[ 4.78215723e-01 -8.77598298e-01 -3.36296025e-02 2.19216160e+02] [ 8.75683283e-01 4.79393624e-01 -5.79701814e-02 1.21140142e+02] [ 6.69963496e-02 -1.72662851e-03 9.97751727e-01 1.76119077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.25, Y:121.19, Z:17.63 [[ 4.71767839e-01 -8.81081866e-01 -3.36132620e-02 2.19247872e+02] [ 8.79174869e-01 4.72958676e-01 -5.79796548e-02 1.21189033e+02] [ 6.69825063e-02 -2.19899878e-03 9.97751727e-01 1.76254618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.28, Y:121.24, Z:17.62 [[ 4.68295843e-01 -8.82932731e-01 -3.35975509e-02 2.19277243e+02] [ 8.81029788e-01 4.69493148e-01 -5.79887575e-02 1.21239525e+02] [ 6.69739920e-02 -2.44454912e-03 9.97751727e-01 1.76208709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.31, Y:121.29, Z:17.62 [[ 4.67798968e-01 -8.83196706e-01 -3.35813070e-02 2.19305424e+02] [ 8.81293767e-01 4.68996279e-01 -5.79981628e-02 1.21289750e+02] [ 6.69732944e-02 -2.46351588e-03 9.97751727e-01 1.76243074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.33, Y:121.34, Z:17.63 [[ 4.69662358e-01 -8.82207847e-01 -3.35646267e-02 2.19332514e+02] [ 8.80301699e-01 4.70854555e-01 -5.80078144e-02 1.21339498e+02] [ 6.69790064e-02 -2.30291099e-03 9.97751727e-01 1.76269859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.36, Y:121.39, Z:17.63 [[ 4.70911477e-01 -8.81542266e-01 -3.35501846e-02 2.19360607e+02] [ 8.79633840e-01 4.72100023e-01 -5.80161662e-02 1.21390018e+02] [ 6.69827455e-02 -2.19139924e-03 9.97751727e-01 1.76309394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.39, Y:121.44, Z:17.64 [[ 4.76072212e-01 -8.78766599e-01 -3.35337771e-02 2.19386944e+02] [ 8.76850572e-01 4.77248466e-01 -5.80256483e-02 1.21441596e+02] [ 6.69949452e-02 -1.77971293e-03 9.97751728e-01 1.76363743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.41, Y:121.49, Z:17.64 [[ 4.80461680e-01 -8.76374981e-01 -3.35181726e-02 2.19413351e+02] [ 8.74452469e-01 4.81627302e-01 -5.80346607e-02 1.21493336e+02] [ 6.70033917e-02 -1.42661822e-03 9.97751728e-01 1.76410635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.44, Y:121.55, Z:17.65 [[ 4.88121641e-01 -8.72132384e-01 -3.35017625e-02 2.19439199e+02] [ 8.70199085e-01 4.89269283e-01 -5.80441323e-02 1.21546493e+02] [ 6.70135508e-02 -8.20606024e-04 9.97751728e-01 1.76504646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.46, Y:121.60, Z:17.65 [[ 4.92324410e-01 -8.69767361e-01 -3.34875197e-02 2.19464440e+02] [ 8.67827988e-01 4.93461759e-01 -5.80523483e-02 1.21599505e+02] [ 6.70168481e-02 -4.80818704e-04 9.97751728e-01 1.76487242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.49, Y:121.65, Z:17.65 [[ 4.98325968e-01 -8.66343198e-01 -3.34767494e-02 2.19489166e+02] [ 8.64395592e-01 4.99449160e-01 -5.80585585e-02 1.21652593e+02] [ 6.70185716e-02 -5.06725082e-06 9.97751728e-01 1.76516707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.52, Y:121.70, Z:17.65 [[ 5.02033788e-01 -8.64200485e-01 -3.34603925e-02 2.19515600e+02] [ 8.62247457e-01 5.03147525e-01 -5.80679838e-02 1.21704630e+02] [ 6.70178934e-02 3.00951540e-04 9.97751728e-01 1.76548244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.54, Y:121.76, Z:17.66 [[ 5.06393382e-01 -8.61653780e-01 -3.34440811e-02 2.19541762e+02] [ 8.59694532e-01 5.07496139e-01 -5.80773768e-02 1.21756740e+02] [ 6.70153332e-02 6.58305609e-04 9.97751729e-01 1.76572075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:121.81, Z:17.66 [[ 5.07968762e-01 -8.60726600e-01 -3.34283841e-02 2.19570171e+02] [ 8.58764745e-01 5.09066873e-01 -5.80864103e-02 1.21807698e+02] [ 6.70138014e-02 7.98964204e-04 9.97751729e-01 1.76581263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.60, Y:121.86, Z:17.67 [[ 5.06869732e-01 -8.61375010e-01 -3.34090844e-02 2.19599503e+02] [ 8.59413829e-01 5.07969045e-01 -5.80975087e-02 1.21857626e+02] [ 6.70145228e-02 7.35639536e-04 9.97751729e-01 1.76656264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.63, Y:121.91, Z:17.67 [[ 5.06305515e-01 -8.61707520e-01 -3.33897447e-02 2.19629433e+02] [ 8.59746328e-01 5.07404809e-01 -5.81086214e-02 1.21907321e+02] [ 6.70147531e-02 7.14005077e-04 9.97751729e-01 1.76700351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.66, Y:121.96, Z:17.67 [[ 5.06567791e-01 -8.61553998e-01 -3.33733652e-02 2.19659009e+02] [ 8.59591853e-01 5.07665382e-01 -5.81180271e-02 1.21956742e+02] [ 6.70143209e-02 7.53247756e-04 9.97751729e-01 1.76734370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.69, Y:122.01, Z:17.68 [[ 5.05909843e-01 -8.61941141e-01 -3.33571590e-02 2.19687900e+02] [ 8.59979223e-01 5.07007840e-01 -5.81273273e-02 1.22006173e+02] [ 6.70146760e-02 7.20723339e-04 9.97751730e-01 1.76766783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.72, Y:122.05, Z:17.68 [[ 5.04548395e-01 -8.62739444e-01 -3.33401991e-02 2.19719210e+02] [ 8.60778621e-01 5.05648345e-01 -5.81370534e-02 1.22054353e+02] [ 6.70155457e-02 6.34426385e-04 9.97751730e-01 1.76822170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.75, Y:122.10, Z:17.68 [[ 5.03236487e-01 -8.63505988e-01 -3.33233720e-02 2.19749823e+02] [ 8.61546202e-01 5.04338283e-01 -5.81466969e-02 1.22103122e+02] [ 6.70162732e-02 5.51914868e-04 9.97751730e-01 1.76849373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.78, Y:122.15, Z:17.69 [[ 5.01953456e-01 -8.64253019e-01 -3.33083745e-02 2.19779945e+02] [ 8.62294302e-01 5.03057153e-01 -5.81552867e-02 1.22152049e+02] [ 6.70168981e-02 4.69625542e-04 9.97751730e-01 1.76912122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.81, Y:122.20, Z:17.69 [[ 4.99743200e-01 -8.65533593e-01 -3.32916345e-02 2.19810746e+02] [ 8.63577067e-01 5.00850774e-01 -5.81648681e-02 1.22200081e+02] [ 6.70177882e-02 3.17605242e-04 9.97751730e-01 1.76947090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.84, Y:122.25, Z:17.69 [[ 4.90900449e-01 -8.70579934e-01 -3.32765377e-02 2.19838939e+02] [ 8.68634207e-01 4.92026888e-01 -5.81735038e-02 1.22252567e+02] [ 6.70176364e-02 -3.47739778e-04 9.97751730e-01 1.76924240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.87, Y:122.30, Z:17.70 [[ 4.92007806e-01 -8.69955191e-01 -3.32608434e-02 2.19873405e+02] [ 8.68007427e-01 4.93130718e-01 -5.81824757e-02 1.22297834e+02] [ 6.70180904e-02 -2.44426914e-04 9.97751731e-01 1.77040112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.90, Y:122.35, Z:17.70 [[ 4.80599660e-01 -8.76309619e-01 -3.32478515e-02 2.19898727e+02] [ 8.74376180e-01 4.81747061e-01 -5.81898989e-02 1.22350955e+02] [ 6.70094229e-02 -1.10508377e-03 9.97751731e-01 1.76982224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.93, Y:122.40, Z:17.70 [[ 4.77819450e-01 -8.77829336e-01 -3.32299641e-02 2.19930745e+02] [ 8.75898836e-01 4.78971790e-01 -5.82001119e-02 1.22399427e+02] [ 6.70059810e-02 -1.29694141e-03 9.97751731e-01 1.77036494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.96, Y:122.45, Z:17.71 [[ 4.75146297e-01 -8.79279764e-01 -3.32128370e-02 2.19961881e+02] [ 8.77352100e-01 4.76303372e-01 -5.82098842e-02 1.22447683e+02] [ 6.70021595e-02 -1.48114138e-03 9.97751731e-01 1.77099329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.00, Y:122.49, Z:17.72 [[ 4.75817226e-01 -8.78917551e-01 -3.31949792e-02 2.19995879e+02] [ 8.76988296e-01 4.76971648e-01 -5.82200660e-02 1.22493453e+02] [ 6.70037018e-02 -1.40949794e-03 9.97751731e-01 1.77201256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.02, Y:122.55, Z:17.72 [[ 4.71533638e-01 -8.81223572e-01 -3.31819936e-02 2.20022809e+02] [ 8.79299441e-01 4.72696579e-01 -5.82274661e-02 1.22546547e+02] [ 6.69964305e-02 -1.72069944e-03 9.97751731e-01 1.77197241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:122.60, Z:17.73 [[ 4.75042889e-01 -8.79337391e-01 -3.31663575e-02 2.20054196e+02] [ 8.77408020e-01 4.76197115e-01 -5.82363711e-02 1.22595514e+02] [ 6.70031424e-02 -1.43565407e-03 9.97751732e-01 1.77276974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.08, Y:122.65, Z:17.73 [[ 4.78707285e-01 -8.77348568e-01 -3.31485341e-02 2.20083190e+02] [ 8.75413699e-01 4.79852269e-01 -5.82465145e-02 1.22645191e+02] [ 6.70088955e-02 -1.13565007e-03 9.97751732e-01 1.77322518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.11, Y:122.69, Z:17.74 [[ 4.86965940e-01 -8.72792376e-01 -3.31306865e-02 2.20113036e+02] [ 8.70846097e-01 4.88091422e-01 -5.82566646e-02 1.22694206e+02] [ 6.70167765e-02 -4.82717575e-04 9.97751732e-01 1.77372458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.14, Y:122.75, Z:17.74 [[ 4.93136215e-01 -8.69321601e-01 -3.31153637e-02 2.20140261e+02] [ 8.67366815e-01 4.94246855e-01 -5.82653733e-02 1.22745594e+02] [ 6.70185120e-02 9.59812463e-06 9.97751732e-01 1.77378646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.17, Y:122.80, Z:17.74 [[ 4.98628752e-01 -8.66183517e-01 -3.30980749e-02 2.20168764e+02] [ 8.64221090e-01 4.99725834e-01 -5.82751927e-02 1.22795573e+02] [ 6.70169745e-02 4.53632217e-04 9.97751732e-01 1.77415710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.20, Y:122.85, Z:17.74 [[ 5.05816923e-01 -8.62006352e-01 -3.30800390e-02 2.20196572e+02] [ 8.60034200e-01 5.06896423e-01 -5.82854291e-02 1.22845571e+02] [ 6.70105635e-02 1.03179150e-03 9.97751733e-01 1.77429947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.23, Y:122.90, Z:17.75 [[ 5.09193292e-01 -8.60016838e-01 -3.30640185e-02 2.20225268e+02] [ 8.58039880e-01 5.10263965e-01 -5.82945157e-02 1.22896405e+02] [ 6.70056423e-02 1.31292988e-03 9.97751733e-01 1.77483790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.25, Y:122.94, Z:17.76 [[ 5.12302436e-01 -8.58169077e-01 -3.30461609e-02 2.20254827e+02] [ 8.56187607e-01 5.13364735e-01 -5.83046371e-02 1.22944831e+02] [ 6.69999703e-02 1.57589423e-03 9.97751733e-01 1.77551945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.28, Y:123.00, Z:17.76 [[ 5.10215415e-01 -8.59412060e-01 -3.30324159e-02 2.20282697e+02] [ 8.57432675e-01 5.11281595e-01 -5.83124234e-02 1.22996811e+02] [ 6.70032661e-02 1.42882461e-03 9.97751733e-01 1.77552305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.31, Y:123.05, Z:17.76 [[ 5.09344579e-01 -8.59929073e-01 -3.30164892e-02 2.20311865e+02] [ 8.57950187e-01 5.10411684e-01 -5.83214396e-02 1.23046439e+02] [ 6.70043034e-02 1.37920605e-03 9.97751733e-01 1.77591244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.34, Y:123.10, Z:17.76 [[ 5.11041182e-01 -8.58922592e-01 -3.29983588e-02 2.20342812e+02] [ 8.56940943e-01 5.12103147e-01 -5.83316961e-02 1.23095478e+02] [ 6.70009750e-02 1.53225423e-03 9.97751733e-01 1.77647408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.37, Y:123.15, Z:17.77 [[ 5.08320191e-01 -8.60535913e-01 -3.29928053e-02 2.20371527e+02] [ 8.58557432e-01 5.09388047e-01 -5.83348370e-02 1.23146542e+02] [ 6.70053629e-02 1.32655731e-03 9.97751733e-01 1.77674749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.40, Y:123.20, Z:17.77 [[ 5.06846447e-01 -8.61405427e-01 -3.29752903e-02 2.20400983e+02] [ 8.59428135e-01 5.07916502e-01 -5.83447361e-02 1.23196447e+02] [ 6.70071664e-02 1.23192989e-03 9.97751734e-01 1.77716045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.43, Y:123.25, Z:17.78 [[ 5.04343276e-01 -8.62874071e-01 -3.29575164e-02 2.20430922e+02] [ 8.60899240e-01 5.05417866e-01 -5.83547745e-02 1.23245722e+02] [ 6.70101394e-02 1.05773738e-03 9.97751734e-01 1.77764408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.46, Y:123.29, Z:17.78 [[ 5.04234986e-01 -8.62938024e-01 -3.29400324e-02 2.20460556e+02] [ 8.60962685e-01 5.05308642e-01 -5.83646422e-02 1.23294800e+02] [ 6.70099520e-02 1.06935581e-03 9.97751734e-01 1.77816085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.49, Y:123.34, Z:17.79 [[ 5.02226966e-01 -8.64108743e-01 -3.29264939e-02 2.20489300e+02] [ 8.62135407e-01 5.03304298e-01 -5.83722789e-02 1.23343396e+02] [ 6.70120425e-02 9.29036294e-04 9.97751734e-01 1.77863824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.52, Y:123.39, Z:17.80 [[ 5.01087206e-01 -8.64770842e-01 -3.29090005e-02 2.20516845e+02] [ 8.62798282e-01 5.02165958e-01 -5.83821397e-02 1.23393666e+02] [ 6.70129519e-02 8.60714180e-04 9.97751734e-01 1.77951306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.54, Y:123.44, Z:17.80 [[ 5.02360670e-01 -8.64032374e-01 -3.28909532e-02 2.20543247e+02] [ 8.62057563e-01 5.03435295e-01 -5.83923053e-02 1.23444009e+02] [ 6.70113089e-02 9.80102624e-04 9.97751735e-01 1.77986943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.57, Y:123.50, Z:17.80 [[ 5.04803206e-01 -8.62608057e-01 -3.28795289e-02 2.20571574e+02] [ 8.60629796e-01 5.05871467e-01 -5.83987374e-02 1.23495667e+02] [ 6.70080369e-02 1.18276761e-03 9.97751735e-01 1.78043616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.60, Y:123.55, Z:17.81 [[ 5.09311673e-01 -8.59954412e-01 -3.28638008e-02 2.20596812e+02] [ 8.57970018e-01 5.10368497e-01 -5.84075870e-02 1.23547364e+02] [ 6.70005108e-02 1.55151005e-03 9.97751735e-01 1.78083840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.62, Y:123.60, Z:17.81 [[ 5.12002448e-01 -8.58355304e-01 -3.28582673e-02 2.20621949e+02] [ 8.56367411e-01 5.13052675e-01 -5.84106998e-02 1.23599312e+02] [ 6.69951560e-02 1.76767197e-03 9.97751735e-01 1.78064895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.65, Y:123.65, Z:17.81 [[ 5.16230078e-01 -8.55819808e-01 -3.28475647e-02 2.20646751e+02] [ 8.53826379e-01 5.17269758e-01 -5.84167179e-02 1.23653100e+02] [ 6.69852361e-02 2.11034967e-03 9.97751735e-01 1.78126976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.67, Y:123.71, Z:17.82 [[ 5.18375781e-01 -8.54522422e-01 -3.28326172e-02 2.20671975e+02] [ 8.52525861e-01 5.19409435e-01 -5.84251178e-02 1.23705611e+02] [ 6.69791443e-02 2.29551081e-03 9.97751735e-01 1.78175289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.70, Y:123.76, Z:17.82 [[ 5.20279320e-01 -8.53365070e-01 -3.28250935e-02 2.20695558e+02] [ 8.51365946e-01 5.21308007e-01 -5.84293446e-02 1.23760121e+02] [ 6.69735458e-02 2.45341293e-03 9.97751735e-01 1.78226834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.72, Y:123.81, Z:17.83 [[ 5.22494442e-01 -8.52011169e-01 -3.28104455e-02 2.20718638e+02] [ 8.50008867e-01 5.23516930e-01 -5.84375688e-02 1.23813714e+02] [ 6.69662851e-02 2.64413528e-03 9.97751735e-01 1.78264292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.74, Y:123.87, Z:17.83 [[ 5.22672695e-01 -8.51902483e-01 -3.27935039e-02 2.20743583e+02] [ 8.49899376e-01 5.23693604e-01 -5.84470745e-02 1.23866309e+02] [ 6.69649561e-02 2.67751143e-03 9.97751735e-01 1.78286163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.77, Y:123.92, Z:17.83 [[ 5.20254932e-01 -8.53381795e-01 -3.27767886e-02 2.20768604e+02] [ 8.51381005e-01 5.21280374e-01 -5.84564468e-02 1.23917506e+02] [ 6.69715641e-02 2.50671955e-03 9.97751736e-01 1.78307692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.80, Y:123.97, Z:17.84 [[ 5.16658875e-01 -8.55564249e-01 -3.27631345e-02 2.20796261e+02] [ 8.53567310e-01 5.17691797e-01 -5.84640986e-02 1.23967659e+02] [ 6.69809985e-02 2.24045488e-03 9.97751736e-01 1.78352843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.82, Y:124.02, Z:17.84 [[ 5.08982804e-01 -8.60153348e-01 -3.27524685e-02 2.20823809e+02] [ 8.58165348e-01 5.10032828e-01 -5.84700732e-02 1.24018534e+02] [ 6.69980633e-02 1.65322831e-03 9.97751736e-01 1.78394935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.85, Y:124.07, Z:17.84 [[ 5.03305988e-01 -8.63487943e-01 -3.27361496e-02 2.20852614e+02] [ 8.61506311e-01 5.04367980e-01 -5.84792084e-02 1.24069427e+02] [ 6.70071570e-02 1.23053631e-03 9.97751736e-01 1.78436028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.88, Y:124.12, Z:17.85 [[ 4.94964233e-01 -8.68297093e-01 -3.27195223e-02 2.20882722e+02] [ 8.66325170e-01 4.96044145e-01 -5.84885100e-02 1.24119064e+02] [ 6.70157307e-02 6.03974729e-04 9.97751736e-01 1.78483210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.91, Y:124.17, Z:17.85 [[ 4.89606108e-01 -8.71330246e-01 -3.27026274e-02 2.20912033e+02] [ 8.69364383e-01 4.90697013e-01 -5.84979550e-02 1.24169600e+02] [ 6.70181190e-02 2.10456613e-04 9.97751736e-01 1.78519968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.94, Y:124.22, Z:17.86 [[ 4.83706707e-01 -8.74619601e-01 -3.26860166e-02 2.20942159e+02] [ 8.72660529e-01 4.84809761e-01 -5.85072349e-02 1.24219102e+02] [ 6.70180743e-02 -2.23454598e-04 9.97751737e-01 1.78560895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.97, Y:124.27, Z:17.86 [[ 4.81279553e-01 -8.75958173e-01 -3.26691100e-02 2.20972187e+02] [ 8.74001529e-01 4.82386905e-01 -5.85166736e-02 1.24269103e+02] [ 6.70173094e-02 -3.89973612e-04 9.97751737e-01 1.78597852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:124.32, Z:17.86 [[ 4.80543986e-01 -8.76362537e-01 -3.26524220e-02 2.21001367e+02] [ 8.74406192e-01 4.81651866e-01 -5.85259840e-02 1.24319248e+02] [ 6.70170799e-02 -4.27170379e-04 9.97751737e-01 1.78642672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:124.37, Z:17.87 [[ 4.81696799e-01 -8.75730027e-01 -3.26360757e-02 2.21029135e+02] [ 8.73771609e-01 4.82801012e-01 -5.85350979e-02 1.24368813e+02] [ 6.70176733e-02 -3.20307133e-04 9.97751737e-01 1.78678103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:124.42, Z:17.87 [[ 4.88435845e-01 -8.71989849e-01 -3.26209719e-02 2.21060147e+02] [ 8.70022413e-01 4.89523909e-01 -5.85435139e-02 1.24417661e+02] [ 6.70180955e-02 2.13773975e-04 9.97751737e-01 1.78736151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:221.09, Y:124.47, Z:17.88 [[ 4.94678049e-01 -8.68464498e-01 -3.26043541e-02 2.21088945e+02] [ 8.66488700e-01 4.95750851e-01 -5.85527673e-02 1.24467729e+02] [ 6.70146360e-02 7.13464258e-04 9.97751737e-01 1.78775838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:221.12, Y:124.52, Z:17.88 [[ 4.97550053e-01 -8.66823053e-01 -3.25843470e-02 2.21116106e+02] [ 8.64842988e-01 4.98614958e-01 -5.85638991e-02 1.24518416e+02] [ 6.70115806e-02 9.58127096e-04 9.97751738e-01 1.78821280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53999999999996 meters Centerline goodness : 0.997865 with order 1 Centerline is valid? [True, True] Translation: X:221.14, Y:124.57, Z:17.88 [[ 4.98385724e-01 -8.66343671e-01 -3.25624745e-02 2.21143278e+02] [ 8.64361787e-01 4.99447241e-01 -5.85760581e-02 1.24568587e+02] [ 6.70102352e-02 1.04771251e-03 9.97751738e-01 1.78839950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59999999999997 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:221.17, Y:124.62, Z:17.89 [[ 5.02241271e-01 -8.64114952e-01 -3.25431420e-02 2.21171493e+02] [ 8.62127664e-01 5.03292637e-01 -5.85867967e-02 1.24619566e+02] [ 6.70044507e-02 1.36836421e-03 9.97751738e-01 1.78891914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.20, Y:124.67, Z:17.89 [[ 5.01190061e-01 -8.64725893e-01 -3.25215888e-02 2.21195712e+02] [ 8.62739112e-01 5.02242382e-01 -5.85987585e-02 1.24672436e+02] [ 6.70055839e-02 1.31146867e-03 9.97751739e-01 1.78901432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:124.72, Z:17.90 [[ 5.01690445e-01 -8.64436401e-01 -3.25024003e-02 2.21224926e+02] [ 8.62448325e-01 5.02740317e-01 -5.86093997e-02 1.24721959e+02] [ 6.70043655e-02 1.37213514e-03 9.97751739e-01 1.78952114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.25, Y:124.77, Z:17.90 [[ 5.00868543e-01 -8.64913507e-01 -3.24858210e-02 2.21254119e+02] [ 8.62925835e-01 5.01919181e-01 -5.86185877e-02 1.24771698e+02] [ 6.70052649e-02 1.32735238e-03 9.97751739e-01 1.78994718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.28, Y:124.82, Z:17.90 [[ 4.99643524e-01 -8.65622379e-01 -3.24691452e-02 2.21282931e+02] [ 8.63635599e-01 5.00695846e-01 -5.86278231e-02 1.24821598e+02] [ 6.70067218e-02 1.25150251e-03 9.97751739e-01 1.79040076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.31, Y:124.87, Z:17.91 [[ 4.97530597e-01 -8.66839177e-01 -3.24522038e-02 2.21311974e+02] [ 8.64854360e-01 4.98586617e-01 -5.86371992e-02 1.24871719e+02] [ 6.70092560e-02 1.10737078e-03 9.97751739e-01 1.79071739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.34, Y:124.92, Z:17.91 [[ 4.95500522e-01 -8.68001833e-01 -3.24353483e-02 2.21341267e+02] [ 8.66018884e-01 4.96560045e-01 -5.86465214e-02 1.24921536e+02] [ 6.70113860e-02 9.69757840e-04 9.97751740e-01 1.79107020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.37, Y:124.97, Z:17.91 [[ 4.91472292e-01 -8.70289637e-01 -3.24181168e-02 2.21371098e+02] [ 8.68310993e-01 4.92539833e-01 -5.86560449e-02 1.24970345e+02] [ 6.70149619e-02 6.78813613e-04 9.97751740e-01 1.79138044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.40, Y:125.02, Z:17.92 [[ 4.88797997e-01 -8.71794995e-01 -3.24037750e-02 2.21400112e+02] [ 8.69819115e-01 4.89870643e-01 -5.86639668e-02 1.25020299e+02] [ 6.70166108e-02 4.89406618e-04 9.97751740e-01 1.79184852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.43, Y:125.07, Z:17.92 [[ 4.85246093e-01 -8.73777616e-01 -3.23868337e-02 2.21429253e+02] [ 8.71805494e-01 4.86325634e-01 -5.86733182e-02 1.25069660e+02] [ 6.70179795e-02 2.35978934e-04 9.97751740e-01 1.79243428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.46, Y:125.12, Z:17.93 [[ 4.83438524e-01 -8.74779547e-01 -3.23718731e-02 2.21457940e+02] [ 8.72809109e-01 4.84521136e-01 -5.86815712e-02 1.25120529e+02] [ 6.70182950e-02 1.14466451e-04 9.97751740e-01 1.79300467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.49, Y:125.17, Z:17.93 [[ 4.82510975e-01 -8.75292126e-01 -3.23551144e-02 2.21485179e+02] [ 8.73322219e-01 4.83594551e-01 -5.86908100e-02 1.25171890e+02] [ 6.70183609e-02 6.25196021e-05 9.97751740e-01 1.79340627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.51, Y:125.22, Z:17.94 [[ 4.82917196e-01 -8.75068691e-01 -3.23383305e-02 2.21512003e+02] [ 8.73097664e-01 4.83998732e-01 -5.87000564e-02 1.25223353e+02] [ 6.70182925e-02 1.12745824e-04 9.97751741e-01 1.79370495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.54, Y:125.28, Z:17.94 [[ 4.84035581e-01 -8.74451182e-01 -3.23216130e-02 2.21538268e+02] [ 8.72478160e-01 4.85113474e-01 -5.87092600e-02 1.25275338e+02] [ 6.70180318e-02 2.17469355e-04 9.97751741e-01 1.79402249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.56, Y:125.33, Z:17.94 [[ 4.84532692e-01 -8.74176445e-01 -3.23050096e-02 2.21564830e+02] [ 8.72202203e-01 4.85608348e-01 -5.87183947e-02 1.25327138e+02] [ 6.70178199e-02 2.74481321e-04 9.97751741e-01 1.79435580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.59, Y:125.38, Z:17.95 [[ 4.84612965e-01 -8.74132561e-01 -3.22883813e-02 2.21590622e+02] [ 8.72157612e-01 4.85687323e-01 -5.87275370e-02 1.25379407e+02] [ 6.70177098e-02 2.99568355e-04 9.97751741e-01 1.79463725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:125.43, Z:17.95 [[ 4.83127205e-01 -8.74955215e-01 -3.22718917e-02 2.21617094e+02] [ 8.72981491e-01 4.84203809e-01 -5.87365969e-02 1.25430673e+02] [ 6.70180647e-02 2.04483748e-04 9.97751741e-01 1.79516972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.64, Y:125.48, Z:17.96 [[ 4.81804485e-01 -8.75684893e-01 -3.22553489e-02 2.21643298e+02] [ 8.73712190e-01 4.82882961e-01 -5.87456801e-02 1.25480763e+02] [ 6.70182629e-02 1.22040613e-04 9.97751741e-01 1.79562258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68 meters Centerline goodness : 0.997402 with order 1 Centerline is valid? [True, True] Translation: X:221.67, Y:125.53, Z:17.96 [[ 4.79589092e-01 -8.76900728e-01 -3.22399727e-02 2.21668710e+02] [ 8.74930192e-01 4.80671522e-01 -5.87541174e-02 1.25531894e+02] [ 6.70183651e-02 -2.98916479e-05 9.97751742e-01 1.79579397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.69, Y:125.58, Z:17.96 [[ 4.79752414e-01 -8.76812165e-01 -3.22187685e-02 2.21694450e+02] [ 8.74840648e-01 4.80833056e-01 -5.87657428e-02 1.25582774e+02] [ 6.70183671e-02 6.71859804e-06 9.97751742e-01 1.79627399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.72, Y:125.63, Z:17.97 [[ 4.78591751e-01 -8.77447085e-01 -3.21954913e-02 2.21720858e+02] [ 8.75476144e-01 4.79673442e-01 -5.87784927e-02 1.25634784e+02] [ 6.70183392e-02 -5.54828242e-05 9.97751742e-01 1.79662803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.75, Y:125.69, Z:17.97 [[ 4.77930034e-01 -8.77808307e-01 -3.21785402e-02 2.21747862e+02] [ 8.75837559e-01 4.79012076e-01 -5.87877712e-02 1.25686372e+02] [ 6.70183033e-02 -8.67326241e-05 9.97751742e-01 1.79703365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.77, Y:125.74, Z:17.97 [[ 4.76815801e-01 -8.78414658e-01 -3.21617894e-02 2.21773698e+02] [ 8.76444667e-01 4.77899221e-01 -5.87969339e-02 1.25738305e+02] [ 6.70181827e-02 -1.52721718e-04 9.97751743e-01 1.79747729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.80, Y:125.79, Z:17.98 [[ 4.75601987e-01 -8.79073063e-01 -3.21449759e-02 2.21800579e+02] [ 8.77103951e-01 4.76687002e-01 -5.88061246e-02 1.25789967e+02] [ 6.70179723e-02 -2.26175676e-04 9.97751743e-01 1.79785385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.83, Y:125.84, Z:17.98 [[ 4.74253592e-01 -8.79801856e-01 -3.21282735e-02 2.21827020e+02] [ 8.77833793e-01 4.75340508e-01 -5.88152484e-02 1.25841496e+02] [ 6.70176346e-02 -3.09941397e-04 9.97751743e-01 1.79820018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.85, Y:125.89, Z:17.99 [[ 4.74319526e-01 -8.79766928e-01 -3.21113624e-02 2.21853663e+02] [ 8.77798160e-01 4.75405165e-01 -5.88244800e-02 1.25892726e+02] [ 6.70177396e-02 -2.85695325e-04 9.97751743e-01 1.79854530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.88, Y:125.94, Z:17.99 [[ 4.77698463e-01 -8.77937421e-01 -3.20945783e-02 2.21879067e+02] [ 8.75963880e-01 4.78775400e-01 -5.88336359e-02 1.25943669e+02] [ 6.70183452e-02 -8.95387547e-06 9.97751743e-01 1.79890757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.90, Y:126.00, Z:17.99 [[ 4.83528117e-01 -8.74740891e-01 -3.20769940e-02 2.21904563e+02] [ 8.72759595e-01 4.84590719e-01 -5.88432216e-02 1.25996417e+02] [ 6.70167857e-02 4.56847900e-04 9.97751744e-01 1.79913335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.93, Y:126.05, Z:17.99 [[ 4.87149230e-01 -8.72730046e-01 -3.20607900e-02 2.21930577e+02] [ 8.70743784e-01 4.88202519e-01 -5.88520491e-02 1.26048186e+02] [ 6.70141099e-02 7.52996840e-04 9.97751744e-01 1.79947663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.96, Y:126.10, Z:18.00 [[ 4.90429333e-01 -8.70891650e-01 -3.20437709e-02 2.21957258e+02] [ 8.68900835e-01 4.91473992e-01 -5.88613142e-02 1.26099135e+02] [ 6.70105070e-02 1.02445572e-03 9.97751744e-01 1.79983770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.98, Y:126.15, Z:18.00 [[ 4.93369377e-01 -8.69230079e-01 -3.20269806e-02 2.21984975e+02] [ 8.67235155e-01 4.94406165e-01 -5.88704486e-02 1.26150309e+02] [ 6.70063013e-02 1.26995305e-03 9.97751744e-01 1.80013720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.01, Y:126.20, Z:18.01 [[ 4.93168132e-01 -8.69344913e-01 -3.20096358e-02 2.22012352e+02] [ 8.67349618e-01 4.94204208e-01 -5.88798779e-02 1.26201326e+02] [ 6.70062191e-02 1.27413401e-03 9.97751744e-01 1.80078965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.04, Y:126.25, Z:18.01 [[ 4.93918812e-01 -8.68919325e-01 -3.19908355e-02 2.22040229e+02] [ 8.66922478e-01 4.94951891e-01 -5.88900908e-02 1.26251584e+02] [ 6.70046625e-02 1.35334931e-03 9.97751744e-01 1.80119436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.07, Y:126.30, Z:18.02 [[ 4.93809667e-01 -8.68981983e-01 -3.19738418e-02 2.22068542e+02] [ 8.66984670e-01 4.94841846e-01 -5.88993160e-02 1.26301671e+02] [ 6.70044393e-02 1.36422097e-03 9.97751745e-01 1.80161925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.10, Y:126.35, Z:18.02 [[ 4.92897752e-01 -8.69500199e-01 -3.19563759e-02 2.22097950e+02] [ 8.67503358e-01 4.93930843e-01 -5.89087907e-02 1.26351063e+02] [ 6.70054450e-02 1.31374708e-03 9.97751745e-01 1.80193069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.13, Y:126.40, Z:18.02 [[ 4.92242022e-01 -8.69872138e-01 -3.19414457e-02 2.22126785e+02] [ 8.67875553e-01 4.93275608e-01 -5.89168851e-02 1.26400925e+02] [ 6.70060928e-02 1.28016675e-03 9.97751745e-01 1.80232309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.16, Y:126.45, Z:18.03 [[ 4.91533338e-01 -8.70273411e-01 -3.19244209e-02 2.22156616e+02] [ 8.68277072e-01 4.92567397e-01 -5.89261086e-02 1.26449608e+02] [ 6.70067544e-02 1.24490416e-03 9.97751745e-01 1.80251213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.19, Y:126.50, Z:18.03 [[ 4.90546987e-01 -8.70830215e-01 -3.19122444e-02 2.22186565e+02] [ 8.68834621e-01 4.91582484e-01 -5.89327022e-02 1.26498883e+02] [ 6.70078781e-02 1.18279673e-03 9.97751745e-01 1.80288188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.22, Y:126.55, Z:18.03 [[ 4.87997624e-01 -8.72261990e-01 -3.18957556e-02 2.22217905e+02] [ 8.70268853e-01 4.89037840e-01 -5.89416250e-02 1.26546810e+02] [ 6.70107706e-02 1.00549029e-03 9.97751745e-01 1.80336622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.25, Y:126.60, Z:18.04 [[ 4.86193543e-01 -8.73269488e-01 -3.18785088e-02 2.22248285e+02] [ 8.71277895e-01 4.87236713e-01 -5.89509515e-02 1.26595979e+02] [ 6.70124471e-02 8.86531895e-04 9.97751746e-01 1.80407033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.28, Y:126.64, Z:18.04 [[ 4.83517227e-01 -8.74754803e-01 -3.18610569e-02 2.22279082e+02] [ 8.72765793e-01 4.84565314e-01 -5.89603822e-02 1.26644362e+02] [ 6.70146405e-02 7.01119874e-04 9.97751746e-01 1.80445510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.31, Y:126.69, Z:18.04 [[ 4.81213971e-01 -8.76024538e-01 -3.18452936e-02 2.22308431e+02] [ 8.74037731e-01 4.82266227e-01 -5.89688949e-02 1.26693891e+02] [ 6.70161085e-02 5.42667899e-04 9.97751746e-01 1.80445878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.34, Y:126.74, Z:18.05 [[ 4.76425427e-01 -8.78638498e-01 -3.18308458e-02 2.22340213e+02] [ 8.76656944e-01 4.77487542e-01 -5.89766927e-02 1.26740920e+02] [ 6.70180250e-02 1.93263999e-04 9.97751746e-01 1.80479505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.37, Y:126.79, Z:18.05 [[ 4.72834417e-01 -8.80576837e-01 -3.18127090e-02 2.22370801e+02] [ 8.78598979e-01 4.73903398e-01 -5.89864743e-02 1.26789803e+02] [ 6.70182738e-02 -5.97784858e-05 9.97751746e-01 1.80546460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.40, Y:126.84, Z:18.06 [[ 4.67347847e-01 -8.83501521e-01 -3.17970461e-02 2.22401709e+02] [ 8.81529777e-01 4.68428065e-01 -5.89949163e-02 1.26838739e+02] [ 6.70167270e-02 -4.58895839e-04 9.97751747e-01 1.80606916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.43, Y:126.89, Z:18.06 [[ 4.65020757e-01 -8.84729124e-01 -3.17816382e-02 2.22431232e+02] [ 8.82759664e-01 4.66105134e-01 -5.90032156e-02 1.26888102e+02] [ 6.70154480e-02 -6.17828271e-04 9.97751747e-01 1.80642226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.46, Y:126.94, Z:18.07 [[ 4.62856025e-01 -8.85864173e-01 -3.17642452e-02 2.22462258e+02] [ 8.83896730e-01 4.63944055e-01 -5.90125777e-02 1.26937884e+02] [ 6.70139610e-02 -7.61985334e-04 9.97751747e-01 1.80668984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.49, Y:126.99, Z:18.07 [[ 4.62826690e-01 -8.85880062e-01 -3.17485542e-02 2.22490893e+02] [ 8.83912078e-01 4.63913740e-01 -5.90210182e-02 1.26988044e+02] [ 6.70141338e-02 -7.46428010e-04 9.97751747e-01 1.80696633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.52, Y:127.04, Z:18.07 [[ 4.64053270e-01 -8.85238758e-01 -3.17317411e-02 2.22519437e+02] [ 8.83268653e-01 4.65136473e-01 -5.90300561e-02 1.27038300e+02] [ 6.70152837e-02 -6.34561699e-04 9.97751747e-01 1.80742924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.55, Y:127.09, Z:18.08 [[ 4.65268403e-01 -8.84601306e-01 -3.17150326e-02 2.22546655e+02] [ 8.82629105e-01 4.66347784e-01 -5.90390317e-02 1.27087752e+02] [ 6.70162397e-02 -5.23614877e-04 9.97751747e-01 1.80786313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.57, Y:127.14, Z:18.08 [[ 4.68289205e-01 -8.83006310e-01 -3.17029577e-02 2.22574600e+02] [ 8.81029993e-01 4.69361032e-01 -5.90455150e-02 1.27138521e+02] [ 6.70176952e-02 -2.80879331e-04 9.97751747e-01 1.80835632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.60, Y:127.19, Z:18.09 [[ 4.71174508e-01 -8.81470687e-01 -3.16861314e-02 2.22602007e+02] [ 8.79490270e-01 4.72238738e-01 -5.90545433e-02 1.27189540e+02] [ 6.70182676e-02 -4.26488402e-05 9.97751748e-01 1.80876243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.63, Y:127.24, Z:18.09 [[ 4.76090468e-01 -8.78825883e-01 -3.16691432e-02 2.22628144e+02] [ 8.76838948e-01 4.77142479e-01 -5.90636522e-02 1.27240242e+02] [ 6.70173597e-02 3.50903635e-04 9.97751748e-01 1.80908035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.65, Y:127.29, Z:18.09 [[ 4.77937774e-01 -8.77823260e-01 -3.16513664e-02 2.22654751e+02] [ 8.75833487e-01 4.78984408e-01 -5.90731769e-02 1.27290660e+02] [ 6.70163197e-02 5.11976048e-04 9.97751748e-01 1.80937561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.68, Y:127.34, Z:18.10 [[ 4.76601283e-01 -8.78550235e-01 -3.16338835e-02 2.22682058e+02] [ 8.76561437e-01 4.77649768e-01 -5.90825377e-02 1.27341807e+02] [ 6.70168944e-02 4.29770864e-04 9.97751748e-01 1.80969528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.71, Y:127.39, Z:18.10 [[ 4.75260607e-01 -8.79276813e-01 -3.16171253e-02 2.22710904e+02] [ 8.77289022e-01 4.76310998e-01 -5.90915042e-02 1.27392574e+02] [ 6.70173740e-02 3.46507187e-04 9.97751748e-01 1.81015685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.74, Y:127.44, Z:18.11 [[ 4.72965877e-01 -8.80513882e-01 -3.16003500e-02 2.22739286e+02] [ 8.78528239e-01 4.74020323e-01 -5.91004738e-02 1.27442625e+02] [ 6.70179957e-02 1.90707574e-04 9.97751749e-01 1.81055535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.76, Y:127.50, Z:18.10 [[ 4.63092962e-01 -8.85746806e-01 -3.15832827e-02 2.22759275e+02] [ 8.83772455e-01 4.64168401e-01 -5.91095931e-02 1.27500018e+02] [ 6.70160952e-02 -5.39198721e-04 9.97751749e-01 1.80977666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.80, Y:127.54, Z:18.11 [[ 4.69735008e-01 -8.82242886e-01 -3.15675896e-02 2.22795534e+02] [ 8.80259947e-01 4.70794531e-01 -5.91179729e-02 1.27544433e+02] [ 6.70182595e-02 -1.79033136e-05 9.97751749e-01 1.81136389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.82, Y:127.60, Z:18.11 [[ 4.61893024e-01 -8.86374223e-01 -3.15526733e-02 2.22815692e+02] [ 8.84400216e-01 4.62969095e-01 -5.91259330e-02 1.27600158e+02] [ 6.70156155e-02 -5.95335090e-04 9.97751749e-01 1.81075347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.84, Y:127.65, Z:18.11 [[ 4.61144036e-01 -8.86764736e-01 -3.15353972e-02 2.22842973e+02] [ 8.84791010e-01 4.62220622e-01 -5.91351460e-02 1.27651831e+02] [ 6.70152730e-02 -6.32416045e-04 9.97751749e-01 1.81096904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:127.70, Z:18.12 [[ 4.61738667e-01 -8.86455890e-01 -3.15175894e-02 2.22870747e+02] [ 8.84480796e-01 4.62812741e-01 -5.91446356e-02 1.27702720e+02] [ 6.70158525e-02 -5.67337299e-04 9.97751750e-01 1.81173208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.90, Y:127.75, Z:18.12 [[ 4.62544377e-01 -8.86036366e-01 -3.15001271e-02 2.22898621e+02] [ 8.84059665e-01 4.63615489e-01 -5.91539345e-02 1.27753353e+02] [ 6.70164840e-02 -4.86672069e-04 9.97751750e-01 1.81235737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.93, Y:127.80, Z:18.13 [[ 4.62015901e-01 -8.86312686e-01 -3.14822013e-02 2.22925234e+02] [ 8.84335976e-01 4.63086996e-01 -5.91634732e-02 1.27804601e+02] [ 6.70163349e-02 -5.06377871e-04 9.97751750e-01 1.81273149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.96, Y:127.85, Z:18.14 [[ 4.67026876e-01 -8.83683155e-01 -3.14639127e-02 2.22956672e+02] [ 8.81699758e-01 4.68085537e-01 -5.91731977e-02 1.27852402e+02] [ 6.70181606e-02 -1.06250519e-04 9.97751750e-01 1.81358465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.98, Y:127.90, Z:18.14 [[ 4.66855861e-01 -8.83774094e-01 -3.14476710e-02 2.22982574e+02] [ 8.81790321e-01 4.67913817e-01 -5.91818282e-02 1.27903100e+02] [ 6.70181664e-02 -1.00868567e-04 9.97751750e-01 1.81387790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.01, Y:127.95, Z:18.14 [[ 4.67162964e-01 -8.83612430e-01 -3.14298964e-02 2.23009163e+02] [ 8.81627656e-01 4.68219040e-01 -5.91912663e-02 1.27954972e+02] [ 6.70182146e-02 -5.74985481e-05 9.97751750e-01 1.81427947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.04, Y:128.01, Z:18.15 [[ 4.67180351e-01 -8.83603842e-01 -3.14128900e-02 2.23035500e+02] [ 8.81618442e-01 4.68235249e-01 -5.92002902e-02 1.28006179e+02] [ 6.70182263e-02 -3.69707634e-05 9.97751751e-01 1.81466860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.06, Y:128.06, Z:18.15 [[ 4.67920109e-01 -8.83212919e-01 -3.13960466e-02 2.23061761e+02] [ 8.81226038e-01 4.68972215e-01 -5.92092216e-02 1.28057855e+02] [ 6.70182229e-02 3.81716406e-05 9.97751751e-01 1.81510439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.09, Y:128.11, Z:18.16 [[ 4.69528342e-01 -8.82359617e-01 -3.13790265e-02 2.23087186e+02] [ 8.80370220e-01 4.70575685e-01 -5.92182403e-02 1.28110355e+02] [ 6.70179907e-02 1.79481674e-04 9.97751751e-01 1.81550180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.11, Y:128.17, Z:18.15 [[ 4.67364423e-01 -8.83508304e-01 -3.13619574e-02 2.23109090e+02] [ 8.81520876e-01 4.68415494e-01 -5.92272788e-02 1.28165157e+02] [ 6.70182194e-02 3.45028492e-05 9.97751751e-01 1.81543380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.14, Y:128.21, Z:18.16 [[ 4.71785462e-01 -8.81156066e-01 -3.13443056e-02 2.23139621e+02] [ 8.79162777e-01 4.72825375e-01 -5.92366190e-02 1.28213674e+02] [ 6.70170892e-02 3.90228904e-04 9.97751751e-01 1.81622153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.17, Y:128.27, Z:18.16 [[ 4.74521143e-01 -8.79686423e-01 -3.13286144e-02 2.23165897e+02] [ 8.77689366e-01 4.75553801e-01 -5.92449165e-02 1.28265074e+02] [ 6.70153903e-02 6.16173801e-04 9.97751752e-01 1.81642202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.19, Y:128.32, Z:18.17 [[ 4.74464249e-01 -8.79717721e-01 -3.13114775e-02 2.23190367e+02] [ 8.77720134e-01 4.75495882e-01 -5.92539721e-02 1.28318316e+02] [ 6.70152479e-02 6.31177181e-04 9.97751752e-01 1.81669920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.22, Y:128.37, Z:18.17 [[ 4.79140934e-01 -8.77179960e-01 -3.12935097e-02 2.23219481e+02] [ 8.75176291e-01 4.80160704e-01 -5.92634599e-02 1.28366965e+02] [ 6.70106330e-02 1.00821173e-03 9.97751752e-01 1.81695539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:128.42, Z:18.17 [[ 4.79073341e-01 -8.77217448e-01 -3.12775135e-02 2.23246963e+02] [ 8.75213308e-01 4.80092186e-01 -5.92719010e-02 1.28418235e+02] [ 6.70104356e-02 1.02109159e-03 9.97751752e-01 1.81736983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.27, Y:128.47, Z:18.18 [[ 4.75278626e-01 -8.79279820e-01 -3.12606039e-02 2.23270801e+02] [ 8.77279517e-01 4.76304980e-01 -5.92808180e-02 1.28471874e+02] [ 6.70140083e-02 7.50618184e-04 9.97751752e-01 1.81755066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.30, Y:128.52, Z:18.18 [[ 4.74639967e-01 -8.79625387e-01 -3.12422840e-02 2.23297189e+02] [ 8.77625196e-01 4.75666539e-01 -5.92904714e-02 1.28523835e+02] [ 6.70143130e-02 7.22611787e-04 9.97751753e-01 1.81776104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.33, Y:128.57, Z:18.18 [[ 4.79651512e-01 -8.76903358e-01 -3.12238252e-02 2.23327632e+02] [ 8.74896711e-01 4.80665407e-01 -5.93001907e-02 1.28572180e+02] [ 6.70087490e-02 1.12580422e-03 9.97751753e-01 1.81843549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.35, Y:128.63, Z:18.18 [[ 4.76411801e-01 -8.78668257e-01 -3.12072286e-02 2.23350789e+02] [ 8.76664794e-01 4.77431974e-01 -5.93089236e-02 1.28626213e+02] [ 6.70121972e-02 8.97192463e-04 9.97751753e-01 1.81822736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.38, Y:128.67, Z:18.19 [[ 4.80633956e-01 -8.76366500e-01 -3.11890556e-02 2.23382632e+02] [ 8.74357535e-01 4.81643249e-01 -5.93184787e-02 1.28674114e+02] [ 6.70067257e-02 1.24008937e-03 9.97751753e-01 1.81910871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.40, Y:128.73, Z:18.19 [[ 4.74512915e-01 -8.79696339e-01 -3.11744309e-02 2.23404501e+02] [ 8.77693954e-01 4.75535202e-01 -5.93261636e-02 1.28728723e+02] [ 6.70135483e-02 7.89421298e-04 9.97751753e-01 1.81869494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.44, Y:128.77, Z:18.20 [[ 4.77855448e-01 -8.77885778e-01 -3.11565656e-02 2.23438105e+02] [ 8.75878910e-01 4.78868904e-01 -5.93355446e-02 1.28774510e+02] [ 6.70097412e-02 1.06443445e-03 9.97751753e-01 1.82013273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.46, Y:128.83, Z:18.20 [[ 4.68751313e-01 -8.82780942e-01 -3.11450651e-02 2.23463310e+02] [ 8.80784262e-01 4.69784696e-01 -5.93415806e-02 1.28827880e+02] [ 6.70170913e-02 3.84360626e-04 9.97751754e-01 1.81975382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.50, Y:128.87, Z:18.21 [[ 4.70031041e-01 -8.82100846e-01 -3.11274479e-02 2.23496129e+02] [ 8.80102059e-01 4.71060343e-01 -5.93508202e-02 1.28874602e+02] [ 6.70163150e-02 5.01396847e-04 9.97751754e-01 1.82079849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.52, Y:128.93, Z:18.20 [[ 4.63877656e-01 -8.85352797e-01 -3.11118143e-02 2.23518570e+02] [ 8.83360677e-01 4.64919802e-01 -5.93590142e-02 1.28928767e+02] [ 6.70181678e-02 5.23670118e-05 9.97751754e-01 1.82014674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.55, Y:128.98, Z:18.21 [[ 4.68721838e-01 -8.82798385e-01 -3.10942153e-02 2.23547612e+02] [ 8.80799974e-01 4.69751869e-01 -5.93682317e-02 1.28977218e+02] [ 6.70167449e-02 4.39402654e-04 9.97751754e-01 1.82113541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.57, Y:129.03, Z:18.21 [[ 4.64642134e-01 -8.84952867e-01 -3.10823129e-02 2.23566149e+02] [ 8.82958816e-01 4.65680579e-01 -5.93744626e-02 1.29034421e+02] [ 6.70180304e-02 1.43474801e-04 9.97751754e-01 1.82078201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.60, Y:129.08, Z:18.22 [[ 4.68406071e-01 -8.82966934e-01 -3.10667999e-02 2.23596059e+02] [ 8.80967942e-01 4.69434973e-01 -5.93825784e-02 1.29082258e+02] [ 6.70166956e-02 4.46305427e-04 9.97751754e-01 1.82216945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:129.13, Z:18.23 [[ 4.67006341e-01 -8.83708539e-01 -3.10531203e-02 2.23620674e+02] [ 8.81710705e-01 4.68037490e-01 -5.93897311e-02 1.29134013e+02] [ 6.70172370e-02 3.55512388e-04 9.97751754e-01 1.82255850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.64, Y:129.19, Z:18.22 [[ 4.61771325e-01 -8.86455877e-01 -3.10358193e-02 2.23640494e+02] [ 8.84463571e-01 4.62813113e-01 -5.93987709e-02 1.29189720e+02] [ 6.70181737e-02 -2.14023987e-05 9.97751755e-01 1.82218330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.67, Y:129.24, Z:18.23 [[ 4.62811998e-01 -8.85913603e-01 -3.10184128e-02 2.23666724e+02] [ 8.83919467e-01 4.63850279e-01 -5.94078593e-02 1.29241612e+02] [ 6.70181301e-02 7.68911763e-05 9.97751755e-01 1.82271291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.70, Y:129.29, Z:18.24 [[ 4.67572709e-01 -8.83410857e-01 -3.10003248e-02 2.23695983e+02] [ 8.81410538e-01 4.68599027e-01 -5.94172965e-02 1.29289809e+02] [ 6.70166069e-02 4.57893315e-04 9.97751755e-01 1.82378736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.72, Y:129.34, Z:18.24 [[ 4.66508836e-01 -8.83973615e-01 -3.09863432e-02 2.23721444e+02] [ 8.81974050e-01 4.67536622e-01 -5.94245871e-02 1.29342419e+02] [ 6.70170173e-02 3.92944332e-04 9.97751755e-01 1.82407882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.75, Y:129.39, Z:18.24 [[ 4.65634231e-01 -8.84435226e-01 -3.09692424e-02 2.23747607e+02] [ 8.82436087e-01 4.66662846e-01 -5.94334979e-02 1.29393815e+02] [ 6.70172739e-02 3.45894061e-04 9.97751755e-01 1.82446111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.77, Y:129.45, Z:18.25 [[ 4.65196519e-01 -8.84666124e-01 -3.09523556e-02 2.23774587e+02] [ 8.82666910e-01 4.66224988e-01 -5.94422911e-02 1.29445416e+02] [ 6.70173429e-02 3.31726836e-04 9.97751756e-01 1.82491085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.80, Y:129.50, Z:18.25 [[ 4.63802512e-01 -8.85398348e-01 -3.09353512e-02 2.23802751e+02] [ 8.83400168e-01 4.64832987e-01 -5.94511393e-02 1.29496324e+02] [ 6.70177122e-02 2.45293300e-04 9.97751756e-01 1.82549464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.83, Y:129.55, Z:18.26 [[ 4.63578247e-01 -8.85516387e-01 -3.09182384e-02 2.23829210e+02] [ 8.83517876e-01 4.64608079e-01 -5.94600377e-02 1.29547053e+02] [ 6.70177011e-02 2.47563709e-04 9.97751756e-01 1.82598795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.86, Y:129.60, Z:18.26 [[ 4.62706402e-01 -8.85972692e-01 -3.09058872e-02 2.23856326e+02] [ 8.83974768e-01 4.63737372e-01 -5.94664569e-02 1.29598782e+02] [ 6.70178718e-02 1.95485859e-04 9.97751756e-01 1.82627405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.88, Y:129.65, Z:18.27 [[ 4.61982376e-01 -8.86351046e-01 -3.08886280e-02 2.23883855e+02] [ 8.84353367e-01 4.63013820e-01 -5.94754205e-02 1.29650250e+02] [ 6.70179628e-02 1.60133907e-04 9.97751756e-01 1.82653692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.91, Y:129.70, Z:18.27 [[ 4.59559797e-01 -8.87610122e-01 -3.08717398e-02 2.23912239e+02] [ 8.85614680e-01 4.60595561e-01 -5.94841853e-02 1.29701497e+02] [ 6.70181513e-02 -3.92589924e-06 9.97751756e-01 1.82677893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.94, Y:129.75, Z:18.27 [[ 4.56861736e-01 -8.89002440e-01 -3.08547463e-02 2.23939832e+02] [ 8.87009559e-01 4.57902420e-01 -5.94929986e-02 1.29752622e+02] [ 6.70178840e-02 -1.88380274e-04 9.97751757e-01 1.82710144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:129.80, Z:18.28 [[ 4.51717172e-01 -8.91628081e-01 -3.08376576e-02 2.23968474e+02] [ 8.89640643e-01 4.52768213e-01 -5.95018551e-02 1.29802553e+02] [ 6.70158360e-02 -5.56423809e-04 9.97751757e-01 1.82753672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.00, Y:129.85, Z:18.28 [[ 4.47713463e-01 -8.93645753e-01 -3.08208197e-02 2.23996722e+02] [ 8.91662451e-01 4.48772287e-01 -5.95105755e-02 1.29853615e+02] [ 6.70129029e-02 -8.38081779e-04 9.97751757e-01 1.82806449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.03, Y:129.90, Z:18.29 [[ 4.42306831e-01 -8.96334637e-01 -3.08039897e-02 2.24025033e+02] [ 8.94357163e-01 4.43376499e-01 -5.95192859e-02 1.29903580e+02] [ 6.70069626e-02 -1.22398210e-03 9.97751757e-01 1.82860458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.05, Y:129.96, Z:18.29 [[ 4.36398952e-01 -8.99226356e-01 -3.07882464e-02 2.24048091e+02] [ 8.97255391e-01 4.37480569e-01 -5.95274285e-02 1.29957075e+02] [ 6.69978921e-02 -1.64721267e-03 9.97751757e-01 1.82866159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:130.01, Z:18.29 [[ 4.41382995e-01 -8.96791060e-01 -3.07708552e-02 2.24077164e+02] [ 8.94813499e-01 4.42452503e-01 -5.95364170e-02 1.30006362e+02] [ 6.70063684e-02 -1.25581450e-03 9.97751757e-01 1.82945712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.10, Y:130.06, Z:18.30 [[ 4.43890610e-01 -8.95553031e-01 -3.07554202e-02 2.24101884e+02] [ 8.93571934e-01 4.44953554e-01 -5.95443894e-02 1.30058676e+02] [ 6.70098919e-02 -1.05098496e-03 9.97751758e-01 1.82980509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.13, Y:130.11, Z:18.30 [[ 4.49924840e-01 -8.92537271e-01 -3.07385578e-02 2.24125392e+02] [ 8.90548452e-01 4.50973263e-01 -5.95530930e-02 1.30111493e+02] [ 6.70156228e-02 -5.79759286e-04 9.97751758e-01 1.83006298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.15, Y:130.16, Z:18.30 [[ 4.54021234e-01 -8.90461061e-01 -3.07216163e-02 2.24150026e+02] [ 8.88466856e-01 4.55059375e-01 -5.95618313e-02 1.30163949e+02] [ 6.70176510e-02 -2.52801704e-04 9.97751758e-01 1.83044198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.17, Y:130.22, Z:18.31 [[ 4.60010797e-01 -8.87382267e-01 -3.07046992e-02 2.24173391e+02] [ 8.85380531e-01 4.61034342e-01 -5.95705510e-02 1.30216788e+02] [ 6.70177714e-02 2.17753767e-04 9.97751758e-01 1.83078046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.20, Y:130.27, Z:18.31 [[ 4.63492547e-01 -8.85569270e-01 -3.06875756e-02 2.24198806e+02] [ 8.83562946e-01 4.64507071e-01 -5.95793709e-02 1.30269285e+02] [ 6.70162558e-02 5.00189686e-04 9.97751758e-01 1.83114249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.22, Y:130.33, Z:18.31 [[ 4.60833624e-01 -8.86956428e-01 -3.06702836e-02 2.24217497e+02] [ 8.84952566e-01 4.61853001e-01 -5.95882711e-02 1.30325966e+02] [ 6.70173626e-02 3.18532741e-04 9.97751759e-01 1.83054388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.25, Y:130.37, Z:18.32 [[ 4.68909774e-01 -8.82714027e-01 -3.06524084e-02 2.24249886e+02] [ 8.80700346e-01 4.69909612e-01 -5.95974648e-02 1.30372216e+02] [ 6.70113795e-02 9.50247028e-04 9.97751759e-01 1.83201307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.28, Y:130.42, Z:18.33 [[ 4.69134628e-01 -8.82595110e-01 -3.06361203e-02 2.24276320e+02] [ 8.80580629e-01 4.70132854e-01 -5.96058365e-02 1.30423728e+02] [ 6.70108665e-02 9.85587837e-04 9.97751759e-01 1.83251972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.30, Y:130.47, Z:18.33 [[ 4.69361204e-01 -8.82475236e-01 -3.06189254e-02 2.24302483e+02] [ 8.80459924e-01 4.70357750e-01 -5.96146681e-02 1.30473849e+02] [ 6.70103171e-02 1.02207568e-03 9.97751759e-01 1.83282111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.33, Y:130.53, Z:18.33 [[ 4.69819916e-01 -8.82231646e-01 -3.06034380e-02 2.24329737e+02] [ 8.80215300e-01 4.70814369e-01 -5.96226176e-02 1.30525642e+02] [ 6.70094983e-02 1.07427882e-03 9.97751759e-01 1.83314775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.36, Y:130.58, Z:18.33 [[ 4.68720814e-01 -8.82816628e-01 -3.05875849e-02 2.24356618e+02] [ 8.80800993e-01 4.69716707e-01 -5.96307494e-02 1.30577474e+02] [ 6.70105167e-02 1.00859829e-03 9.97751759e-01 1.83343151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.38, Y:130.63, Z:18.34 [[ 4.67125799e-01 -8.83662219e-01 -3.05707560e-02 2.24383946e+02] [ 8.81647823e-01 4.68124195e-01 -5.96393758e-02 1.30629314e+02] [ 6.70119737e-02 9.06450673e-04 9.97751760e-01 1.83364295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.41, Y:130.68, Z:18.33 [[ 4.57990371e-01 -8.88431891e-01 -3.05547905e-02 2.24405353e+02] [ 8.86427351e-01 4.59008410e-01 -5.96475542e-02 1.30684708e+02] [ 6.70176952e-02 2.33403409e-04 9.97751760e-01 1.83294672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.44, Y:130.73, Z:18.34 [[ 4.59012047e-01 -8.87905077e-01 -3.05371012e-02 2.24440442e+02] [ 8.85898767e-01 4.60026591e-01 -5.96566091e-02 1.30729738e+02] [ 6.70172847e-02 3.30321897e-04 9.97751760e-01 1.83443550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.46, Y:130.78, Z:18.34 [[ 4.48156164e-01 -8.93434052e-01 -3.05228998e-02 2.24461013e+02] [ 8.91439762e-01 4.49194138e-01 -5.96638743e-02 1.30784619e+02] [ 6.70164446e-02 -4.70593502e-04 9.97751760e-01 1.83379418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.49, Y:130.83, Z:18.35 [[ 4.44976011e-01 -8.95022808e-01 -3.05044566e-02 2.24491069e+02] [ 8.93031577e-01 4.46019841e-01 -5.96733023e-02 1.30833866e+02] [ 6.70145595e-02 -6.88254941e-04 9.97751760e-01 1.83462985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.52, Y:130.88, Z:18.36 [[ 4.45452903e-01 -8.94785871e-01 -3.04952029e-02 2.24522631e+02] [ 8.92793761e-01 4.46495054e-01 -5.96780309e-02 1.30880783e+02] [ 6.70150161e-02 -6.42174803e-04 9.97751760e-01 1.83588066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.55, Y:130.93, Z:18.36 [[ 4.42423833e-01 -8.96287998e-01 -3.04791282e-02 2.24548954e+02] [ 8.94298860e-01 4.43471646e-01 -5.96862395e-02 1.30932259e+02] [ 6.70126893e-02 -8.50834786e-04 9.97751760e-01 1.83629379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.57, Y:130.98, Z:18.37 [[ 4.39928720e-01 -8.97515896e-01 -3.04620688e-02 2.24574426e+02] [ 8.95529080e-01 4.40980929e-01 -5.96949448e-02 1.30984627e+02] [ 6.70103533e-02 -1.01814779e-03 9.97751761e-01 1.83663002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.60, Y:131.04, Z:18.37 [[ 4.39090540e-01 -8.97926833e-01 -3.04450491e-02 2.24598389e+02] [ 8.95940400e-01 4.40143472e-01 -5.97036239e-02 1.31037273e+02] [ 6.70096755e-02 -1.06165300e-03 9.97751761e-01 1.83697596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.62, Y:131.09, Z:18.37 [[ 4.39553411e-01 -8.97700913e-01 -3.04281085e-02 2.24622859e+02] [ 8.95713342e-01 4.40604193e-01 -5.97122564e-02 1.31090154e+02] [ 6.70104993e-02 -1.00813677e-03 9.97751761e-01 1.83735085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:224.65, Y:131.14, Z:18.38 [[ 4.38301699e-01 -8.98313294e-01 -3.04112792e-02 2.24645223e+02] [ 8.96326598e-01 4.39354131e-01 -5.97208263e-02 1.31144456e+02] [ 6.70093334e-02 -1.08269883e-03 9.97751761e-01 1.83763358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.67, Y:131.20, Z:18.38 [[ 4.41415195e-01 -8.96788146e-01 -3.03915582e-02 2.24669240e+02] [ 8.94797122e-01 4.42459417e-01 -5.97308606e-02 1.31195807e+02] [ 6.70129588e-02 -8.28169283e-04 9.97751761e-01 1.83816524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.69, Y:131.25, Z:18.39 [[ 4.42446648e-01 -8.96280468e-01 -3.03691695e-02 2.24693046e+02] [ 8.94287464e-01 4.43487087e-01 -5.97422416e-02 1.31249054e+02] [ 6.70141387e-02 -7.26013015e-04 9.97751762e-01 1.83859949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.72, Y:131.30, Z:18.39 [[ 4.44922449e-01 -8.95054612e-01 -3.03522096e-02 2.24715844e+02] [ 8.93058153e-01 4.45956242e-01 -5.97508569e-02 1.31302032e+02] [ 6.70160373e-02 -5.21790683e-04 9.97751762e-01 1.83898541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.74, Y:131.35, Z:18.39 [[ 4.48740816e-01 -8.93146949e-01 -3.03349114e-02 2.24738725e+02] [ 8.91145502e-01 4.49764916e-01 -5.97596377e-02 1.31354322e+02] [ 6.70177170e-02 -2.16231220e-04 9.97751762e-01 1.83917444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.76, Y:131.41, Z:18.39 [[ 4.52055317e-01 -8.91474545e-01 -3.03170902e-02 2.24762357e+02] [ 8.89468702e-01 4.53070782e-01 -5.97686774e-02 1.31407097e+02] [ 6.70180422e-02 5.26455599e-05 9.97751762e-01 1.83944811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.79, Y:131.46, Z:18.40 [[ 4.57192143e-01 -8.88851646e-01 -3.03000867e-02 2.24785329e+02] [ 8.86839407e-01 4.58194872e-01 -5.97772961e-02 1.31460820e+02] [ 6.70164925e-02 4.58399181e-04 9.97751763e-01 1.83980519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.81, Y:131.51, Z:18.40 [[ 4.59895068e-01 -8.87456742e-01 -3.02829506e-02 2.24810282e+02] [ 8.85440891e-01 4.60890514e-01 -5.97859760e-02 1.31512917e+02] [ 6.70145922e-02 6.81512687e-04 9.97751763e-01 1.84031750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.83, Y:131.57, Z:18.41 [[ 4.63358264e-01 -8.85654058e-01 -3.02656441e-02 2.24834626e+02] [ 8.83633762e-01 4.64344660e-01 -5.97947358e-02 1.31565889e+02] [ 6.70111407e-02 9.62640032e-04 9.97751763e-01 1.84071942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.86, Y:131.62, Z:18.41 [[ 4.64763709e-01 -8.84917926e-01 -3.02482897e-02 2.24859189e+02] [ 8.82895498e-01 4.65745724e-01 -5.98035136e-02 1.31618256e+02] [ 6.70092128e-02 1.08842397e-03 9.97751763e-01 1.84097908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:224.88, Y:131.67, Z:18.41 [[ 4.66126534e-01 -8.84201415e-01 -3.02309806e-02 2.24884187e+02] [ 8.82176911e-01 4.67104262e-01 -5.98122622e-02 1.31671259e+02] [ 6.70071067e-02 1.21100939e-03 9.97751763e-01 1.84122905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.91, Y:131.72, Z:18.42 [[ 4.66319836e-01 -8.84100075e-01 -3.02136880e-02 2.24910389e+02] [ 8.82074794e-01 4.67295952e-01 -5.98209962e-02 1.31723229e+02] [ 6.70064813e-02 1.24498455e-03 9.97751763e-01 1.84156960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.94, Y:131.78, Z:18.42 [[ 4.65904925e-01 -8.84319385e-01 -3.01964718e-02 2.24936161e+02] [ 8.82294000e-01 4.66880827e-01 -5.98296853e-02 1.31775052e+02] [ 6.70067042e-02 1.23277911e-03 9.97751764e-01 1.84180633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.96, Y:131.83, Z:18.42 [[ 4.65550422e-01 -8.84506646e-01 -3.01794370e-02 2.24962159e+02] [ 8.82481097e-01 4.66525984e-01 -5.98382768e-02 1.31825452e+02] [ 6.70068450e-02 1.22495231e-03 9.97751764e-01 1.84209928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.99, Y:131.88, Z:18.43 [[ 4.64341937e-01 -8.85142189e-01 -3.01640587e-02 2.24988997e+02] [ 8.83117474e-01 4.65319225e-01 -5.98460279e-02 1.31876734e+02] [ 6.70081606e-02 1.15061319e-03 9.97751764e-01 1.84255239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.01, Y:131.93, Z:18.42 [[ 4.57544740e-01 -8.88675399e-01 -3.01470736e-02 2.25010171e+02] [ 8.86657670e-01 4.58536373e-01 -5.98545829e-02 1.31932240e+02] [ 6.70148251e-02 6.56015569e-04 9.97751764e-01 1.84239996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.04, Y:131.98, Z:18.44 [[ 4.62469838e-01 -8.86122892e-01 -3.01308506e-02 2.25042221e+02] [ 8.84099161e-01 4.63449162e-01 -5.98627484e-02 1.31979371e+02] [ 6.70098692e-02 1.04605582e-03 9.97751764e-01 1.84360597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.06, Y:132.03, Z:18.43 [[ 4.58004432e-01 -8.88439516e-01 -3.01192079e-02 2.25064687e+02] [ 8.86420354e-01 4.58993143e-01 -5.98686057e-02 1.32034723e+02] [ 6.70141450e-02 7.21807858e-04 9.97751764e-01 1.84344791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.10, Y:132.08, Z:18.44 [[ 4.62214350e-01 -8.86257132e-01 -3.01030090e-02 2.25096567e+02] [ 8.84232773e-01 4.63192376e-01 -5.98767497e-02 1.32082745e+02] [ 6.70096808e-02 1.05782578e-03 9.97751765e-01 1.84428185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.12, Y:132.14, Z:18.44 [[ 4.57141672e-01 -8.88884493e-01 -3.00973445e-02 2.25119836e+02] [ 8.86865570e-01 4.58130870e-01 -5.98795969e-02 1.32137847e+02] [ 6.70145678e-02 6.81160413e-04 9.97751765e-01 1.84400821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.15, Y:132.19, Z:18.44 [[ 4.56355327e-01 -8.89289009e-01 -3.00811308e-02 2.25148666e+02] [ 8.87270426e-01 4.57345219e-01 -5.98877409e-02 1.32187970e+02] [ 6.70149711e-02 6.39991797e-04 9.97751765e-01 1.84434375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.18, Y:132.24, Z:18.45 [[ 4.59583209e-01 -8.87625772e-01 -3.00626629e-02 2.25180651e+02] [ 8.85603001e-01 4.60564515e-01 -5.98970101e-02 1.32236045e+02] [ 6.70119255e-02 9.04075634e-04 9.97751765e-01 1.84522971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.21, Y:132.29, Z:18.46 [[ 4.60310958e-01 -8.87248907e-01 -3.00532775e-02 2.25208612e+02] [ 8.85225026e-01 4.61289971e-01 -5.99017188e-02 1.32286349e+02] [ 6.70110101e-02 9.69504235e-04 9.97751765e-01 1.84551392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.24, Y:132.34, Z:18.46 [[ 4.61839072e-01 -8.86454861e-01 -3.00408346e-02 2.25235796e+02] [ 8.84428892e-01 4.62813756e-01 -5.99079584e-02 1.32337763e+02] [ 6.70090123e-02 1.09885385e-03 9.97751765e-01 1.84593030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.26, Y:132.39, Z:18.46 [[ 4.64998390e-01 -8.84802285e-01 -3.00235473e-02 2.25263793e+02] [ 8.82772295e-01 4.65964670e-01 -5.99166208e-02 1.32389002e+02] [ 6.70042754e-02 1.35717642e-03 9.97751765e-01 1.84636928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.29, Y:132.44, Z:18.47 [[ 4.64423574e-01 -8.85104713e-01 -3.00065295e-02 2.25287430e+02] [ 8.83074802e-01 4.65390021e-01 -5.99251422e-02 1.32442994e+02] [ 6.70047652e-02 1.33263858e-03 9.97751765e-01 1.84668433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.32, Y:132.49, Z:18.47 [[ 4.68959822e-01 -8.82710185e-01 -2.99902474e-02 2.25316050e+02] [ 8.80674823e-01 4.69914734e-01 -5.99332897e-02 1.32492004e+02] [ 6.69965844e-02 1.69464905e-03 9.97751766e-01 1.84733668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.34, Y:132.54, Z:18.48 [[ 4.68767621e-01 -8.82812794e-01 -2.99747860e-02 2.25341884e+02] [ 8.80777148e-01 4.69721928e-01 -5.99410215e-02 1.32543817e+02] [ 6.69965150e-02 1.69730355e-03 9.97751766e-01 1.84769883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:132.60, Z:18.48 [[ 4.64285339e-01 -8.85178886e-01 -2.99576918e-02 2.25362922e+02] [ 8.83147556e-01 4.65248798e-01 -5.99495637e-02 1.32598623e+02] [ 6.70038682e-02 1.37664117e-03 9.97751766e-01 1.84779028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.39, Y:132.65, Z:18.48 [[ 4.63919140e-01 -8.85371141e-01 -2.99495248e-02 2.25388355e+02] [ 8.83339947e-01 4.64882886e-01 -5.99536435e-02 1.32650527e+02] [ 6.70042473e-02 1.35803107e-03 9.97751766e-01 1.84827844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.42, Y:132.70, Z:18.49 [[ 4.66238191e-01 -8.84152750e-01 -2.99309821e-02 2.25417567e+02] [ 8.82118446e-01 4.67195354e-01 -5.99628993e-02 1.32700024e+02] [ 6.69999781e-02 1.55432232e-03 9.97751766e-01 1.84878454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.44, Y:132.75, Z:18.49 [[ 4.63695576e-01 -8.85489275e-01 -2.99191835e-02 2.25443392e+02] [ 8.83457351e-01 4.64657781e-01 -5.99687858e-02 1.32752014e+02] [ 6.70038980e-02 1.37493807e-03 9.97751766e-01 1.84922500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.47, Y:132.80, Z:18.50 [[ 4.57843630e-01 -8.88529738e-01 -2.99017412e-02 2.25470167e+02] [ 8.86503640e-01 4.58818044e-01 -5.99774816e-02 1.32803953e+02] [ 6.70112345e-02 9.52305478e-04 9.97751767e-01 1.84958286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.50, Y:132.86, Z:18.50 [[ 4.53614358e-01 -8.90696883e-01 -2.98843805e-02 2.25496467e+02] [ 8.88674872e-01 4.54597224e-01 -5.99861306e-02 1.32855979e+02] [ 6.70148159e-02 6.53072137e-04 9.97751767e-01 1.85003188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.52, Y:132.91, Z:18.50 [[ 4.44154385e-01 -8.95452315e-01 -2.98669267e-02 2.25517068e+02] [ 8.93440245e-01 4.45157444e-01 -5.99948195e-02 1.32911560e+02] [ 6.70179848e-02 -3.73521807e-05 9.97751767e-01 1.85013044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.55, Y:132.96, Z:18.51 [[ 4.46198754e-01 -8.94435916e-01 -2.98506818e-02 2.25548209e+02] [ 8.92421021e-01 4.47196124e-01 -6.00029011e-02 1.32960336e+02] [ 6.70178591e-02 1.33843774e-04 9.97751767e-01 1.85099763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.57, Y:133.01, Z:18.51 [[ 4.41967921e-01 -8.96534357e-01 -2.98413120e-02 2.25573397e+02] [ 8.94523882e-01 4.42974172e-01 -6.00075607e-02 1.33012371e+02] [ 6.70177703e-02 -1.72349435e-04 9.97751767e-01 1.85148231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.60, Y:133.06, Z:18.52 [[ 4.39115805e-01 -8.97935315e-01 -2.98241565e-02 2.25598654e+02] [ 8.95927471e-01 4.40127296e-01 -6.00160859e-02 1.33064612e+02] [ 6.70169883e-02 -3.66269280e-04 9.97751767e-01 1.85183352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.62, Y:133.12, Z:18.52 [[ 4.34516890e-01 -9.00170324e-01 -2.98070410e-02 2.25623587e+02] [ 8.98167099e-01 4.35537497e-01 -6.00245851e-02 1.33116835e+02] [ 6.70144343e-02 -6.90007571e-04 9.97751767e-01 1.85220302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.65, Y:133.17, Z:18.53 [[ 4.31579643e-01 -9.01582807e-01 -2.97901611e-02 2.25648425e+02] [ 8.99582344e-01 4.32605653e-01 -6.00329615e-02 1.33169281e+02] [ 6.70120780e-02 -8.89698831e-04 9.97751768e-01 1.85267844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.67, Y:133.22, Z:18.53 [[ 4.26998505e-01 -9.03762047e-01 -2.97731229e-02 2.25671898e+02] [ 9.01766230e-01 4.28033522e-01 -6.00414103e-02 1.33222102e+02] [ 6.70070425e-02 -1.21080437e-03 9.97751768e-01 1.85318687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.70, Y:133.27, Z:18.54 [[ 4.25114375e-01 -9.04650400e-01 -2.97560404e-02 2.25696647e+02] [ 9.02656153e-01 4.26152415e-01 -6.00498751e-02 1.33274765e+02] [ 6.70047520e-02 -1.33140785e-03 9.97751768e-01 1.85364136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.72, Y:133.33, Z:18.55 [[ 4.26489409e-01 -9.04003534e-01 -2.97387597e-02 2.25720488e+02] [ 9.02007117e-01 4.27523269e-01 -6.00584318e-02 1.33326936e+02] [ 6.70070464e-02 -1.21028783e-03 9.97751768e-01 1.85516622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.74, Y:133.38, Z:18.55 [[ 4.26154663e-01 -9.04161729e-01 -2.97282766e-02 2.25742565e+02] [ 9.02165335e-01 4.27188566e-01 -6.00636204e-02 1.33380393e+02] [ 6.70068068e-02 -1.22342866e-03 9.97751768e-01 1.85453535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.76, Y:133.43, Z:18.55 [[ 4.28207094e-01 -9.03191743e-01 -2.97213629e-02 2.25764644e+02] [ 9.01192769e-01 4.29236000e-01 -6.00670414e-02 1.33433020e+02] [ 6.70095347e-02 -1.06354412e-03 9.97751768e-01 1.85484756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.79, Y:133.49, Z:18.55 [[ 4.30234546e-01 -9.02228138e-01 -2.97089674e-02 2.25788990e+02] [ 9.00226435e-01 4.31258135e-01 -6.00731715e-02 1.33486002e+02] [ 6.70119395e-02 -8.99244125e-04 9.97751768e-01 1.85538444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.81, Y:133.54, Z:18.56 [[ 4.36258351e-01 -8.99331459e-01 -2.96913729e-02 2.25813457e+02] [ 8.97322366e-01 4.37267356e-01 -6.00818664e-02 1.33538254e+02] [ 6.70165807e-02 -4.31517014e-04 9.97751769e-01 1.85624950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.84, Y:133.59, Z:18.56 [[ 4.41335129e-01 -8.96851589e-01 -2.96737644e-02 2.25835455e+02] [ 8.94836241e-01 4.42331580e-01 -6.00905618e-02 1.33592419e+02] [ 6.70179589e-02 -3.30839439e-05 9.97751769e-01 1.85648269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.86, Y:133.65, Z:18.57 [[ 4.44491060e-01 -8.95292272e-01 -2.96554397e-02 2.25856953e+02] [ 8.93272825e-01 4.45479177e-01 -6.00996040e-02 1.33645791e+02] [ 6.70175918e-02 2.23338287e-04 9.97751769e-01 1.85666973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:133.70, Z:18.57 [[ 4.51428187e-01 -8.91815118e-01 -2.96376095e-02 2.25879605e+02] [ 8.89787485e-01 4.52399395e-01 -6.01083955e-02 1.33699273e+02] [ 6.70136124e-02 7.63449944e-04 9.97751769e-01 1.85704257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.90, Y:133.75, Z:18.57 [[ 4.55093189e-01 -8.89951021e-01 -2.96204169e-02 2.25903465e+02] [ 8.87918860e-01 4.56054887e-01 -6.01168665e-02 1.33752628e+02] [ 6.70096026e-02 1.05824964e-03 9.97751769e-01 1.85747353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.93, Y:133.81, Z:18.58 [[ 4.58108177e-01 -8.88403377e-01 -2.96029976e-02 2.25927549e+02] [ 8.86367415e-01 4.59061801e-01 -6.01254430e-02 1.33805694e+02] [ 6.70052520e-02 1.30482464e-03 9.97751770e-01 1.85787953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.95, Y:133.86, Z:18.58 [[ 4.59240826e-01 -8.87818992e-01 -2.95854900e-02 2.25952166e+02] [ 8.85781263e-01 4.60190667e-01 -6.01340566e-02 1.33857958e+02] [ 6.70031239e-02 1.40974113e-03 9.97751770e-01 1.85822024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.98, Y:133.91, Z:18.59 [[ 4.59401975e-01 -8.87736191e-01 -2.95682238e-02 2.25977055e+02] [ 8.85697745e-01 4.60350278e-01 -6.01425453e-02 1.33910743e+02] [ 6.70024541e-02 1.44109494e-03 9.97751770e-01 1.85854307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:133.96, Z:18.59 [[ 4.55560768e-01 -8.89714069e-01 -2.95510123e-02 2.26002356e+02] [ 8.87679194e-01 4.56516709e-01 -6.01510010e-02 1.33961815e+02] [ 6.70077227e-02 1.17061741e-03 9.97751770e-01 1.85875370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:134.01, Z:18.59 [[ 4.51409608e-01 -8.91827766e-01 -2.95398225e-02 2.26028827e+02] [ 8.89797010e-01 4.52374266e-01 -6.01564958e-02 1.34012783e+02] [ 6.70122888e-02 8.70774417e-04 9.97751770e-01 1.85931463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:134.06, Z:18.60 [[ 4.44238654e-01 -8.95421948e-01 -2.95220732e-02 2.26056051e+02] [ 8.93398420e-01 4.45218385e-01 -6.01652051e-02 1.34063319e+02] [ 6.70170149e-02 3.52736204e-04 9.97751770e-01 1.85970804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.08, Y:134.12, Z:18.60 [[ 4.40410814e-01 -8.97311232e-01 -2.95104615e-02 2.26082757e+02] [ 8.95291526e-01 4.41398399e-01 -6.01709000e-02 1.34115282e+02] [ 6.70178948e-02 7.94489768e-05 9.97751770e-01 1.86012933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.11, Y:134.17, Z:18.61 [[ 4.36859227e-01 -8.99046257e-01 -2.94931286e-02 2.26108160e+02] [ 8.97029899e-01 4.37853630e-01 -6.01793946e-02 1.34166359e+02] [ 6.70177328e-02 -1.66294360e-04 9.97751771e-01 1.86051951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.13, Y:134.22, Z:18.61 [[ 4.36702924e-01 -8.99122784e-01 -2.94750012e-02 2.26133511e+02] [ 8.97106001e-01 4.37696464e-01 -6.01882719e-02 1.34218810e+02] [ 6.70177503e-02 -1.57806150e-04 9.97751771e-01 1.86090101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.16, Y:134.27, Z:18.61 [[ 4.37456143e-01 -8.98757111e-01 -2.94580935e-02 2.26156599e+02] [ 8.96738940e-01 4.38446860e-01 -6.01965459e-02 1.34273332e+02] [ 6.70178823e-02 -8.28707273e-05 9.97751771e-01 1.86079636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.18, Y:134.32, Z:18.62 [[ 4.41426138e-01 -8.96814473e-01 -2.94408813e-02 2.26182625e+02] [ 8.94791381e-01 4.42406767e-01 -6.02049628e-02 1.34323769e+02] [ 6.70175271e-02 2.32597415e-04 9.97751771e-01 1.86163191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.21, Y:134.38, Z:18.62 [[ 4.43108727e-01 -8.95984713e-01 -2.94287352e-02 2.26206999e+02] [ 8.93959390e-01 4.44084739e-01 -6.02108994e-02 1.34376323e+02] [ 6.70168976e-02 3.71880831e-04 9.97751771e-01 1.86205743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.23, Y:134.43, Z:18.62 [[ 4.44978842e-01 -8.95057993e-01 -2.94112071e-02 2.26231140e+02] [ 8.93030072e-01 4.45949444e-01 -6.02194601e-02 1.34427981e+02] [ 6.70158206e-02 5.31293217e-04 9.97751771e-01 1.86237117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.26, Y:134.48, Z:18.63 [[ 4.46516927e-01 -8.94292193e-01 -2.93956974e-02 2.26255948e+02] [ 8.92262110e-01 4.47482997e-01 -6.02270301e-02 1.34480516e+02] [ 6.70146377e-02 6.63721377e-04 9.97751772e-01 1.86277597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.28, Y:134.53, Z:18.63 [[ 4.46230922e-01 -8.94435506e-01 -2.93784022e-02 2.26281460e+02] [ 8.92405177e-01 4.47196477e-01 -6.02354655e-02 1.34533065e+02] [ 6.70146570e-02 6.61489110e-04 9.97751772e-01 1.86326591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.31, Y:134.58, Z:18.64 [[ 4.44002866e-01 -8.95544178e-01 -2.93612003e-02 2.26306547e+02] [ 8.93515706e-01 4.44972315e-01 -6.02438492e-02 1.34584127e+02] [ 6.70159497e-02 5.13748069e-04 9.97751772e-01 1.86375296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.33, Y:134.64, Z:18.64 [[ 4.42597775e-01 -8.96239793e-01 -2.93503611e-02 2.26332303e+02] [ 8.94212495e-01 4.43569675e-01 -6.02491296e-02 1.34635576e+02] [ 6.70165975e-02 4.20671063e-04 9.97751772e-01 1.86423326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.36, Y:134.69, Z:18.65 [[ 4.41169368e-01 -8.96944351e-01 -2.93329187e-02 2.26357968e+02] [ 8.94918041e-01 4.42143325e-01 -6.02576204e-02 1.34687637e+02] [ 6.70170864e-02 3.33258130e-04 9.97751772e-01 1.86454934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.38, Y:134.74, Z:18.65 [[ 4.39928427e-01 -8.97554216e-01 -2.93156792e-02 2.26383253e+02] [ 8.95528697e-01 4.40904028e-01 -6.02660064e-02 1.34739743e+02] [ 6.70174091e-02 2.59697400e-04 9.97751772e-01 1.86485649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.41, Y:134.79, Z:18.65 [[ 4.35798454e-01 -8.99567293e-01 -2.92983471e-02 2.26408267e+02] [ 8.97545714e-01 4.36782194e-01 -6.02744312e-02 1.34790869e+02] [ 6.70179032e-02 -2.91018741e-05 9.97751773e-01 1.86503244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.43, Y:134.84, Z:18.65 [[ 4.31704005e-01 -9.01539960e-01 -2.92805870e-02 2.26434218e+02] [ 8.99522291e-01 4.32695738e-01 -6.02830576e-02 1.34842154e+02] [ 6.70171706e-02 -3.14103332e-04 9.97751773e-01 1.86546880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.45, Y:134.90, Z:18.65 [[ 4.19333326e-01 -9.07360581e-01 -2.92632457e-02 2.26454099e+02] [ 9.05356079e-01 4.20351411e-01 -6.02914745e-02 1.34898939e+02] [ 6.70069539e-02 -1.21143281e-03 9.97751773e-01 1.86479862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.48, Y:134.95, Z:18.65 [[ 4.17765115e-01 -9.08084204e-01 -2.92470042e-02 2.26479528e+02] [ 9.06080914e-01 4.18785584e-01 -6.02993521e-02 1.34951245e+02] [ 6.70051128e-02 -1.30918656e-03 9.97751773e-01 1.86526031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.51, Y:135.00, Z:18.67 [[ 4.25422608e-01 -9.04522683e-01 -2.92287628e-02 2.26510949e+02] [ 9.02510237e-01 4.26424897e-01 -6.03081929e-02 1.34998342e+02] [ 6.70140007e-02 -7.22788953e-04 9.97751773e-01 1.86662890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.54, Y:135.05, Z:18.67 [[ 4.31672754e-01 -9.01557218e-01 -2.92098650e-02 2.26535301e+02] [ 8.99537266e-01 4.32659827e-01 -6.03173446e-02 1.35051271e+02] [ 6.70174725e-02 -2.38007855e-04 9.97751774e-01 1.86722797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:135.10, Z:18.68 [[ 4.36369749e-01 -8.99293775e-01 -2.91915748e-02 2.26560358e+02] [ 8.97268110e-01 4.37345045e-01 -6.03261951e-02 1.35103718e+02] [ 6.70177624e-02 1.31857526e-04 9.97751774e-01 1.86755162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.59, Y:135.16, Z:18.68 [[ 4.43557018e-01 -8.95771206e-01 -2.91739308e-02 2.26586472e+02] [ 8.93737236e-01 4.44514874e-01 -6.03347266e-02 1.35155741e+02] [ 6.70143570e-02 6.88063087e-04 9.97751774e-01 1.86788310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.61, Y:135.21, Z:18.68 [[ 4.47737182e-01 -8.93689714e-01 -2.91566682e-02 2.26612818e+02] [ 8.91650750e-01 4.48684359e-01 -6.03430676e-02 1.35207870e+02] [ 6.70101198e-02 1.02026995e-03 9.97751774e-01 1.86832110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.64, Y:135.26, Z:18.69 [[ 4.52043992e-01 -8.91519554e-01 -2.91395625e-02 2.26640072e+02] [ 8.89475514e-01 4.52980163e-01 -6.03513268e-02 1.35258821e+02] [ 6.70040317e-02 1.36252736e-03 9.97751774e-01 1.86885179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.67, Y:135.31, Z:18.69 [[ 4.54044126e-01 -8.90503127e-01 -2.91223609e-02 2.26666987e+02] [ 8.88456461e-01 4.54974541e-01 -6.03596263e-02 1.35310518e+02] [ 6.70003687e-02 1.53198404e-03 9.97751775e-01 1.86934224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.69, Y:135.37, Z:18.69 [[ 4.51718168e-01 -8.91685817e-01 -2.91049737e-02 2.26688346e+02] [ 8.89641048e-01 4.52652746e-01 -6.03680091e-02 1.35366350e+02] [ 6.70037438e-02 1.37634715e-03 9.97751775e-01 1.86892023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.72, Y:135.41, Z:18.70 [[ 4.58838268e-01 -8.88043526e-01 -2.90884696e-02 2.26720209e+02] [ 8.85990844e-01 4.59755335e-01 -6.03759606e-02 1.35413403e+02] [ 6.69900600e-02 1.93068347e-03 9.97751775e-01 1.87006691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.74, Y:135.47, Z:18.69 [[ 4.54198717e-01 -8.90425869e-01 -2.90740001e-02 2.26740162e+02] [ 8.88377555e-01 4.55125501e-01 -6.03829276e-02 1.35469628e+02] [ 6.69988396e-02 1.59715910e-03 9.97751775e-01 1.86916100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.78, Y:135.52, Z:18.70 [[ 4.61231664e-01 -8.86803800e-01 -2.90580805e-02 2.26775113e+02] [ 8.84747737e-01 4.62141125e-01 -6.03905876e-02 1.35516582e+02] [ 6.69835366e-02 2.14498032e-03 9.97751775e-01 1.87048588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.80, Y:135.57, Z:18.71 [[ 4.60311574e-01 -8.87281920e-01 -2.90525246e-02 2.26801993e+02] [ 8.85226634e-01 4.61222789e-01 -6.03932603e-02 1.35567710e+02] [ 6.69855344e-02 2.08164820e-03 9.97751775e-01 1.87078795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.83, Y:135.62, Z:18.71 [[ 4.57526704e-01 -8.88721699e-01 -2.90354222e-02 2.26831362e+02] [ 8.86668762e-01 4.58443199e-01 -6.04014816e-02 1.35618328e+02] [ 6.69911992e-02 1.89048891e-03 9.97751775e-01 1.87132488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.85, Y:135.68, Z:18.70 [[ 4.44030615e-01 -8.95541605e-01 -2.90180512e-02 2.26847381e+02] [ 8.93502222e-01 4.44976889e-01 -6.04098258e-02 1.35676543e+02] [ 6.70118745e-02 8.96118878e-04 9.97751776e-01 1.87007234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.88, Y:135.73, Z:18.71 [[ 4.42131993e-01 -8.96481068e-01 -2.89999028e-02 2.26875396e+02] [ 8.94443126e-01 4.43081363e-01 -6.04185368e-02 1.35728334e+02] [ 6.70133908e-02 7.74204395e-04 9.97751776e-01 1.87052051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:135.77, Z:18.73 [[ 4.53817525e-01 -8.90623148e-01 -2.89838315e-02 2.26914302e+02] [ 8.88572475e-01 4.54739074e-01 -6.04262455e-02 1.35772091e+02] [ 6.69970936e-02 1.66825427e-03 9.97751776e-01 1.87282266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68 meters Centerline goodness : 0.997588 with order 1 Centerline is valid? [True, True] Translation: X:226.94, Y:135.82, Z:18.73 [[ 4.53196182e-01 -8.90939972e-01 -2.89687211e-02 2.26939454e+02] [ 8.88889482e-01 4.54118137e-01 -6.04334886e-02 1.35823240e+02] [ 6.69978323e-02 1.63823481e-03 9.97751776e-01 1.87267853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.95, Y:135.88, Z:18.72 [[ 4.39635768e-01 -8.97709384e-01 -2.89525974e-02 2.26951706e+02] [ 8.95672601e-01 4.40587621e-01 -6.04412122e-02 1.35883053e+02] [ 6.70147994e-02 6.40070555e-04 9.97751776e-01 1.87152429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:135.94, Z:18.72 [[ 4.36012063e-01 -8.99475685e-01 -2.89304772e-02 2.26977468e+02] [ 8.97442056e-01 4.36970635e-01 -6.04517984e-02 1.35936297e+02] [ 6.70166917e-02 3.94286404e-04 9.97751777e-01 1.87184674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.01, Y:135.98, Z:18.73 [[ 4.32196902e-01 -9.01315600e-01 -2.89141407e-02 2.27010857e+02] [ 8.99285529e-01 4.33162987e-01 -6.04596111e-02 1.35983608e+02] [ 6.70177262e-02 1.28388314e-04 9.97751777e-01 1.87349881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.04, Y:136.04, Z:18.74 [[ 4.26641496e-01 -9.03959068e-01 -2.88970067e-02 2.27036567e+02] [ 9.01934428e-01 4.27618911e-01 -6.04677993e-02 1.36035503e+02] [ 6.70173220e-02 -2.65132800e-04 9.97751777e-01 1.87398546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.06, Y:136.09, Z:18.74 [[ 4.13266172e-01 -9.10152237e-01 -2.88786614e-02 2.27062997e+02] [ 9.08141619e-01 4.14272115e-01 -6.04765595e-02 1.36086945e+02] [ 6.70065001e-02 -1.23299811e-03 9.97751777e-01 1.87433562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.10, Y:136.13, Z:18.76 [[ 3.99906730e-01 -9.16101361e-01 -2.88600544e-02 2.27098298e+02] [ 9.14105040e-01 4.00940754e-01 -6.04854377e-02 1.36132783e+02] [ 6.69819638e-02 -2.19258758e-03 9.97751777e-01 1.87579477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.12, Y:136.19, Z:18.75 [[ 3.73846907e-01 -9.27041752e-01 -2.88457865e-02 2.27115410e+02] [ 9.25074949e-01 3.74936031e-01 -6.04922414e-02 1.36190529e+02] [ 6.68941581e-02 -4.06967714e-03 9.97751777e-01 1.87463455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.15, Y:136.24, Z:18.76 [[ 3.70708321e-01 -9.28301824e-01 -2.88281832e-02 2.27145347e+02] [ 9.26338081e-01 3.71802951e-01 -6.05006292e-02 1.36241132e+02] [ 6.68812481e-02 -4.27655720e-03 9.97751778e-01 1.87576883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.17, Y:136.29, Z:18.76 [[ 3.66996499e-01 -9.29776004e-01 -2.88123462e-02 2.27170082e+02] [ 9.27816074e-01 3.68097942e-01 -6.05081704e-02 1.36293535e+02] [ 6.68648102e-02 -4.52627120e-03 9.97751778e-01 1.87629345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.20, Y:136.34, Z:18.77 [[ 3.71355629e-01 -9.28043843e-01 -2.88031710e-02 2.27197185e+02] [ 9.26078434e-01 3.72447267e-01 -6.05125377e-02 1.36343297e+02] [ 6.68859503e-02 -4.20232396e-03 9.97751778e-01 1.87739013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.21, Y:136.40, Z:18.76 [[ 3.71191452e-01 -9.28110012e-01 -2.87873477e-02 2.27210125e+02] [ 9.26144227e-01 3.72282411e-01 -6.05200643e-02 1.36403813e+02] [ 6.68863008e-02 -4.19670530e-03 9.97751778e-01 1.87623681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.23, Y:136.46, Z:18.77 [[ 3.84844148e-01 -9.22532811e-01 -2.87783741e-02 2.27228914e+02] [ 9.20550829e-01 3.85905398e-01 -6.05243311e-02 1.36460168e+02] [ 6.69414112e-02 -3.19952154e-03 9.97751778e-01 1.87687001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.25, Y:136.51, Z:18.78 [[ 3.93880352e-01 -9.18711591e-01 -2.87624704e-02 2.27251250e+02] [ 9.16718743e-01 3.94921052e-01 -6.05318879e-02 1.36514593e+02] [ 6.69702522e-02 -2.52477438e-03 9.97751778e-01 1.87770590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.27, Y:136.57, Z:18.78 [[ 4.00323545e-01 -9.15922872e-01 -2.87463339e-02 2.27266573e+02] [ 9.13922216e-01 4.01349156e-01 -6.05395502e-02 1.36571077e+02] [ 6.69868755e-02 -2.03650585e-03 9.97751778e-01 1.87796163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.29, Y:136.62, Z:18.79 [[ 4.09362134e-01 -9.11919446e-01 -2.87327018e-02 2.27291309e+02] [ 9.09908293e-01 4.10367004e-01 -6.05460194e-02 1.36621908e+02] [ 6.70040452e-02 -1.35887600e-03 9.97751778e-01 1.87943688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.31, Y:136.68, Z:18.79 [[ 4.06850168e-01 -9.13043259e-01 -2.87219166e-02 2.27305689e+02] [ 9.11034520e-01 4.07859857e-01 -6.05511353e-02 1.36679265e+02] [ 6.70003227e-02 -1.53141799e-03 9.97751779e-01 1.87924951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.32, Y:136.74, Z:18.79 [[ 4.03458577e-01 -9.14547594e-01 -2.87032095e-02 2.27324907e+02] [ 9.12541990e-01 4.04474476e-01 -6.05600018e-02 1.36735216e+02] [ 6.69947196e-02 -1.75943177e-03 9.97751779e-01 1.87918361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:136.79, Z:18.79 [[ 3.99863068e-01 -9.16125918e-01 -2.86850109e-02 2.27344513e+02] [ 9.14123706e-01 4.00885636e-01 -6.05686205e-02 1.36790053e+02] [ 6.69878919e-02 -2.00249405e-03 9.97751779e-01 1.87929114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.37, Y:136.84, Z:18.81 [[ 4.03721933e-01 -9.14432521e-01 -2.86664351e-02 2.27371786e+02] [ 9.12425395e-01 4.04734821e-01 -6.05774110e-02 1.36839422e+02] [ 6.69962592e-02 -1.69955385e-03 9.97751779e-01 1.88055440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.39, Y:136.89, Z:18.81 [[ 4.02437606e-01 -9.14998856e-01 -2.86542637e-02 2.27393737e+02] [ 9.12992747e-01 4.03452506e-01 -6.05831678e-02 1.36893269e+02] [ 6.69941637e-02 -1.78018996e-03 9.97751779e-01 1.88091871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.42, Y:136.95, Z:18.81 [[ 4.02602693e-01 -9.14926763e-01 -2.86372226e-02 2.27416342e+02] [ 9.12919900e-01 4.03616104e-01 -6.05912219e-02 1.36946839e+02] [ 6.69949747e-02 -1.74930129e-03 9.97751779e-01 1.88135144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.44, Y:137.00, Z:18.81 [[ 4.01920947e-01 -9.15226989e-01 -2.86200998e-02 2.27438351e+02] [ 9.13220310e-01 4.02934720e-01 -6.05993087e-02 1.37001710e+02] [ 6.69941548e-02 -1.78032488e-03 9.97751780e-01 1.88127740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.46, Y:137.06, Z:18.81 [[ 4.03355217e-01 -9.14596316e-01 -2.86032864e-02 2.27458239e+02] [ 9.12587490e-01 4.04364729e-01 -6.06072438e-02 1.37055909e+02] [ 6.69973220e-02 -1.65675339e-03 9.97751780e-01 1.88135348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.49, Y:137.11, Z:18.83 [[ 4.08813877e-01 -9.12170064e-01 -2.85830029e-02 2.27485811e+02] [ 9.10154575e-01 4.09810019e-01 -6.06168082e-02 1.37106345e+02] [ 6.70064388e-02 -1.23395849e-03 9.97751780e-01 1.88273023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.51, Y:137.16, Z:18.83 [[ 4.09513588e-01 -9.11856725e-01 -2.85645422e-02 2.27509643e+02] [ 9.09839869e-01 4.10506957e-01 -6.06255062e-02 1.37159543e+02] [ 6.70077189e-02 -1.16219073e-03 9.97751780e-01 1.88309710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.53, Y:137.22, Z:18.82 [[ 4.03155627e-01 -9.14686070e-01 -2.85470545e-02 2.27528018e+02] [ 9.12675597e-01 4.04161853e-01 -6.06337397e-02 1.37215532e+02] [ 6.69984675e-02 -1.60936669e-03 9.97751780e-01 1.88226621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.55, Y:137.27, Z:18.83 [[ 4.02058915e-01 -9.15169245e-01 -2.85286154e-02 2.27552669e+02] [ 9.13159368e-01 4.03066330e-01 -6.06424142e-02 1.37267684e+02] [ 6.69969967e-02 -1.66934917e-03 9.97751781e-01 1.88269407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.58, Y:137.32, Z:18.84 [[ 4.02850844e-01 -9.14821289e-01 -2.85167745e-02 2.27581052e+02] [ 9.12810149e-01 4.03855734e-01 -6.06479818e-02 1.37316824e+02] [ 6.69987278e-02 -1.59831054e-03 9.97751781e-01 1.88404592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.60, Y:137.37, Z:18.84 [[ 3.95410392e-01 -9.18062235e-01 -2.85018346e-02 2.27601237e+02] [ 9.16058817e-01 3.96430591e-01 -6.06550020e-02 1.37372665e+02] [ 6.69840659e-02 -2.12573881e-03 9.97751781e-01 1.88357630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.63, Y:137.42, Z:18.85 [[ 3.95885118e-01 -9.17858150e-01 -2.84848971e-02 2.27627960e+02] [ 9.15853637e-01 3.96903164e-01 -6.06629552e-02 1.37421798e+02] [ 6.69857336e-02 -2.07243536e-03 9.97751781e-01 1.88504794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:137.48, Z:18.85 [[ 3.89705177e-01 -9.20499564e-01 -2.84680122e-02 2.27646720e+02] [ 9.18501368e-01 3.90735565e-01 -6.06708780e-02 1.37478131e+02] [ 6.69709816e-02 -2.50415288e-03 9.97751781e-01 1.88484552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.67, Y:137.53, Z:18.85 [[ 3.86798027e-01 -9.21725487e-01 -2.84501948e-02 2.27667280e+02] [ 9.19729945e-01 3.87833546e-01 -6.06792319e-02 1.37532997e+02] [ 6.69635345e-02 -2.69588897e-03 9.97751781e-01 1.88492701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.69, Y:137.59, Z:18.86 [[ 3.88236062e-01 -9.21121230e-01 -2.84330653e-02 2.27690994e+02] [ 9.19123493e-01 3.89267339e-01 -6.06872574e-02 1.37585549e+02] [ 6.69683849e-02 -2.57251644e-03 9.97751782e-01 1.88612957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.71, Y:137.64, Z:18.87 [[ 3.87291510e-01 -9.21519050e-01 -2.84240579e-02 2.27713275e+02] [ 9.19522065e-01 3.88324243e-01 -6.06914759e-02 1.37638410e+02] [ 6.69661020e-02 -2.63125505e-03 9.97751782e-01 1.88667531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.73, Y:137.69, Z:18.87 [[ 3.83232613e-01 -9.23214781e-01 -2.84118433e-02 2.27734560e+02] [ 9.21221941e-01 3.84273322e-01 -6.06971935e-02 1.37692460e+02] [ 6.69544596e-02 -2.91246936e-03 9.97751782e-01 1.88705958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.76, Y:137.75, Z:18.87 [[ 3.78309085e-01 -9.25243756e-01 -2.83941538e-02 2.27755618e+02] [ 9.23255877e-01 3.79359238e-01 -6.07054675e-02 1.37746111e+02] [ 6.69389393e-02 -3.24963950e-03 9.97751782e-01 1.88745323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.77, Y:137.80, Z:18.88 [[ 3.68597885e-01 -9.29155726e-01 -2.83766670e-02 2.27771335e+02] [ 9.27178339e-01 3.69667663e-01 -6.07136406e-02 1.37803546e+02] [ 6.69023630e-02 -3.93131150e-03 9.97751782e-01 1.88764586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.79, Y:137.86, Z:18.88 [[ 3.67308817e-01 -9.29666561e-01 -2.83605134e-02 2.27792291e+02] [ 9.27690090e-01 3.68380285e-01 -6.07211853e-02 1.37856685e+02] [ 6.68979095e-02 -4.00634052e-03 9.97751782e-01 1.88827104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.81, Y:137.91, Z:18.89 [[ 3.65712159e-01 -9.30296313e-01 -2.83440780e-02 2.27807764e+02] [ 9.28321104e-01 3.66785952e-01 -6.07288562e-02 1.37912930e+02] [ 6.68920407e-02 -4.10312467e-03 9.97751782e-01 1.88858369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.83, Y:137.97, Z:18.89 [[ 3.66739367e-01 -9.29892383e-01 -2.83265497e-02 2.27825303e+02] [ 9.27915371e-01 3.67809838e-01 -6.07370311e-02 1.37969126e+02] [ 6.68976862e-02 -4.00998054e-03 9.97751783e-01 1.88892279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.84, Y:138.03, Z:18.89 [[ 3.69313990e-01 -9.28873393e-01 -2.83089419e-02 2.27837800e+02] [ 9.26892808e-01 3.70377833e-01 -6.07452368e-02 1.38027318e+02] [ 6.69096388e-02 -3.80528887e-03 9.97751783e-01 1.88921248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.85, Y:138.09, Z:18.90 [[ 3.71467735e-01 -9.28014713e-01 -2.82916145e-02 2.27850185e+02] [ 9.26031061e-01 3.72525850e-01 -6.07533059e-02 1.38085989e+02] [ 6.69193194e-02 -3.63102091e-03 9.97751783e-01 1.88952024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.87, Y:138.14, Z:18.90 [[ 3.72742489e-01 -9.27503965e-01 -2.82742269e-02 2.27866677e+02] [ 9.25518259e-01 3.73796743e-01 -6.07613969e-02 1.38142373e+02] [ 6.69252505e-02 -3.51995896e-03 9.97751783e-01 1.88988258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.88, Y:138.20, Z:18.90 [[ 3.73751878e-01 -9.27098205e-01 -2.82568950e-02 2.27880184e+02] [ 9.25110754e-01 3.74802837e-01 -6.07694560e-02 1.38199992e+02] [ 6.69300180e-02 -3.42805909e-03 9.97751783e-01 1.89017209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.90, Y:138.26, Z:18.91 [[ 3.72150073e-01 -9.27742875e-01 -2.82397051e-02 2.27897133e+02] [ 9.25756647e-01 3.73203341e-01 -6.07774431e-02 1.38256934e+02] [ 6.69249921e-02 -3.52476483e-03 9.97751783e-01 1.89105414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.91, Y:138.31, Z:18.91 [[ 3.68509734e-01 -9.29195114e-01 -2.82314646e-02 2.27910790e+02] [ 9.27212743e-01 3.69570245e-01 -6.07812707e-02 1.38314525e+02] [ 6.69111690e-02 -3.77808382e-03 9.97751784e-01 1.89108644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.92, Y:138.37, Z:18.92 [[ 3.62095914e-01 -9.31713583e-01 -2.82196591e-02 2.27923544e+02] [ 9.29738152e-01 3.63169298e-01 -6.07867512e-02 1.38371593e+02] [ 6.68843556e-02 -4.22625948e-03 9.97751784e-01 1.89150553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.94, Y:138.43, Z:18.94 [[ 3.60565315e-01 -9.32307341e-01 -2.82077186e-02 2.27940362e+02] [ 9.30333254e-01 3.61641167e-01 -6.07922917e-02 1.38427041e+02] [ 6.68781721e-02 -4.32298686e-03 9.97751784e-01 1.89398388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.95, Y:138.49, Z:18.92 [[ 3.53479480e-01 -9.35017146e-01 -2.81992019e-02 2.27951950e+02] [ 9.33050975e-01 3.54569732e-01 -6.07962420e-02 1.38486392e+02] [ 6.68441121e-02 -4.82106880e-03 9.97751784e-01 1.89230360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.97, Y:138.54, Z:18.92 [[ 3.51417206e-01 -9.35794375e-01 -2.81928055e-02 2.27966968e+02] [ 9.33830383e-01 3.52511378e-01 -6.07992080e-02 1.38542029e+02] [ 6.68338416e-02 -4.96141051e-03 9.97751784e-01 1.89247721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:138.60, Z:18.93 [[ 3.49483437e-01 -9.36518810e-01 -2.81752659e-02 2.27977275e+02] [ 9.34556450e-01 3.50580533e-01 -6.08073351e-02 1.38600600e+02] [ 6.68249128e-02 -5.08022000e-03 9.97751784e-01 1.89302927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.99, Y:138.66, Z:18.93 [[ 3.47295906e-01 -9.37332783e-01 -2.81568324e-02 2.27987178e+02] [ 9.35372323e-01 3.48396393e-01 -6.08158695e-02 1.38659290e+02] [ 6.68144471e-02 -5.21601918e-03 9.97751784e-01 1.89318469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.00, Y:138.72, Z:18.94 [[ 3.45469212e-01 -9.38008039e-01 -2.81414908e-02 2.28001447e+02] [ 9.36049170e-01 3.46572529e-01 -6.08229678e-02 1.38716736e+02] [ 6.68055003e-02 -5.32935634e-03 9.97751784e-01 1.89383607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.01, Y:138.78, Z:18.94 [[ 3.43921887e-01 -9.38576980e-01 -2.81245101e-02 2.28010751e+02] [ 9.36619317e-01 3.45027341e-01 -6.08308186e-02 1.38776375e+02] [ 6.67981310e-02 -5.42090958e-03 9.97751784e-01 1.89438522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.02, Y:138.84, Z:18.95 [[ 3.42433472e-01 -9.39121542e-01 -2.81077724e-02 2.28018892e+02] [ 9.37165025e-01 3.43540954e-01 -6.08385516e-02 1.38835945e+02] [ 6.67909653e-02 -5.50846475e-03 9.97751785e-01 1.89475235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.03, Y:138.89, Z:18.95 [[ 3.40579162e-01 -9.39796132e-01 -2.80902997e-02 2.28032276e+02] [ 9.37841168e-01 3.41689381e-01 -6.08466180e-02 1.38893885e+02] [ 6.67815733e-02 -5.62114932e-03 9.97751785e-01 1.89513000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.04, Y:138.95, Z:18.96 [[ 3.38945495e-01 -9.40387084e-01 -2.80728291e-02 2.28038705e+02] [ 9.38433414e-01 3.40057990e-01 -6.08546773e-02 1.38954341e+02] [ 6.67733424e-02 -5.71806205e-03 9.97751785e-01 1.89569796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.05, Y:139.01, Z:18.96 [[ 3.39592016e-01 -9.40154328e-01 -2.80553278e-02 2.28050540e+02] [ 9.38199256e-01 3.40702044e-01 -6.08627448e-02 1.39012618e+02] [ 6.67788804e-02 -5.65298547e-03 9.97751785e-01 1.89614803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.06, Y:139.07, Z:18.97 [[ 3.44682884e-01 -9.38300366e-01 -2.80380503e-02 2.28055214e+02] [ 9.36338683e-01 3.45781186e-01 -6.08707031e-02 1.39073193e+02] [ 6.68100333e-02 -5.27202156e-03 9.97751785e-01 1.89656282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:139.13, Z:18.97 [[ 3.50310946e-01 -9.36213995e-01 -2.80284914e-02 2.28066476e+02] [ 9.34245411e-01 3.51396832e-01 -6.08751042e-02 1.39131315e+02] [ 6.68412476e-02 -4.86027410e-03 9.97751785e-01 1.89686511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:139.19, Z:18.97 [[ 3.59797577e-01 -9.32609626e-01 -2.80176497e-02 2.28072898e+02] [ 9.30629741e-01 3.60862716e-01 -6.08800937e-02 1.39192291e+02] [ 6.68878866e-02 -4.16954786e-03 9.97751786e-01 1.89718467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.08, Y:139.25, Z:18.98 [[ 3.67869185e-01 -9.29455906e-01 -2.79996778e-02 2.28080960e+02] [ 9.27466243e-01 3.68915947e-01 -6.08883582e-02 1.39252341e+02] [ 6.69225717e-02 -3.56980525e-03 9.97751786e-01 1.89755259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.10, Y:139.31, Z:18.98 [[ 3.71284984e-01 -9.28097240e-01 -2.79816620e-02 2.28096200e+02] [ 9.26103128e-01 3.72323242e-01 -6.08966363e-02 1.39308463e+02] [ 6.69362232e-02 -3.30389808e-03 9.97751786e-01 1.89792506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:228.11, Y:139.37, Z:18.98 [[ 3.74747967e-01 -9.26704734e-01 -2.79695652e-02 2.28108774e+02] [ 9.24706350e-01 3.75777979e-01 -6.09021918e-02 1.39366330e+02] [ 6.69486962e-02 -3.04066199e-03 9.97751786e-01 1.89798498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.12, Y:139.42, Z:18.98 [[ 3.75333547e-01 -9.26468121e-01 -2.79561957e-02 2.28122646e+02] [ 9.24468635e-01 3.76361419e-01 -6.09083283e-02 1.39423136e+02] [ 6.69512580e-02 -2.98368726e-03 9.97751786e-01 1.89846830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.14, Y:139.48, Z:18.98 [[ 3.77781148e-01 -9.25473486e-01 -2.79325974e-02 2.28143066e+02] [ 9.23470500e-01 3.78802182e-01 -6.09191486e-02 1.39478548e+02] [ 6.69599857e-02 -2.78082378e-03 9.97751786e-01 1.89841161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.16, Y:139.53, Z:18.99 [[ 3.77444193e-01 -9.25611460e-01 -2.79160698e-02 2.28163345e+02] [ 9.23608292e-01 3.78464870e-01 -6.09267214e-02 1.39532070e+02] [ 6.69597232e-02 -2.78707638e-03 9.97751787e-01 1.89913138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.18, Y:139.59, Z:18.99 [[ 3.79832598e-01 -9.24634097e-01 -2.79102784e-02 2.28181353e+02] [ 9.22628108e-01 3.80847720e-01 -6.09293743e-02 1.39586281e+02] [ 6.69669429e-02 -2.60784478e-03 9.97751787e-01 1.89941665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:228.20, Y:139.64, Z:19.00 [[ 3.82031298e-01 -9.23728104e-01 -2.79012152e-02 2.28202528e+02] [ 9.21719405e-01 3.83041047e-01 -6.09335243e-02 1.39639811e+02] [ 6.69733195e-02 -2.43857804e-03 9.97751787e-01 1.89971908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:228.22, Y:139.69, Z:19.00 [[ 3.84715609e-01 -9.22613873e-01 -2.78844238e-02 2.28223744e+02] [ 9.20601695e-01 3.85718405e-01 -6.09412074e-02 1.39693343e+02] [ 6.69807389e-02 -2.22541416e-03 9.97751787e-01 1.90023688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:228.25, Y:139.75, Z:19.01 [[ 3.85972766e-01 -9.22088896e-01 -2.78763560e-02 2.28246140e+02] [ 9.20075089e-01 3.86972286e-01 -6.09448977e-02 1.39746939e+02] [ 6.69839906e-02 -2.12527002e-03 9.97751787e-01 1.90083870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:228.27, Y:139.80, Z:19.01 [[ 3.85160081e-01 -9.22429143e-01 -2.78601487e-02 2.28269551e+02] [ 9.20415686e-01 3.86160306e-01 -6.09523057e-02 1.39798763e+02] [ 6.69826667e-02 -2.16652288e-03 9.97751787e-01 1.90124792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.29, Y:139.85, Z:19.02 [[ 3.80340052e-01 -9.24427227e-01 -2.78522206e-02 2.28294901e+02] [ 9.22418756e-01 3.81350251e-01 -6.09559283e-02 1.39851471e+02] [ 6.69707711e-02 -2.50742977e-03 9.97751787e-01 1.90186337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:139.90, Z:19.02 [[ 3.75596760e-01 -9.26365060e-01 -2.78361346e-02 2.28319327e+02] [ 9.24361255e-01 3.76616184e-01 -6.09632732e-02 1.39902574e+02] [ 6.69577850e-02 -2.83303638e-03 9.97751787e-01 1.90217414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:139.95, Z:19.03 [[ 3.70391697e-01 -9.28459144e-01 -2.78138252e-02 2.28343900e+02] [ 9.26460339e-01 3.71420891e-01 -6.09734500e-02 1.39954970e+02] [ 6.69419929e-02 -3.18434627e-03 9.97751788e-01 1.90261339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:228.37, Y:140.01, Z:19.03 [[ 3.66833809e-01 -9.29871287e-01 -2.77911088e-02 2.28367846e+02] [ 9.27875668e-01 3.67869163e-01 -6.09838022e-02 1.40006396e+02] [ 6.69305786e-02 -3.41577320e-03 9.97751788e-01 1.90284455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:228.39, Y:140.06, Z:19.03 [[ 3.65285783e-01 -9.30480860e-01 -2.77788876e-02 2.28390730e+02] [ 9.28486550e-01 3.66323659e-01 -6.09893686e-02 1.40059517e+02] [ 6.69255038e-02 -3.51377427e-03 9.97751788e-01 1.90293797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.41, Y:140.11, Z:19.03 [[ 3.64814459e-01 -9.30666325e-01 -2.77597246e-02 2.28413511e+02] [ 9.28671890e-01 3.65852093e-01 -6.09980895e-02 1.40112773e+02] [ 6.69248211e-02 -3.52669084e-03 9.97751788e-01 1.90331315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:140.17, Z:19.04 [[ 3.62679634e-01 -9.31500619e-01 -2.77503104e-02 2.28436122e+02] [ 9.29508247e-01 3.63721224e-01 -6.10023721e-02 1.40165738e+02] [ 6.69171242e-02 -3.66982444e-03 9.97751788e-01 1.90370274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47999999999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:228.46, Y:140.22, Z:19.04 [[ 3.55576904e-01 -9.34235511e-01 -2.77322099e-02 2.28457826e+02] [ 9.32250501e-01 3.56632457e-01 -6.10105996e-02 1.40218485e+02] [ 6.68884749e-02 -4.15940649e-03 9.97751788e-01 1.90400219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53999999999996 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:228.48, Y:140.27, Z:19.04 [[ 3.47909311e-01 -9.37118240e-01 -2.77221216e-02 2.28481047e+02] [ 9.35141593e-01 3.48980442e-01 -6.10151832e-02 1.40271352e+02] [ 6.68529194e-02 -4.69635859e-03 9.97751788e-01 1.90437351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59999999999997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:228.50, Y:140.33, Z:19.05 [[ 3.36513402e-01 -9.41271031e-01 -2.77051737e-02 2.28501743e+02] [ 9.39306919e-01 3.37607347e-01 -6.10228778e-02 1.40325291e+02] [ 6.67925373e-02 -5.48864514e-03 9.97751789e-01 1.90479004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65999999999997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:228.52, Y:140.38, Z:19.05 [[ 3.31492862e-01 -9.43051381e-01 -2.76871135e-02 2.28521761e+02] [ 9.41092473e-01 3.32596100e-01 -6.10310709e-02 1.40378597e+02] [ 6.67640617e-02 -5.82476976e-03 9.97751789e-01 1.90526358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71999999999997 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:228.54, Y:140.43, Z:19.06 [[ 3.31128313e-01 -9.43179741e-01 -2.76769947e-02 2.28537582e+02] [ 9.41220895e-01 3.32231659e-01 -6.10356594e-02 1.40433572e+02] [ 6.67627713e-02 -5.83953077e-03 9.97751789e-01 1.90582955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:228.55, Y:140.49, Z:19.06 [[ 3.35574079e-01 -9.41607617e-01 -2.76610471e-02 2.28554502e+02] [ 9.39643016e-01 3.36667147e-01 -6.10428859e-02 1.40489201e+02] [ 6.67910121e-02 -5.50709948e-03 9.97751789e-01 1.90630096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:228.57, Y:140.55, Z:19.06 [[ 3.49449660e-01 -9.36547283e-01 -2.76427653e-02 2.28569118e+02] [ 9.34566111e-01 3.50512396e-01 -6.10511636e-02 1.40546227e+02] [ 6.68664332e-02 -4.49968332e-03 9.97751789e-01 1.90626145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:228.58, Y:140.60, Z:19.07 [[ 3.56772528e-01 -9.33782786e-01 -2.76237484e-02 2.28581834e+02] [ 9.31792702e-01 3.57818481e-01 -6.10597669e-02 1.40602126e+02] [ 6.69008469e-02 -3.95515977e-03 9.97751789e-01 1.90709540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:228.59, Y:140.66, Z:19.08 [[ 3.69800306e-01 -9.28700765e-01 -2.76156295e-02 2.28593958e+02] [ 9.26695973e-01 3.70817784e-01 -6.10634387e-02 1.40660344e+02] [ 6.69500287e-02 -3.01001433e-03 9.97751790e-01 1.90752905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02 meters Centerline goodness : 0.998144 with order 1 Centerline is valid? [True, True] Translation: X:228.61, Y:140.72, Z:19.08 [[ 3.79485624e-01 -9.24785941e-01 -2.75975271e-02 2.28608054e+02] [ 9.22770037e-01 3.80480902e-01 -6.10716189e-02 1.40716079e+02] [ 6.69785066e-02 -2.29036964e-03 9.97751790e-01 1.90779331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08 meters Centerline goodness : 0.998144 with order 1 Centerline is valid? [True, True] Translation: X:228.63, Y:140.77, Z:19.08 [[ 3.83847216e-01 -9.22984355e-01 -2.75897802e-02 2.28626402e+02] [ 9.20963524e-01 3.84832453e-01 -6.10751185e-02 1.40770674e+02] [ 6.69888216e-02 -1.96566705e-03 9.97751790e-01 1.90817884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14 meters Centerline goodness : 0.998251 with order 1 Centerline is valid? [True, True] Translation: X:228.65, Y:140.83, Z:19.09 [[ 3.87823197e-01 -9.21321127e-01 -2.75780587e-02 2.28646601e+02] [ 9.19295693e-01 3.88798935e-01 -6.10804108e-02 1.40825513e+02] [ 6.69969928e-02 -1.66399046e-03 9.97751790e-01 1.90851048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2 meters Centerline goodness : 0.996976 with order 1 Centerline is valid? [True, True] Translation: X:228.67, Y:140.88, Z:19.09 [[ 3.96968135e-01 -9.17418508e-01 -2.75604970e-02 2.28669137e+02] [ 9.15382921e-01 3.97922510e-01 -6.10883339e-02 1.40878860e+02] [ 6.70105103e-02 -9.78286260e-04 9.97751790e-01 1.90873096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26 meters Centerline goodness : 0.997609 with order 1 Centerline is valid? [True, True] Translation: X:228.69, Y:140.93, Z:19.09 [[ 4.00854550e-01 -9.15727635e-01 -2.75413835e-02 2.28689674e+02] [ 9.13687429e-01 4.01799010e-01 -6.10969499e-02 1.40932492e+02] [ 6.70142661e-02 -6.73225500e-04 9.97751790e-01 1.90912727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32 meters Centerline goodness : 0.997469 with order 1 Centerline is valid? [True, True] Translation: X:228.72, Y:140.98, Z:19.09 [[ 4.10871425e-01 -9.11277451e-01 -2.75332405e-02 2.28715022e+02] [ 9.09226766e-01 4.11792912e-01 -6.11006193e-02 1.40984607e+02] [ 6.70176099e-02 7.05393157e-05 9.97751790e-01 1.90944794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38 meters Centerline goodness : 0.997539 with order 1 Centerline is valid? [True, True] Translation: X:228.74, Y:141.04, Z:19.10 [[ 4.17043446e-01 -9.08469964e-01 -2.75152335e-02 2.28742133e+02] [ 9.06412542e-01 4.17949790e-01 -6.11087273e-02 1.41035944e+02] [ 6.70154294e-02 5.44841445e-04 9.97751790e-01 1.90990298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:228.77, Y:141.08, Z:19.10 [[ 4.25248575e-01 -9.04658806e-01 -2.74971687e-02 2.28774020e+02] [ 9.02592741e-01 4.26135041e-01 -6.11168549e-02 1.41083490e+02] [ 6.70074081e-02 1.17111054e-03 9.97751791e-01 1.91036165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:228.81, Y:141.13, Z:19.11 [[ 4.29315766e-01 -9.02736145e-01 -2.74850130e-02 2.28805458e+02] [ 9.00665763e-01 4.30192102e-01 -6.11223210e-02 1.41132670e+02] [ 6.70011639e-02 1.48596583e-03 9.97751791e-01 1.91066263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:228.84, Y:141.18, Z:19.11 [[ 4.35053803e-01 -8.99985401e-01 -2.74675631e-02 2.28842425e+02] [ 8.97908991e-01 4.35915758e-01 -6.11301617e-02 1.41177972e+02] [ 6.69897967e-02 1.93153745e-03 9.97751791e-01 1.91089341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:228.87, Y:141.23, Z:19.11 [[ 4.36589995e-01 -8.99241414e-01 -2.74600646e-02 2.28871464e+02] [ 8.97163325e-01 4.37447893e-01 -6.11335299e-02 1.41229151e+02] [ 6.69861493e-02 2.05412466e-03 9.97751791e-01 1.91085244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:228.91, Y:141.27, Z:19.12 [[ 4.40757307e-01 -8.97206582e-01 -2.74471417e-02 2.28912847e+02] [ 8.95124177e-01 4.41604675e-01 -6.11393314e-02 1.41273675e+02] [ 6.69753966e-02 2.37900685e-03 9.97751791e-01 1.91186623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:228.95, Y:141.32, Z:19.12 [[ 4.42204812e-01 -8.96494722e-01 -2.74247543e-02 2.28948344e+02] [ 8.94410336e-01 4.43047294e-01 -6.11493719e-02 1.41321222e+02] [ 6.69705523e-02 2.51156280e-03 9.97751791e-01 1.91233757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.99, Y:141.37, Z:19.13 [[ 4.42424539e-01 -8.96386821e-01 -2.74079312e-02 2.28991797e+02] [ 8.94301766e-01 4.43265365e-01 -6.11569113e-02 1.41365580e+02] [ 6.69692359e-02 2.54635701e-03 9.97751792e-01 1.91279430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:229.03, Y:141.41, Z:19.13 [[ 4.41467369e-01 -8.96859161e-01 -2.73899076e-02 2.29029638e+02] [ 8.94774509e-01 4.42309193e-01 -6.11649823e-02 1.41412104e+02] [ 6.69711827e-02 2.49455269e-03 9.97751792e-01 1.91287843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.07, Y:141.46, Z:19.13 [[ 4.36737451e-01 -8.99172565e-01 -2.73696480e-02 2.29074532e+02] [ 8.97091812e-01 4.37588867e-01 -6.11740466e-02 1.41455797e+02] [ 6.69826777e-02 2.16391003e-03 9.97751792e-01 1.91346190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.12, Y:141.50, Z:19.14 [[ 4.32538501e-01 -9.01200620e-01 -2.73475175e-02 2.29118882e+02] [ 8.99123241e-01 4.33398112e-01 -6.11839383e-02 1.41498442e+02] [ 6.69913657e-02 1.87562039e-03 9.97751792e-01 1.91393848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.16, Y:141.55, Z:19.14 [[ 4.30066452e-01 -9.02383236e-01 -2.73375713e-02 2.29156075e+02] [ 9.00307939e-01 4.30931081e-01 -6.11883821e-02 1.41545139e+02] [ 6.69959794e-02 1.70283789e-03 9.97751792e-01 1.91440488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.20, Y:141.59, Z:19.15 [[ 4.26729462e-01 -9.03966586e-01 -2.73198971e-02 2.29198044e+02] [ 9.01893996e-01 4.27600557e-01 -6.11962724e-02 1.41589653e+02] [ 6.70013887e-02 1.47460130e-03 9.97751793e-01 1.91484537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.23, Y:141.64, Z:19.16 [[ 4.27161870e-01 -9.03762879e-01 -2.73019170e-02 2.29234735e+02] [ 9.01689362e-01 4.28030756e-01 -6.12042930e-02 1.41636947e+02] [ 6.70002282e-02 1.52629209e-03 9.97751793e-01 1.91611880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.27, Y:141.68, Z:19.16 [[ 4.24543156e-01 -9.04996221e-01 -2.72937298e-02 2.29272582e+02] [ 9.02924995e-01 4.25417490e-01 -6.12079438e-02 1.41683792e+02] [ 6.70041879e-02 1.34122279e-03 9.97751793e-01 1.91551416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.31, Y:141.73, Z:19.15 [[ 4.17251869e-01 -9.08381242e-01 -2.72836590e-02 2.29305276e+02] [ 9.06316821e-01 4.18142151e-01 -6.12124326e-02 1.41734264e+02] [ 6.70126734e-02 8.13362850e-04 9.97751793e-01 1.91482462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.34, Y:141.78, Z:19.16 [[ 4.22512795e-01 -9.05946710e-01 -2.72671374e-02 2.29344910e+02] [ 9.03876688e-01 4.23389974e-01 -6.12197913e-02 1.41778127e+02] [ 6.70065011e-02 1.22001531e-03 9.97751793e-01 1.91611857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4 meters Centerline goodness : 0.997360 with order 1 Centerline is valid? [True, True] Translation: X:229.38, Y:141.82, Z:19.16 [[ 4.19358803e-01 -9.07411304e-01 -2.72565603e-02 2.29383581e+02] [ 9.05344040e-01 4.20242465e-01 -6.12245001e-02 1.41824704e+02] [ 6.70101675e-02 9.98468683e-04 9.97751793e-01 1.91622190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.42, Y:141.87, Z:19.17 [[ 4.16612876e-01 -9.08675988e-01 -2.72334483e-02 2.29416703e+02] [ 9.06610736e-01 4.17501228e-01 -6.12347789e-02 1.41871942e+02] [ 6.70125713e-02 8.21060737e-04 9.97751793e-01 1.91685566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.45, Y:141.92, Z:19.17 [[ 4.13333081e-01 -9.10173303e-01 -2.72088866e-02 2.29454548e+02] [ 9.08110551e-01 4.14227222e-01 -6.12456907e-02 1.41918024e+02] [ 6.70148541e-02 6.06193026e-04 9.97751794e-01 1.91721018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:141.97, Z:19.17 [[ 4.12642537e-01 -9.10487124e-01 -2.71906740e-02 2.29486461e+02] [ 9.08424521e-01 4.13537018e-01 -6.12537753e-02 1.41965957e+02] [ 6.70151240e-02 5.75238196e-04 9.97751794e-01 1.91749797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.52, Y:142.01, Z:19.18 [[ 4.14317905e-01 -9.09726337e-01 -2.71784143e-02 2.29523239e+02] [ 9.07661734e-01 4.15207762e-01 -6.12592145e-02 1.42013149e+02] [ 6.70138093e-02 7.11982752e-04 9.97751794e-01 1.91809610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.55, Y:142.06, Z:19.19 [[ 4.16530745e-01 -9.08715834e-01 -2.71601035e-02 2.29554730e+02] [ 9.06648544e-01 4.17414341e-01 -6.12673317e-02 1.42062813e+02] [ 6.70116112e-02 8.95059094e-04 9.97751794e-01 1.91858664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.59, Y:142.11, Z:19.19 [[ 4.19234645e-01 -9.07472114e-01 -2.71417428e-02 2.29588568e+02] [ 9.05401678e-01 4.20110842e-01 -6.12754646e-02 1.42109908e+02] [ 6.70083158e-02 1.11461822e-03 9.97751794e-01 1.91893918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.62, Y:142.16, Z:19.19 [[ 4.19225560e-01 -9.07476681e-01 -2.71293852e-02 2.29623667e+02] [ 9.05405901e-01 4.20100943e-01 -6.12809353e-02 1.42156886e+02] [ 6.70081001e-02 1.12742899e-03 9.97751795e-01 1.91927537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:142.21, Z:19.20 [[ 4.17679375e-01 -9.08189854e-01 -2.71132722e-02 2.29655333e+02] [ 9.06120106e-01 4.18557197e-01 -6.12880636e-02 1.42205848e+02] [ 6.70096527e-02 1.03087906e-03 9.97751795e-01 1.91968455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.69, Y:142.25, Z:19.20 [[ 4.15005804e-01 -9.09415212e-01 -2.70952970e-02 2.29686954e+02] [ 9.07347538e-01 4.15888500e-01 -6.12960094e-02 1.42254837e+02] [ 6.70121458e-02 8.53348579e-04 9.97751795e-01 1.92003350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:142.30, Z:19.21 [[ 4.09044059e-01 -9.12112802e-01 -2.70775518e-02 2.29723248e+02] [ 9.10050433e-01 4.09939078e-01 -6.13038473e-02 1.42302194e+02] [ 6.70161706e-02 4.34036793e-04 9.97751795e-01 1.92052354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.76, Y:142.35, Z:19.21 [[ 4.04919284e-01 -9.13951931e-01 -2.70599544e-02 2.29755428e+02] [ 9.11893108e-01 4.05822431e-01 -6.13116140e-02 1.42351848e+02] [ 6.70174045e-02 1.50468889e-04 9.97751795e-01 1.92089443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.79, Y:142.40, Z:19.21 [[ 3.98680477e-01 -9.16691078e-01 -2.70433918e-02 2.29789289e+02] [ 9.14637964e-01 3.99596527e-01 -6.13189186e-02 1.42399878e+02] [ 6.70169510e-02 -2.88257146e-04 9.97751795e-01 1.92130030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.82, Y:142.45, Z:19.22 [[ 3.94940325e-01 -9.18309184e-01 -2.70256041e-02 2.29818755e+02] [ 9.16259286e-01 3.95863549e-01 -6.13267573e-02 1.42449605e+02] [ 6.70153760e-02 -5.42051317e-04 9.97751796e-01 1.92162333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.85, Y:142.50, Z:19.22 [[ 3.88955839e-01 -9.20860436e-01 -2.70076409e-02 2.29850777e+02] [ 9.18816043e-01 3.89891188e-01 -6.13346671e-02 1.42498404e+02] [ 6.70107095e-02 -9.58576816e-04 9.97751796e-01 1.92201053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.88, Y:142.55, Z:19.22 [[ 3.85360732e-01 -9.22371206e-01 -2.69900871e-02 2.29878636e+02] [ 9.20329938e-01 3.86302882e-01 -6.13423906e-02 1.42549704e+02] [ 6.70068032e-02 -1.20083655e-03 9.97751796e-01 1.92234391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.91, Y:142.60, Z:19.23 [[ 3.80216088e-01 -9.24504312e-01 -2.69722637e-02 2.29907790e+02] [ 9.22467772e-01 3.81168414e-01 -6.13502266e-02 1.42599916e+02] [ 6.69995240e-02 -1.55470083e-03 9.97751796e-01 1.92272269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.94, Y:142.65, Z:19.23 [[ 3.74672445e-01 -9.26765349e-01 -2.69545317e-02 2.29935546e+02] [ 9.24733992e-01 3.75635778e-01 -6.13580162e-02 1.42650401e+02] [ 6.69895698e-02 -1.93661375e-03 9.97751796e-01 1.92327809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.96, Y:142.70, Z:19.24 [[ 3.72127114e-01 -9.27790832e-01 -2.69366543e-02 2.29960178e+02] [ 9.25761564e-01 3.73094838e-01 -6.13658636e-02 1.42702645e+02] [ 6.69846123e-02 -2.10101751e-03 9.97751797e-01 1.92369082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.98, Y:142.75, Z:19.24 [[ 3.71427336e-01 -9.28071723e-01 -2.69185899e-02 2.29983156e+02] [ 9.26042616e-01 3.72395397e-01 -6.13737866e-02 1.42754366e+02] [ 6.69836349e-02 -2.13185939e-03 9.97751797e-01 1.92407026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.01, Y:142.81, Z:19.25 [[ 3.73050935e-01 -9.27420755e-01 -2.69024836e-02 2.30006125e+02] [ 9.25389451e-01 3.74014379e-01 -6.13808459e-02 1.42807329e+02] [ 6.69877861e-02 -1.99709261e-03 9.97751797e-01 1.92455209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.03, Y:142.86, Z:19.25 [[ 3.77684774e-01 -9.25543867e-01 -2.68842404e-02 2.30026936e+02] [ 9.23507204e-01 3.78636837e-01 -6.13888352e-02 1.42861188e+02] [ 6.69974236e-02 -1.64216136e-03 9.97751797e-01 1.92505312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.05, Y:142.91, Z:19.25 [[ 3.81368206e-01 -9.24032739e-01 -2.68661278e-02 2.30047482e+02] [ 9.21991745e-01 3.82310946e-01 -6.13967610e-02 1.42913901e+02] [ 6.70038319e-02 -1.35557544e-03 9.97751797e-01 1.92535561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.07, Y:142.97, Z:19.26 [[ 3.87313134e-01 -9.21557168e-01 -2.68500015e-02 2.30067692e+02] [ 9.19509656e-01 3.88241632e-01 -6.14038125e-02 1.42968920e+02] [ 6.70114120e-02 -9.06332612e-04 9.97751797e-01 1.92563889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.09, Y:143.02, Z:19.26 [[ 3.90091369e-01 -9.20385094e-01 -2.68328647e-02 2.30089201e+02] [ 9.18334276e-01 3.91012543e-01 -6.14113002e-02 1.43022505e+02] [ 6.70140320e-02 -6.85521214e-04 9.97751798e-01 1.92591499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.11, Y:143.07, Z:19.26 [[ 3.91356413e-01 -9.19848425e-01 -2.68148076e-02 2.30111287e+02] [ 9.17795804e-01 3.92273561e-01 -6.14191837e-02 1.43074663e+02] [ 6.70150795e-02 -5.73726521e-04 9.97751798e-01 1.92628208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.13, Y:143.13, Z:19.27 [[ 3.91605350e-01 -9.19742938e-01 -2.67988249e-02 2.30132496e+02] [ 9.17689593e-01 3.92520875e-01 -6.14261566e-02 1.43128579e+02] [ 6.70153720e-02 -5.38191197e-04 9.97751798e-01 1.92694993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:230.16, Y:143.18, Z:19.27 [[ 3.95491463e-01 -9.18079162e-01 -2.67797583e-02 2.30155385e+02] [ 9.16021401e-01 3.96397021e-01 -6.14344679e-02 1.43181400e+02] [ 6.70171212e-02 -2.34024135e-04 9.97751798e-01 1.92698005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.18, Y:143.23, Z:19.27 [[ 3.98075532e-01 -9.16962171e-01 -2.67627843e-02 2.30178992e+02] [ 9.14901373e-01 3.98974154e-01 -6.14418615e-02 1.43234961e+02] [ 6.70175219e-02 -2.68063632e-05 9.97751798e-01 1.92720015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.20, Y:143.29, Z:19.28 [[ 3.98159874e-01 -9.16926053e-01 -2.67456035e-02 2.30202181e+02] [ 9.14864671e-01 3.99057155e-01 -6.14493394e-02 1.43288170e+02] [ 6.70175246e-02 -1.94650652e-06 9.97751798e-01 1.92772588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.23, Y:143.34, Z:19.28 [[ 3.94965914e-01 -9.18306916e-01 -2.67270461e-02 2.30226531e+02] [ 9.16248124e-01 3.95869122e-01 -6.14574098e-02 1.43340566e+02] [ 6.70171767e-02 -2.15023799e-04 9.97751799e-01 1.92815048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.25, Y:143.39, Z:19.29 [[ 3.90435028e-01 -9.20242975e-01 -2.67087447e-02 2.30250554e+02] [ 9.18188117e-01 3.91347150e-01 -6.14653623e-02 1.43391811e+02] [ 6.70154590e-02 -5.25421550e-04 9.97751799e-01 1.92850490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.28, Y:143.44, Z:19.29 [[ 3.81320434e-01 -9.24057492e-01 -2.66922893e-02 2.30276569e+02] [ 9.22011251e-01 3.82251727e-01 -6.14725075e-02 1.43444166e+02] [ 6.70073048e-02 -1.16986778e-03 9.97751799e-01 1.92903470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.30, Y:143.50, Z:19.30 [[ 3.75769322e-01 -9.26329239e-01 -2.66750504e-02 2.30301825e+02] [ 9.24288095e-01 3.76711732e-01 -6.14799872e-02 1.43496511e+02] [ 6.69995142e-02 -1.55313840e-03 9.97751799e-01 1.93045087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.32, Y:143.55, Z:19.30 [[ 3.67112736e-01 -9.29794369e-01 -2.66583940e-02 2.30324213e+02] [ 9.27761584e-01 3.68073044e-01 -6.14872087e-02 1.43550132e+02] [ 6.69826967e-02 -2.15989643e-03 9.97751799e-01 1.92999213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.35, Y:143.60, Z:19.30 [[ 3.64788492e-01 -9.30709186e-01 -2.66414396e-02 2.30345629e+02] [ 9.28678276e-01 3.65752757e-01 -6.14945539e-02 1.43602521e+02] [ 6.69777263e-02 -2.30882060e-03 9.97751800e-01 1.93038168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.36, Y:143.66, Z:19.31 [[ 3.66711554e-01 -9.29953615e-01 -2.66253871e-02 2.30363870e+02] [ 9.27920215e-01 3.67670559e-01 -6.15015035e-02 1.43657518e+02] [ 6.69829164e-02 -2.15292301e-03 9.97751800e-01 1.93063102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.38, Y:143.71, Z:19.31 [[ 3.71633231e-01 -9.27998262e-01 -2.66076359e-02 2.30380729e+02] [ 9.25959265e-01 3.72580275e-01 -6.15091823e-02 1.43713256e+02] [ 6.69938946e-02 -1.77873077e-03 9.97751800e-01 1.93082225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.40, Y:143.77, Z:19.31 [[ 3.75325447e-01 -9.26511617e-01 -2.65900864e-02 2.30400510e+02] [ 9.24468329e-01 3.76263199e-01 -6.15167679e-02 1.43768003e+02] [ 6.70008711e-02 -1.49288430e-03 9.97751800e-01 1.93122253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.42, Y:143.82, Z:19.32 [[ 3.80214514e-01 -9.24516534e-01 -2.65725716e-02 2.30418564e+02] [ 9.22467795e-01 3.81140295e-01 -6.15243326e-02 1.43822865e+02] [ 6.70081405e-02 -1.11989731e-03 9.97751800e-01 1.93158500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.44, Y:143.88, Z:19.32 [[ 3.82934903e-01 -9.23393566e-01 -2.65552575e-02 2.30439257e+02] [ 9.21341594e-01 3.83853494e-01 -6.15318049e-02 1.43877505e+02] [ 6.70114011e-02 -9.03787497e-04 9.97751800e-01 1.93198406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.46, Y:143.93, Z:19.32 [[ 3.88551628e-01 -9.21044715e-01 -2.65380064e-02 2.30457915e+02] [ 9.18986679e-01 3.89456552e-01 -6.15392442e-02 1.43933095e+02] [ 6.70157961e-02 -4.76900823e-04 9.97751801e-01 1.93229686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.48, Y:143.99, Z:19.33 [[ 3.97468047e-01 -9.17232739e-01 -2.65189380e-02 2.30479680e+02] [ 9.15165474e-01 3.98351685e-01 -6.15474602e-02 1.43985448e+02] [ 6.70172091e-02 1.93932295e-04 9.97751801e-01 1.93265220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.50, Y:144.04, Z:19.33 [[ 4.10313410e-01 -9.11559286e-01 -2.65061016e-02 2.30500575e+02] [ 9.09479457e-01 4.11167055e-01 -6.15529879e-02 1.44038501e+02] [ 6.70076334e-02 1.14926144e-03 9.97751801e-01 1.93308324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03999999999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.52, Y:144.09, Z:19.34 [[ 4.18752797e-01 -9.07713810e-01 -2.64902699e-02 2.30524719e+02] [ 9.05625722e-01 4.19586037e-01 -6.15598005e-02 1.44090560e+02] [ 6.69936284e-02 1.78806888e-03 9.97751801e-01 1.93384546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.55, Y:144.14, Z:19.34 [[ 4.21009319e-01 -9.06669957e-01 -2.64715345e-02 2.30550089e+02] [ 9.04579301e-01 4.21836091e-01 -6.15678560e-02 1.44142110e+02] [ 6.69883740e-02 1.97503898e-03 9.97751801e-01 1.93412635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.58, Y:144.19, Z:19.35 [[ 4.20198488e-01 -9.07046509e-01 -2.64549012e-02 2.30576739e+02] [ 9.04956146e-01 4.21026001e-01 -6.15750023e-02 1.44193365e+02] [ 6.69895921e-02 1.93319744e-03 9.97751801e-01 1.93453020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.61, Y:144.24, Z:19.35 [[ 4.17568836e-01 -9.08260639e-01 -2.64363058e-02 2.30606973e+02] [ 9.06172180e-01 4.18401143e-01 -6.15829849e-02 1.44242918e+02] [ 6.69943818e-02 1.75929044e-03 9.97751802e-01 1.93487263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.64, Y:144.29, Z:19.35 [[ 4.15449957e-01 -9.09232274e-01 -2.64197733e-02 2.30638419e+02] [ 9.07145313e-01 4.16286012e-01 -6.15900767e-02 1.44291966e+02] [ 6.69978676e-02 1.62102120e-03 9.97751802e-01 1.93524159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.67, Y:144.34, Z:19.35 [[ 4.14421993e-01 -9.09701810e-01 -2.64012799e-02 2.30666991e+02] [ 9.07615293e-01 4.15259155e-01 -6.15980031e-02 1.44341771e+02] [ 6.69991881e-02 1.56536190e-03 9.97751802e-01 1.93549050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.69, Y:144.39, Z:19.36 [[ 4.13651771e-01 -9.10052659e-01 -2.63888415e-02 2.30693151e+02] [ 9.07966512e-01 4.14489857e-01 -6.16033313e-02 1.44393399e+02] [ 6.70001826e-02 1.52214275e-03 9.97751802e-01 1.93582360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:144.44, Z:19.36 [[ 4.10663888e-01 -9.11405362e-01 -2.63711295e-02 2.30726940e+02] [ 9.09321492e-01 4.11507617e-01 -6.16109125e-02 1.44441930e+02] [ 6.70044367e-02 1.32154203e-03 9.97751802e-01 1.93616513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.76, Y:144.49, Z:19.37 [[ 4.07408508e-01 -9.12865726e-01 -2.63528555e-02 2.30756978e+02] [ 9.10784377e-01 4.08258436e-01 -6.16187279e-02 1.44491180e+02] [ 6.70084004e-02 1.10222494e-03 9.97751802e-01 1.93651606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.79, Y:144.54, Z:19.37 [[ 4.03126069e-01 -9.14765414e-01 -2.63364943e-02 2.30791111e+02] [ 9.12687615e-01 4.03984639e-01 -6.16257201e-02 1.44539550e+02] [ 6.70126165e-02 8.05942095e-04 9.97751803e-01 1.93706717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.82, Y:144.59, Z:19.38 [[ 4.01796683e-01 -9.15350607e-01 -2.63190501e-02 2.30820604e+02] [ 9.13273571e-01 4.02657097e-01 -6.16331693e-02 1.44590107e+02] [ 6.70135112e-02 7.27510137e-04 9.97751803e-01 1.93756208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.85, Y:144.64, Z:19.38 [[ 4.02061075e-01 -9.15235017e-01 -2.63012474e-02 2.30851491e+02] [ 9.13157237e-01 4.02919690e-01 -6.16407654e-02 1.44638589e+02] [ 6.70130774e-02 7.66177969e-04 9.97751803e-01 1.93799547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:230.88, Y:144.69, Z:19.38 [[ 4.02448669e-01 -9.15065185e-01 -2.62826299e-02 2.30879121e+02] [ 9.12986524e-01 4.03305150e-01 -6.16487026e-02 1.44689553e+02] [ 6.70125014e-02 8.14751423e-04 9.97751803e-01 1.93833541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.91, Y:144.74, Z:19.39 [[ 4.03318958e-01 -9.14682442e-01 -2.62649575e-02 2.30909464e+02] [ 9.12602479e-01 4.04172271e-01 -6.16562309e-02 1.44739553e+02] [ 6.70114394e-02 8.97661517e-04 9.97751803e-01 1.93862076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.94, Y:144.79, Z:19.39 [[ 4.04192801e-01 -9.14297142e-01 -2.62472102e-02 2.30936867e+02] [ 9.12215876e-01 4.05042928e-01 -6.16637851e-02 1.44790626e+02] [ 6.70102693e-02 9.80936146e-04 9.97751804e-01 1.93888173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.97, Y:144.84, Z:19.39 [[ 4.05977623e-01 -9.13506541e-01 -2.62291754e-02 2.30966995e+02] [ 9.11423124e-01 4.06822468e-01 -6.16714554e-02 1.44840036e+02] [ 6.70078957e-02 1.13135391e-03 9.97751804e-01 1.93906820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.00, Y:144.89, Z:19.40 [[ 4.07073205e-01 -9.13019234e-01 -2.62161089e-02 2.30995189e+02] [ 9.10934449e-01 4.07914667e-01 -6.16770094e-02 1.44891255e+02] [ 6.70062312e-02 1.22590115e-03 9.97751804e-01 1.93950646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.03, Y:144.94, Z:19.40 [[ 4.09045530e-01 -9.12137824e-01 -2.61981950e-02 2.31026264e+02] [ 9.10050740e-01 4.09881274e-01 -6.16846176e-02 1.44941104e+02] [ 6.70030224e-02 1.39013036e-03 9.97751804e-01 1.94008156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.06, Y:144.99, Z:19.41 [[ 4.10760383e-01 -9.11367372e-01 -2.61805255e-02 2.31056804e+02] [ 9.09278245e-01 4.11591005e-01 -6.16921161e-02 1.44989825e+02] [ 6.69998505e-02 1.53529493e-03 9.97751804e-01 1.94063428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.08, Y:145.04, Z:19.41 [[ 4.12354909e-01 -9.10647560e-01 -2.61620178e-02 2.31083751e+02] [ 9.08556487e-01 4.13180620e-01 -6.16999637e-02 1.45040995e+02] [ 6.69965601e-02 1.67261194e-03 9.97751804e-01 1.94096468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:145.10, Z:19.40 [[ 4.08955442e-01 -9.12179775e-01 -2.61439103e-02 2.31104039e+02] [ 9.10091309e-01 4.09787722e-01 -6.17076354e-02 1.45096045e+02] [ 6.70019105e-02 1.44232774e-03 9.97751805e-01 1.94026458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.14, Y:145.14, Z:19.41 [[ 4.18645777e-01 -9.07773751e-01 -2.61252968e-02 2.31137789e+02] [ 9.05676053e-01 4.19454506e-01 -6.17155149e-02 1.45143658e+02] [ 6.69820979e-02 2.17588393e-03 9.97751805e-01 1.94116632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.15, Y:145.20, Z:19.40 [[ 4.11824336e-01 -9.10889019e-01 -2.61134250e-02 2.31153706e+02] [ 9.08797130e-01 4.12647975e-01 -6.17205378e-02 1.45201870e+02] [ 6.69962120e-02 1.68621379e-03 9.97751805e-01 1.94049881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.18, Y:145.25, Z:19.41 [[ 4.11305767e-01 -9.11123766e-01 -2.60969320e-02 2.31177295e+02] [ 9.09031906e-01 4.12129480e-01 -6.17275106e-02 1.45254423e+02] [ 6.69967169e-02 1.66593730e-03 9.97751805e-01 1.94089938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.20, Y:145.31, Z:19.41 [[ 4.10347623e-01 -9.11556234e-01 -2.60779733e-02 2.31199283e+02] [ 9.09464736e-01 4.11172252e-01 -6.17355191e-02 1.45307269e+02] [ 6.69979363e-02 1.61602640e-03 9.97751805e-01 1.94119108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.23, Y:145.35, Z:19.43 [[ 4.14766119e-01 -9.09554736e-01 -2.60624135e-02 2.31230822e+02] [ 9.07458851e-01 4.15579534e-01 -6.17420871e-02 1.45354968e+02] [ 6.69888134e-02 1.95795803e-03 9.97751805e-01 1.94256228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.25, Y:145.41, Z:19.43 [[ 4.12735702e-01 -9.10478272e-01 -2.60491186e-02 2.31254709e+02] [ 9.08383856e-01 4.13552890e-01 -6.17476958e-02 1.45407823e+02] [ 6.69926236e-02 1.82287979e-03 9.97751806e-01 1.94287982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:145.46, Z:19.43 [[ 4.11363999e-01 -9.11099326e-01 -2.60322652e-02 2.31278123e+02] [ 9.09005695e-01 4.12183200e-01 -6.17548002e-02 1.45460996e+02] [ 6.69948192e-02 1.74022423e-03 9.97751806e-01 1.94332812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.30, Y:145.51, Z:19.44 [[ 4.10798254e-01 -9.11355059e-01 -2.60144297e-02 2.31300382e+02] [ 9.09261465e-01 4.11617547e-01 -6.17623126e-02 1.45514383e+02] [ 6.69953918e-02 1.71793175e-03 9.97751806e-01 1.94365591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.32, Y:145.57, Z:19.44 [[ 4.09097210e-01 -9.12120414e-01 -2.59966075e-02 2.31323757e+02] [ 9.10027878e-01 4.09919201e-01 -6.17698133e-02 1.45567240e+02] [ 6.69980162e-02 1.61222076e-03 9.97751806e-01 1.94398365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.35, Y:145.62, Z:19.44 [[ 4.06703848e-01 -9.13190601e-01 -2.59789333e-02 2.31347444e+02] [ 9.11099756e-01 4.07530130e-01 -6.17772457e-02 1.45620334e+02] [ 6.70015983e-02 1.45564376e-03 9.97751806e-01 1.94431679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.37, Y:145.67, Z:19.45 [[ 4.01255885e-01 -9.15598022e-01 -2.59610667e-02 2.31372546e+02] [ 9.13511653e-01 4.02093403e-01 -6.17847530e-02 1.45671722e+02] [ 6.70087713e-02 1.07575880e-03 9.97751806e-01 1.94470843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.40, Y:145.72, Z:19.45 [[ 3.98000362e-01 -9.17018375e-01 -2.59424561e-02 2.31396499e+02] [ 9.14934487e-01 3.98844034e-01 -6.17925664e-02 1.45724911e+02] [ 6.70119127e-02 8.57816023e-04 9.97751807e-01 1.94512482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.42, Y:145.78, Z:19.45 [[ 3.96174652e-01 -9.17809112e-01 -2.59244769e-02 2.31418963e+02] [ 9.15726415e-01 3.97021259e-01 -6.18001085e-02 1.45777370e+02] [ 6.70132712e-02 7.43908207e-04 9.97751807e-01 1.94541791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.44, Y:145.83, Z:19.46 [[ 3.96654254e-01 -9.17602470e-01 -2.59058036e-02 2.31440275e+02] [ 9.15518820e-01 3.97498514e-01 -6.18079351e-02 1.45830250e+02] [ 6.70126323e-02 7.99129637e-04 9.97751807e-01 1.94570390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.46, Y:145.88, Z:19.46 [[ 3.97733700e-01 -9.17135458e-01 -2.58931485e-02 2.31460957e+02] [ 9.15050473e-01 3.98574655e-01 -6.18132362e-02 1.45884892e+02] [ 6.70114635e-02 8.91669322e-04 9.97751807e-01 1.94612448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.48, Y:145.94, Z:19.47 [[ 3.96900803e-01 -9.17496706e-01 -2.58756248e-02 2.31482760e+02] [ 9.15412008e-01 3.97742471e-01 -6.18205710e-02 1.45939061e+02] [ 6.70120052e-02 8.49776552e-04 9.97751807e-01 1.94650361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26 meters Centerline goodness : 0.998042 with order 1 Centerline is valid? [True, True] Translation: X:231.50, Y:145.99, Z:19.47 [[ 3.94709877e-01 -9.18441869e-01 -2.58582166e-02 2.31504756e+02] [ 9.16358710e-01 3.95555346e-01 -6.18278516e-02 1.45990516e+02] [ 6.70136434e-02 7.08661653e-04 9.97751808e-01 1.94667693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.53, Y:146.04, Z:19.47 [[ 3.92740429e-01 -9.19286429e-01 -2.58344178e-02 2.31526073e+02] [ 9.17204434e-01 3.93588761e-01 -6.18377942e-02 1.46043533e+02] [ 6.70147815e-02 5.90759282e-04 9.97751808e-01 1.94745568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.55, Y:146.10, Z:19.48 [[ 3.91470675e-01 -9.19828509e-01 -2.58113048e-02 2.31548134e+02] [ 9.17747054e-01 3.92320328e-01 -6.18474402e-02 1.46095949e+02] [ 6.70153383e-02 5.23210268e-04 9.97751808e-01 1.94781544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.56, Y:146.15, Z:19.47 [[ 3.81662872e-01 -9.23941488e-01 -2.57988362e-02 2.31561224e+02] [ 9.21868838e-01 3.82533785e-01 -6.18526409e-02 1.46154845e+02] [ 6.70171475e-02 -1.76286610e-04 9.97751808e-01 1.94691329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.58, Y:146.21, Z:19.47 [[ 3.80618043e-01 -9.24372910e-01 -2.57804012e-02 2.31583702e+02] [ 9.22300727e-01 3.81490065e-01 -6.18603237e-02 1.46208377e+02] [ 6.70169744e-02 -2.32127396e-04 9.97751808e-01 1.94731754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.61, Y:146.26, Z:19.49 [[ 3.90664704e-01 -9.20172507e-01 -2.57613180e-02 2.31614465e+02] [ 9.18090425e-01 3.91512819e-01 -6.18682698e-02 1.46256196e+02] [ 6.70153672e-02 5.18529943e-04 9.97751809e-01 1.94904080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.63, Y:146.31, Z:19.48 [[ 3.84800151e-01 -9.22640673e-01 -2.57494035e-02 2.31627000e+02] [ 9.20563700e-01 3.85660702e-01 -6.18732282e-02 1.46314745e+02] [ 6.70172899e-02 1.04861415e-04 9.97751809e-01 1.94827000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.65, Y:146.37, Z:19.49 [[ 3.87199860e-01 -9.21636710e-01 -2.57302110e-02 2.31650509e+02] [ 9.19556975e-01 3.88053714e-01 -6.18812084e-02 1.46368901e+02] [ 6.70166973e-02 3.00000250e-04 9.97751809e-01 1.94877846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.67, Y:146.42, Z:19.49 [[ 3.89230238e-01 -9.20781535e-01 -2.57135620e-02 2.31673028e+02] [ 9.18699467e-01 3.90078388e-01 -6.18881258e-02 1.46422810e+02] [ 6.70157483e-02 4.65694252e-04 9.97751809e-01 1.94927705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.70, Y:146.47, Z:19.50 [[ 3.97969327e-01 -9.17038812e-01 -2.56949636e-02 2.31701818e+02] [ 9.14948277e-01 3.98796383e-01 -6.18958466e-02 1.46472308e+02] [ 6.70079523e-02 1.12308577e-03 9.97751809e-01 1.95031968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.72, Y:146.53, Z:19.50 [[ 3.92795716e-01 -9.19266908e-01 -2.56880622e-02 2.31718625e+02] [ 9.17180879e-01 3.93634074e-01 -6.18987108e-02 1.46529327e+02] [ 6.70131330e-02 7.52948963e-04 9.97751809e-01 1.95033219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.74, Y:146.58, Z:19.51 [[ 3.91548745e-01 -9.19799197e-01 -2.56713431e-02 2.31742061e+02] [ 9.17713853e-01 3.92388806e-01 -6.19056439e-02 1.46581234e+02] [ 6.70139092e-02 6.80129964e-04 9.97751810e-01 1.95120597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.77, Y:146.63, Z:19.52 [[ 3.88649079e-01 -9.21028601e-01 -2.56556091e-02 2.31765587e+02] [ 9.18945484e-01 3.89494648e-01 -6.19121639e-02 1.46634607e+02] [ 6.70155961e-02 4.85999284e-04 9.97751810e-01 1.95174003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.79, Y:146.69, Z:19.52 [[ 3.81182038e-01 -9.24144475e-01 -2.56367666e-02 2.31789662e+02] [ 9.22067747e-01 3.82043176e-01 -6.19199653e-02 1.46686986e+02] [ 6.70173455e-02 -3.60570540e-05 9.97751810e-01 1.95217516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.82, Y:146.74, Z:19.53 [[ 3.74881702e-01 -9.26718645e-01 -2.56176444e-02 2.31817594e+02] [ 9.24647288e-01 3.75755680e-01 -6.19278756e-02 1.46737003e+02] [ 6.70156923e-02 -4.71658047e-04 9.97751810e-01 1.95257071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.84, Y:146.79, Z:19.53 [[ 3.68244924e-01 -9.29376211e-01 -2.56034151e-02 2.31839447e+02] [ 9.27310749e-01 3.69132745e-01 -6.19337580e-02 1.46789873e+02] [ 6.70108202e-02 -9.35530037e-04 9.97751810e-01 1.95289233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.86, Y:146.85, Z:19.53 [[ 3.58199776e-01 -9.33294353e-01 -2.55846072e-02 2.31856627e+02] [ 9.31238035e-01 3.59108575e-01 -6.19415265e-02 1.46845680e+02] [ 6.69973287e-02 -1.63791847e-03 9.97751810e-01 1.95346518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.88, Y:146.90, Z:19.54 [[ 3.58724494e-01 -9.33093307e-01 -2.55659600e-02 2.31880858e+02] [ 9.31035934e-01 3.59630900e-01 -6.19492221e-02 1.46897086e+02] [ 6.69987136e-02 -1.58012404e-03 9.97751811e-01 1.95365778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:146.95, Z:19.54 [[ 3.55679208e-01 -9.34258817e-01 -2.55492284e-02 2.31896312e+02] [ 9.32203919e-01 3.56591211e-01 -6.19561218e-02 1.46954219e+02] [ 6.69936833e-02 -1.78058649e-03 9.97751811e-01 1.95385900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.91, Y:147.01, Z:19.54 [[ 3.56807554e-01 -9.33828914e-01 -2.55329176e-02 2.31913190e+02] [ 9.31772438e-01 3.57715992e-01 -6.19628429e-02 1.47010627e+02] [ 6.69962273e-02 -1.68205851e-03 9.97751811e-01 1.95375284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.94, Y:147.06, Z:19.55 [[ 3.68416865e-01 -9.29310270e-01 -2.55232205e-02 2.31938437e+02] [ 9.27242358e-01 3.69298959e-01 -6.19668370e-02 1.47062228e+02] [ 6.70121169e-02 -8.36583354e-04 9.97751811e-01 1.95497664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52 meters Centerline goodness : 0.996871 with order 1 Centerline is valid? [True, True] Translation: X:231.96, Y:147.12, Z:19.55 [[ 3.78089275e-01 -9.25417398e-01 -2.55174227e-02 2.31956409e+02] [ 9.23340237e-01 3.78949365e-01 -6.19692244e-02 1.47116556e+02] [ 6.70172096e-02 -1.31363978e-04 9.97751811e-01 1.95510896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:147.17, Z:19.56 [[ 3.83086048e-01 -9.23360786e-01 -2.54938955e-02 2.31975102e+02] [ 9.21278363e-01 3.83933319e-01 -6.19789019e-02 1.47171322e+02] [ 6.70168435e-02 2.56278259e-04 9.97751811e-01 1.95564240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:147.23, Z:19.54 [[ 3.80660029e-01 -9.24364161e-01 -2.54723455e-02 2.31983193e+02] [ 9.22283379e-01 3.81511320e-01 -6.19877574e-02 1.47231650e+02] [ 6.70172495e-02 1.03540715e-04 9.97751812e-01 1.95439164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.01, Y:147.28, Z:19.56 [[ 3.95980688e-01 -9.17906000e-01 -2.54532739e-02 2.32013136e+02] [ 9.15810847e-01 3.96795968e-01 -6.19955876e-02 1.47279998e+02] [ 6.70058783e-02 1.23867109e-03 9.97751812e-01 1.95649815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:147.34, Z:19.56 [[ 3.91859982e-01 -9.19672900e-01 -2.54462558e-02 2.32029704e+02] [ 9.17581237e-01 3.92684177e-01 -6.19984680e-02 1.47337094e+02] [ 6.70106529e-02 9.45711652e-04 9.97751812e-01 1.95635734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.05, Y:147.39, Z:19.57 [[ 3.92097834e-01 -9.19571977e-01 -2.54296483e-02 2.32053498e+02] [ 9.17479661e-01 3.92920369e-01 -6.20052791e-02 1.47389864e+02] [ 6.70101439e-02 9.80950531e-04 9.97751812e-01 1.95709293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:147.44, Z:19.58 [[ 3.91104043e-01 -9.19995621e-01 -2.54103293e-02 2.32075832e+02] [ 9.17903682e-01 3.91927536e-01 -6.20131953e-02 1.47441679e+02] [ 6.70108758e-02 9.29376588e-04 9.97751812e-01 1.95755204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.10, Y:147.50, Z:19.58 [[ 3.90581659e-01 -9.20217881e-01 -2.53972061e-02 2.32099415e+02] [ 9.18126062e-01 3.91405456e-01 -6.20185693e-02 1.47495272e+02] [ 6.70112015e-02 9.05478916e-04 9.97751812e-01 1.95793283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.12, Y:147.55, Z:19.58 [[ 3.90175315e-01 -9.20390765e-01 -2.53784227e-02 2.32123509e+02] [ 9.18298811e-01 3.90998769e-01 -6.20262547e-02 1.47548228e+02] [ 6.70113240e-02 8.96138065e-04 9.97751813e-01 1.95808175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:232.15, Y:147.60, Z:19.58 [[ 3.91651014e-01 -9.19764296e-01 -2.53598607e-02 2.32148888e+02] [ 9.17670535e-01 3.92469860e-01 -6.20338430e-02 1.47600161e+02] [ 6.70094949e-02 1.02362053e-03 9.97751813e-01 1.95798361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.17, Y:147.65, Z:19.59 [[ 3.88438550e-01 -9.21126209e-01 -2.53377371e-02 2.32173189e+02] [ 9.19034730e-01 3.89263209e-01 -6.20428781e-02 1.47652287e+02] [ 6.70123699e-02 8.13585215e-04 9.97751813e-01 1.95890787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.20, Y:147.71, Z:19.59 [[ 3.80818886e-01 -9.24303001e-01 -2.53167739e-02 2.32195038e+02] [ 9.22217836e-01 3.81659381e-01 -6.20514310e-02 1.47706329e+02] [ 6.70167081e-02 2.82776384e-04 9.97751813e-01 1.95915448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.22, Y:147.76, Z:19.59 [[ 3.77715898e-01 -9.25575741e-01 -2.53031281e-02 2.32216996e+02] [ 9.23493036e-01 3.78562468e-01 -6.20569950e-02 1.47760321e+02] [ 6.70172637e-02 7.26510167e-05 9.97751813e-01 1.95941221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.25, Y:147.81, Z:19.61 [[ 3.79563144e-01 -9.24820276e-01 -2.52839122e-02 2.32245541e+02] [ 9.22735364e-01 3.80404265e-01 -6.20648231e-02 1.47809133e+02] [ 6.70169149e-02 2.27159438e-04 9.97751814e-01 1.96057826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.27, Y:147.86, Z:19.61 [[ 3.75334131e-01 -9.26545120e-01 -2.52671754e-02 2.32270058e+02] [ 9.24463615e-01 3.76183647e-01 -6.20716361e-02 1.47861694e+02] [ 6.70172697e-02 -6.09807701e-05 9.97751814e-01 1.96104948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.29, Y:147.92, Z:19.61 [[ 3.68449830e-01 -9.29304677e-01 -2.52495353e-02 2.32287369e+02] [ 9.27229042e-01 3.69313587e-01 -6.20788109e-02 1.47917543e+02] [ 6.70151258e-02 -5.39175025e-04 9.97751814e-01 1.96050020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.31, Y:147.97, Z:19.61 [[ 3.67153545e-01 -9.29818086e-01 -2.52309386e-02 2.32308894e+02] [ 9.27743139e-01 3.68018955e-01 -6.20863683e-02 1.47971247e+02] [ 6.70144919e-02 -6.12599960e-04 9.97751814e-01 1.96056124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.34, Y:148.02, Z:19.62 [[ 3.74710102e-01 -9.26799166e-01 -2.52119964e-02 2.32336831e+02] [ 9.24716727e-01 3.75557323e-01 -6.20940595e-02 1.48021044e+02] [ 6.70172724e-02 -4.66834238e-05 9.97751814e-01 1.96185110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.36, Y:148.07, Z:19.62 [[ 3.75246156e-01 -9.26582701e-01 -2.51956570e-02 2.32358087e+02] [ 9.24499327e-01 3.76091077e-01 -6.21006887e-02 1.48073848e+02] [ 6.70172857e-02 9.67673536e-06 9.97751814e-01 1.96207386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.38, Y:148.13, Z:19.63 [[ 3.74712909e-01 -9.26798986e-01 -2.51768840e-02 2.32379849e+02] [ 9.24715589e-01 3.75557771e-01 -6.21082988e-02 1.48127748e+02] [ 6.70172828e-02 -8.67583975e-06 9.97751815e-01 1.96268337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.40, Y:148.18, Z:19.62 [[ 3.67173582e-01 -9.29812123e-01 -2.51590401e-02 2.32397863e+02] [ 9.27735162e-01 3.68034144e-01 -6.21155262e-02 1.48184266e+02] [ 6.70151551e-02 -5.33745947e-04 9.97751815e-01 1.96242114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.42, Y:148.23, Z:19.64 [[ 3.70355308e-01 -9.28549842e-01 -2.51423257e-02 2.32424532e+02] [ 9.26469488e-01 3.71207635e-01 -6.21222909e-02 1.48234821e+02] [ 6.70166667e-02 -2.86277438e-04 9.97751815e-01 1.96379611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.44, Y:148.29, Z:19.63 [[ 3.63720415e-01 -9.31169272e-01 -2.51246102e-02 2.32438879e+02] [ 9.29094559e-01 3.64586383e-01 -6.21294549e-02 1.48292563e+02] [ 6.70131301e-02 -7.45387561e-04 9.97751815e-01 1.96296310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.47, Y:148.34, Z:19.64 [[ 3.68596884e-01 -9.29250245e-01 -2.51061661e-02 2.32465186e+02] [ 9.27170514e-01 3.69450730e-01 -6.21369072e-02 1.48343213e+02] [ 6.70162276e-02 -3.74226613e-04 9.97751815e-01 1.96435825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.49, Y:148.40, Z:19.65 [[ 3.66071884e-01 -9.30248291e-01 -2.50897048e-02 2.32485035e+02] [ 9.28170432e-01 3.66930276e-01 -6.21435533e-02 1.48397341e+02] [ 6.70151065e-02 -5.38514516e-04 9.97751816e-01 1.96473849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:148.45, Z:19.65 [[ 3.62493472e-01 -9.31649019e-01 -2.50716644e-02 2.32505755e+02] [ 9.29573973e-01 3.63358642e-01 -6.21508308e-02 1.48450967e+02] [ 6.70127664e-02 -7.76696220e-04 9.97751816e-01 1.96503882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.53, Y:148.51, Z:19.65 [[ 3.56326853e-01 -9.34025444e-01 -2.50528322e-02 2.32526210e+02] [ 9.31955631e-01 3.57204468e-01 -6.21584211e-02 1.48505427e+02] [ 6.70065304e-02 -1.19941349e-03 9.97751816e-01 1.96534303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.54, Y:148.56, Z:19.65 [[ 3.47885556e-01 -9.37202696e-01 -2.50349159e-02 2.32541950e+02] [ 9.35140370e-01 3.48780622e-01 -6.21656362e-02 1.48562319e+02] [ 6.69934954e-02 -1.78463364e-03 9.97751816e-01 1.96501530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.57, Y:148.61, Z:19.66 [[ 3.51346294e-01 -9.35911282e-01 -2.50170520e-02 2.32566765e+02] [ 9.33845154e-01 3.52232548e-01 -6.21728243e-02 1.48613593e+02] [ 6.70000677e-02 -1.51786137e-03 9.97751816e-01 1.96623282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.58, Y:148.67, Z:19.67 [[ 3.53364681e-01 -9.35151593e-01 -2.49979920e-02 2.32584874e+02] [ 9.33083019e-01 3.54245208e-01 -6.21804869e-02 1.48667391e+02] [ 6.70036002e-02 -1.35281398e-03 9.97751817e-01 1.96657964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.60, Y:148.72, Z:19.67 [[ 3.58781717e-01 -9.33087202e-01 -2.49790479e-02 2.32602280e+02] [ 9.31013028e-01 3.59648971e-01 -6.21880961e-02 1.48722865e+02] [ 6.70106055e-02 -9.43867106e-04 9.97751817e-01 1.96699436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.62, Y:148.78, Z:19.67 [[ 3.63546813e-01 -9.31241457e-01 -2.49612586e-02 2.32621074e+02] [ 9.29162387e-01 3.64402265e-01 -6.21952357e-02 1.48778037e+02] [ 6.70147210e-02 -5.82182999e-04 9.97751817e-01 1.96745199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.64, Y:148.83, Z:19.68 [[ 3.70849067e-01 -9.28358113e-01 -2.49435941e-02 2.32638630e+02] [ 9.26271914e-01 3.71686981e-01 -6.22023193e-02 1.48834012e+02] [ 6.70172370e-02 -3.68786426e-05 9.97751817e-01 1.96781815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.66, Y:148.89, Z:19.68 [[ 3.75546264e-01 -9.26468381e-01 -2.49267367e-02 2.32657762e+02] [ 9.24377518e-01 3.76372470e-01 -6.22090739e-02 1.48889341e+02] [ 6.70164775e-02 3.20670290e-04 9.97751817e-01 1.96817043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.68, Y:148.94, Z:19.69 [[ 3.81873614e-01 -9.23878831e-01 -2.49088059e-02 2.32675822e+02] [ 9.21781899e-01 3.82684293e-01 -6.22162527e-02 1.48944539e+02] [ 6.70124876e-02 7.98258880e-04 9.97751817e-01 1.96859099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:149.00, Z:19.69 [[ 3.85051540e-01 -9.22559351e-01 -2.48908618e-02 2.32694833e+02] [ 9.20459179e-01 3.85853787e-01 -6.22234308e-02 1.48998301e+02] [ 6.70090412e-02 1.04820560e-03 9.97751818e-01 1.96889489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.71, Y:149.05, Z:19.69 [[ 3.88334146e-01 -9.21182919e-01 -2.48720987e-02 2.32714974e+02] [ 9.19079425e-01 3.89127642e-01 -6.22309299e-02 1.49052380e+02] [ 6.70044908e-02 1.30696084e-03 9.97751818e-01 1.96932409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.74, Y:149.11, Z:19.70 [[ 3.89293749e-01 -9.20778275e-01 -2.48544718e-02 2.32736018e+02] [ 9.18673509e-01 3.90083862e-01 -6.22379692e-02 1.49106317e+02] [ 6.70026983e-02 1.39570755e-03 9.97751818e-01 1.96976293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.76, Y:149.16, Z:19.70 [[ 3.90310040e-01 -9.20348419e-01 -2.48366594e-02 2.32757374e+02] [ 9.18242332e-01 3.91096625e-01 -6.22450766e-02 1.49160517e+02] [ 6.70006915e-02 1.48880630e-03 9.97751818e-01 1.97014389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.78, Y:149.21, Z:19.70 [[ 3.92191414e-01 -9.19548769e-01 -2.48184683e-02 2.32778667e+02] [ 9.17440621e-01 3.92972460e-01 -6.22523289e-02 1.49214160e+02] [ 6.69970270e-02 1.64535787e-03 9.97751818e-01 1.97031379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.79, Y:149.27, Z:19.69 [[ 3.85082045e-01 -9.22549053e-01 -2.48004713e-02 2.32793053e+02] [ 9.20446537e-01 3.85878126e-01 -6.22594979e-02 1.49272302e+02] [ 6.70074002e-02 1.14750684e-03 9.97751819e-01 1.96931475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.82, Y:149.32, Z:19.71 [[ 3.89844821e-01 -9.20547019e-01 -2.47830926e-02 2.32824400e+02] [ 9.18439979e-01 3.90628851e-01 -6.22664149e-02 1.49321397e+02] [ 6.70001536e-02 1.51245637e-03 9.97751819e-01 1.97075389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:149.37, Z:19.71 [[ 3.86128822e-01 -9.22112351e-01 -2.47657837e-02 2.32849090e+02] [ 9.20008051e-01 3.86920175e-01 -6.22732986e-02 1.49374439e+02] [ 6.70053591e-02 1.26079507e-03 9.97751819e-01 1.97118429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.88, Y:149.42, Z:19.72 [[ 3.78496757e-01 -9.25271719e-01 -2.47477352e-02 2.32875442e+02] [ 9.23173562e-01 3.79304255e-01 -6.22804703e-02 1.49425000e+02] [ 6.70132791e-02 7.26501198e-04 9.97751819e-01 1.97162324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.90, Y:149.48, Z:19.72 [[ 3.72312225e-01 -9.27777749e-01 -2.47397728e-02 2.32900846e+02] [ 9.25684818e-01 3.73133175e-01 -6.22836331e-02 1.49477656e+02] [ 6.70165989e-02 2.87725951e-04 9.97751819e-01 1.97215206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:149.53, Z:19.73 [[ 3.65211929e-01 -9.30596059e-01 -2.47228840e-02 2.32926370e+02] [ 9.28509010e-01 3.66047718e-01 -6.22903362e-02 1.49530237e+02] [ 6.70168967e-02 -2.06246691e-04 9.97751819e-01 1.97266988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.95, Y:149.58, Z:19.73 [[ 3.55164642e-01 -9.34477247e-01 -2.47053051e-02 2.32953113e+02] [ 9.32398840e-01 3.56021696e-01 -6.22973075e-02 1.49580581e+02] [ 6.70110410e-02 -9.09396923e-04 9.97751820e-01 1.97306726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.98, Y:149.63, Z:19.73 [[ 3.49866045e-01 -9.36474402e-01 -2.46869325e-02 2.32976932e+02] [ 9.34400372e-01 3.50733636e-01 -6.23045873e-02 1.49633927e+02] [ 6.70051887e-02 -1.26921939e-03 9.97751820e-01 1.97336405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.00, Y:149.69, Z:19.74 [[ 3.46314394e-01 -9.37794100e-01 -2.46691321e-02 2.32998797e+02] [ 9.35722874e-01 3.47188657e-01 -6.23116345e-02 1.49687330e+02] [ 6.70003260e-02 -1.50405527e-03 9.97751820e-01 1.97360919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.02, Y:149.74, Z:19.74 [[ 3.43636540e-01 -9.38779118e-01 -2.46514826e-02 2.33019727e+02] [ 9.36709898e-01 3.44515540e-01 -6.23186161e-02 1.49741649e+02] [ 6.69962343e-02 -1.67633411e-03 9.97751820e-01 1.97401699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.04, Y:149.80, Z:19.74 [[ 3.41100793e-01 -9.39703908e-01 -2.46336028e-02 2.33040357e+02] [ 9.37636562e-01 3.41984191e-01 -6.23256830e-02 1.49795410e+02] [ 6.69919906e-02 -1.83802677e-03 9.97751820e-01 1.97439134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.06, Y:149.85, Z:19.75 [[ 3.35040483e-01 -9.41882123e-01 -2.46158817e-02 2.33061258e+02] [ 9.39820001e-01 3.35936009e-01 -6.23326812e-02 1.49849425e+02] [ 6.69793992e-02 -2.25052636e-03 9.97751820e-01 1.97483536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.08, Y:149.91, Z:19.75 [[ 3.25424710e-01 -9.45247954e-01 -2.45980511e-02 2.33075300e+02] [ 9.43194542e-01 3.26340031e-01 -6.23397169e-02 1.49907853e+02] [ 6.69538185e-02 -2.91386328e-03 9.97751821e-01 1.97455577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:149.96, Z:19.75 [[ 3.23789591e-01 -9.45809734e-01 -2.45814652e-02 2.33094378e+02] [ 9.43757420e-01 3.24707370e-01 -6.23462563e-02 1.49962143e+02] [ 6.69494790e-02 -3.01187140e-03 9.97751821e-01 1.97502885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.12, Y:150.01, Z:19.76 [[ 3.31164009e-01 -9.43253453e-01 -2.45626150e-02 2.33118312e+02] [ 9.41193493e-01 3.32064493e-01 -6.23536818e-02 1.50014010e+02] [ 6.69716980e-02 -2.46887815e-03 9.97751821e-01 1.97589459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.13, Y:150.07, Z:19.76 [[ 3.37735475e-01 -9.40920851e-01 -2.45499809e-02 2.33133880e+02] [ 9.38854301e-01 3.38620732e-01 -6.23586558e-02 1.50069817e+02] [ 6.69876919e-02 -1.98812494e-03 9.97751821e-01 1.97625070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:150.13, Z:19.77 [[ 3.43838684e-01 -9.38708222e-01 -2.45323071e-02 2.33150493e+02] [ 9.36635473e-01 3.44709328e-01 -6.23656080e-02 1.50125249e+02] [ 6.69996241e-02 -1.53412048e-03 9.97751821e-01 1.97668619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.16, Y:150.18, Z:19.77 [[ 3.52713385e-01 -9.35410233e-01 -2.45145506e-02 2.33163954e+02] [ 9.33328849e-01 3.53563177e-01 -6.23725869e-02 1.50181789e+02] [ 6.70113985e-02 -8.80490999e-04 9.97751821e-01 1.97730872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.18, Y:150.24, Z:19.78 [[ 3.64932881e-01 -9.30711522e-01 -2.44960270e-02 2.33182278e+02] [ 9.28618700e-01 3.65754101e-01 -6.23798610e-02 1.50236996e+02] [ 6.70171777e-02 1.69936003e-05 9.97751822e-01 1.97825171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.20, Y:150.29, Z:19.78 [[ 3.70246737e-01 -9.28610848e-01 -2.44795022e-02 2.33198447e+02] [ 9.26512939e-01 3.71054872e-01 -6.23863451e-02 1.50292893e+02] [ 6.70158754e-02 4.17765161e-04 9.97751822e-01 1.97802713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.22, Y:150.35, Z:19.78 [[ 3.74867122e-01 -9.26755613e-01 -2.44678364e-02 2.33215831e+02] [ 9.24653407e-01 3.75664012e-01 -6.23909201e-02 1.50347764e+02] [ 6.70128210e-02 7.64036345e-04 9.97751822e-01 1.97823546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.23, Y:150.40, Z:19.78 [[ 3.79187469e-01 -9.24996668e-01 -2.44545998e-02 2.33233995e+02] [ 9.22890433e-01 3.79973649e-01 -6.23961078e-02 1.50403340e+02] [ 6.70082954e-02 1.09090603e-03 9.97751822e-01 1.97841099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.25, Y:150.46, Z:19.79 [[ 3.79644554e-01 -9.24809617e-01 -2.44373530e-02 2.33253791e+02] [ 9.22702561e-01 3.80428530e-01 -6.24028618e-02 1.50458058e+02] [ 6.70074330e-02 1.14249843e-03 9.97751822e-01 1.97873608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.27, Y:150.51, Z:19.79 [[ 3.77001675e-01 -9.25890610e-01 -2.44195869e-02 2.33274799e+02] [ 9.23785352e-01 3.77790468e-01 -6.24098133e-02 1.50511161e+02] [ 6.70101472e-02 9.70147481e-04 9.97751822e-01 1.97910584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.30, Y:150.56, Z:19.80 [[ 3.73927643e-01 -9.27136846e-01 -2.44005308e-02 2.33297411e+02] [ 9.25033733e-01 3.74722135e-01 -6.24172628e-02 1.50564063e+02] [ 6.70127632e-02 7.68225935e-04 9.97751823e-01 1.97973641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.32, Y:150.62, Z:19.80 [[ 3.70318382e-01 -9.28584835e-01 -2.43823905e-02 2.33320537e+02] [ 9.26484362e-01 3.71119829e-01 -6.24243483e-02 1.50616857e+02] [ 6.70150917e-02 5.26980146e-04 9.97751823e-01 1.98032226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.34, Y:150.67, Z:19.80 [[ 3.67723604e-01 -9.29615910e-01 -2.43641520e-02 2.33339554e+02] [ 9.27517213e-01 3.68529689e-01 -6.24314659e-02 1.50672101e+02] [ 6.70161974e-02 3.59353272e-04 9.97751823e-01 1.98026926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.36, Y:150.72, Z:19.81 [[ 3.72406054e-01 -9.27750501e-01 -2.43462233e-02 2.33363658e+02] [ 9.25647311e-01 3.73200341e-01 -6.24384568e-02 1.50724149e+02] [ 6.70133284e-02 7.16443169e-04 9.97751823e-01 1.98101690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.39, Y:150.78, Z:19.81 [[ 3.74682851e-01 -9.26833695e-01 -2.43323256e-02 2.33385036e+02] [ 9.24728211e-01 3.75471036e-01 -6.24438723e-02 1.50778063e+02] [ 6.70111684e-02 8.95860240e-04 9.97751823e-01 1.98137378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65999999999997 meters Centerline goodness : 0.997365 with order 1 Centerline is valid? [True, True] Translation: X:233.41, Y:150.83, Z:19.81 [[ 3.76971135e-01 -9.25905820e-01 -2.43141181e-02 2.33405598e+02] [ 9.23797939e-01 3.77752888e-01 -6.24509610e-02 1.50832405e+02] [ 6.70084366e-02 1.08087741e-03 9.97751823e-01 1.98113598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.43, Y:150.89, Z:19.82 [[ 3.76069036e-01 -9.26273183e-01 -2.42913602e-02 2.33426657e+02] [ 9.24165496e-01 3.76851308e-01 -6.24598119e-02 1.50886463e+02] [ 6.70090796e-02 1.03996431e-03 9.97751824e-01 1.98202080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.45, Y:150.94, Z:19.83 [[ 3.70994083e-01 -9.28318036e-01 -2.42696265e-02 2.33450048e+02] [ 9.26214110e-01 3.71786417e-01 -6.24682557e-02 1.50940013e+02] [ 6.70135259e-02 6.96482708e-04 9.97751824e-01 1.98257481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.47, Y:151.00, Z:19.83 [[ 3.62313936e-01 -9.31740531e-01 -2.42527198e-02 2.33470090e+02] [ 9.29643653e-01 3.63124738e-01 -6.24748189e-02 1.50995423e+02] [ 6.70170834e-02 8.91104954e-05 9.97751824e-01 1.98254071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:233.50, Y:151.05, Z:19.83 [[ 3.57903214e-01 -9.33444114e-01 -2.42358329e-02 2.33497390e+02] [ 9.31350652e-01 3.58722793e-01 -6.24813691e-02 1.51046809e+02] [ 6.70168119e-02 -2.09776014e-04 9.97751824e-01 1.98341164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.52, Y:151.10, Z:19.84 [[ 3.52805351e-01 -9.35382968e-01 -2.42299023e-02 2.33520093e+02] [ 9.33293850e-01 3.53635943e-01 -6.24836689e-02 1.51099812e+02] [ 6.70147240e-02 -5.69046140e-04 9.97751824e-01 1.98386240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.54, Y:151.15, Z:19.84 [[ 3.48743915e-01 -9.36905255e-01 -2.42120683e-02 2.33541999e+02] [ 9.34819283e-01 3.49582374e-01 -6.24905787e-02 1.51153632e+02] [ 6.70118639e-02 -8.40699240e-04 9.97751825e-01 1.98425858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.56, Y:151.21, Z:19.85 [[ 3.46617364e-01 -9.37694533e-01 -2.41943528e-02 2.33563588e+02] [ 9.35609991e-01 3.47459372e-01 -6.24974369e-02 1.51207125e+02] [ 6.70100595e-02 -9.73781359e-04 9.97751825e-01 1.98470713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.58, Y:151.26, Z:19.85 [[ 3.45712611e-01 -9.38028943e-01 -2.41762892e-02 2.33583742e+02] [ 9.35944728e-01 3.46555427e-01 -6.25044237e-02 1.51260628e+02] [ 6.70093827e-02 -1.01910290e-03 9.97751825e-01 1.98501026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.61, Y:151.32, Z:19.86 [[ 3.46709864e-01 -9.37661287e-01 -2.41574269e-02 2.33605109e+02] [ 9.35575671e-01 3.47549206e-01 -6.25117130e-02 1.51315092e+02] [ 6.70107078e-02 -9.27673329e-04 9.97751825e-01 1.98596082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.63, Y:151.37, Z:19.86 [[ 3.49868000e-01 -9.36487913e-01 -2.41406575e-02 2.33625411e+02] [ 9.34399034e-01 3.50699189e-01 -6.25181883e-02 1.51369733e+02] [ 6.70136367e-02 -6.83893530e-04 9.97751825e-01 1.98594310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:151.42, Z:19.86 [[ 3.53694474e-01 -9.35049730e-01 -2.41292528e-02 2.33645947e+02] [ 9.32957170e-01 3.54516352e-01 -6.25225897e-02 1.51423902e+02] [ 6.70159454e-02 -3.97664901e-04 9.97751825e-01 1.98629013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.67, Y:151.48, Z:19.87 [[ 3.58412317e-01 -9.33251975e-01 -2.41114519e-02 2.33665839e+02] [ 9.31154830e-01 3.59222424e-01 -6.25294538e-02 1.51478017e+02] [ 6.70171104e-02 -4.01684722e-05 9.97751826e-01 1.98653061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.69, Y:151.53, Z:19.87 [[ 3.65548815e-01 -9.30480290e-01 -2.40934538e-02 2.33685876e+02] [ 9.28376546e-01 3.66341628e-01 -6.25363880e-02 1.51532100e+02] [ 6.70153115e-02 4.92305121e-04 9.97751826e-01 1.98672316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.71, Y:151.59, Z:19.87 [[ 3.70461620e-01 -9.28535707e-01 -2.40754647e-02 2.33707582e+02] [ 9.26427355e-01 3.71242092e-01 -6.25433127e-02 1.51585904e+02] [ 6.70115250e-02 8.65727886e-04 9.97751826e-01 1.98711702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.73, Y:151.64, Z:19.88 [[ 3.73086147e-01 -9.27484772e-01 -2.40566951e-02 2.33729163e+02] [ 9.25373757e-01 3.73859387e-01 -6.25505314e-02 1.51638936e+02] [ 6.70084867e-02 1.07530245e-03 9.97751826e-01 1.98753646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.75, Y:151.69, Z:19.88 [[ 3.74024799e-01 -9.27107045e-01 -2.40411651e-02 2.33751291e+02] [ 9.24994866e-01 3.74794854e-01 -6.25564998e-02 1.51693047e+02] [ 6.70070766e-02 1.15972793e-03 9.97751826e-01 1.98801388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.77, Y:151.75, Z:19.88 [[ 3.75315293e-01 -9.26585811e-01 -2.40242769e-02 2.33772846e+02] [ 9.24472149e-01 3.76081267e-01 -6.25629849e-02 1.51746647e+02] [ 6.70050546e-02 1.27107007e-03 9.97751826e-01 1.98844163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.79, Y:151.80, Z:19.89 [[ 3.77744922e-01 -9.25598474e-01 -2.40049563e-02 2.33794955e+02] [ 9.23482341e-01 3.78504043e-01 -6.25703972e-02 1.51799114e+02] [ 6.70010372e-02 1.46749657e-03 9.97751827e-01 1.98880014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:233.82, Y:151.85, Z:19.89 [[ 3.79222572e-01 -9.24994377e-01 -2.39925618e-02 2.33817035e+02] [ 9.22876736e-01 3.79977474e-01 -6.25751495e-02 1.51852398e+02] [ 6.69982945e-02 1.58773204e-03 9.97751827e-01 1.98885894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.84, Y:151.91, Z:19.89 [[ 3.77431008e-01 -9.25727437e-01 -2.39697070e-02 2.33838658e+02] [ 9.23610708e-01 3.78188465e-01 -6.25839030e-02 1.51905592e+02] [ 6.70007028e-02 1.48242751e-03 9.97751827e-01 1.98946326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.86, Y:151.96, Z:19.90 [[ 3.75473118e-01 -9.26523909e-01 -2.39454160e-02 2.33862244e+02] [ 9.24408197e-01 3.76233408e-01 -6.25931957e-02 1.51958667e+02] [ 6.70031578e-02 1.36672356e-03 9.97751827e-01 1.98980135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.88, Y:152.01, Z:19.89 [[ 3.64558330e-01 -9.30873090e-01 -2.39272635e-02 2.33881005e+02] [ 9.28766005e-01 3.65342212e-01 -6.26001340e-02 1.52014822e+02] [ 6.70144195e-02 5.98571324e-04 9.97751828e-01 1.98938672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.91, Y:152.07, Z:19.91 [[ 3.65749337e-01 -9.30406203e-01 -2.39106605e-02 2.33911588e+02] [ 9.28297703e-01 3.66529405e-01 -6.26064750e-02 1.52065474e+02] [ 6.70134129e-02 7.02065559e-04 9.97751828e-01 1.99088760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.94, Y:152.12, Z:19.91 [[ 3.61630464e-01 -9.32015286e-01 -2.38938000e-02 2.33938007e+02] [ 9.29909833e-01 3.62418718e-01 -6.26129092e-02 1.52116228e+02] [ 6.70157488e-02 4.23655855e-04 9.97751828e-01 1.99127335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.96, Y:152.17, Z:19.92 [[ 3.57929996e-01 -9.33443099e-01 -2.38767268e-02 2.33961249e+02] [ 9.31340356e-01 3.58725451e-01 -6.26194192e-02 1.52168959e+02] [ 6.70168543e-02 1.76009242e-04 9.97751828e-01 1.99172339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.99, Y:152.22, Z:19.92 [[ 3.55221458e-01 -9.34477656e-01 -2.38584726e-02 2.33985201e+02] [ 9.32376762e-01 3.56021784e-01 -6.26263734e-02 1.52221175e+02] [ 6.70170826e-02 1.14618231e-06 9.97751828e-01 1.99192891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.01, Y:152.27, Z:19.92 [[ 3.55738974e-01 -9.34281257e-01 -2.38393717e-02 2.34007102e+02] [ 9.32179434e-01 3.56536856e-01 -6.26336436e-02 1.52274281e+02] [ 6.70170539e-02 5.86561457e-05 9.97751828e-01 1.99223566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.03, Y:152.33, Z:19.93 [[ 3.59622791e-01 -9.32793656e-01 -2.38210727e-02 2.34027181e+02] [ 9.30688072e-01 3.60410694e-01 -6.26406023e-02 1.52328531e+02] [ 6.70161258e-02 3.57000010e-04 9.97751829e-01 1.99263866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.05, Y:152.38, Z:19.93 [[ 3.62448568e-01 -9.31699736e-01 -2.38041519e-02 2.34046222e+02] [ 9.29591352e-01 3.63228947e-01 -6.26470318e-02 1.52382934e+02] [ 6.70145800e-02 5.78193220e-04 9.97751829e-01 1.99307568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.06, Y:152.44, Z:19.93 [[ 3.66103822e-01 -9.30269960e-01 -2.37863920e-02 2.34064878e+02] [ 9.28158092e-01 3.66874721e-01 -6.26537743e-02 1.52438171e+02] [ 6.70115501e-02 8.60254012e-04 9.97751829e-01 1.99337555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:152.49, Z:19.94 [[ 3.66743624e-01 -9.30018376e-01 -2.37683783e-02 2.34084015e+02] [ 9.27905536e-01 3.67511856e-01 -6.26606073e-02 1.52492554e+02] [ 6.70106770e-02 9.25568371e-04 9.97751829e-01 1.99368697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.10, Y:152.55, Z:19.94 [[ 3.66577978e-01 -9.30084135e-01 -2.37505334e-02 2.34103385e+02] [ 9.27970996e-01 3.67345385e-01 -6.26673704e-02 1.52546818e+02] [ 6.70105758e-02 9.32671760e-04 9.97751829e-01 1.99410446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.12, Y:152.60, Z:19.95 [[ 3.65516765e-01 -9.30502146e-01 -2.37328913e-02 2.34122677e+02] [ 9.28389451e-01 3.66285394e-01 -6.26740510e-02 1.52600659e+02] [ 6.70113504e-02 8.75050395e-04 9.97751829e-01 1.99450879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.14, Y:152.66, Z:19.95 [[ 3.62155956e-01 -9.31815801e-01 -2.37144658e-02 2.34142198e+02] [ 9.29705439e-01 3.62930967e-01 -6.26810220e-02 1.52655426e+02] [ 6.70138807e-02 6.52837683e-04 9.97751830e-01 1.99489972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.16, Y:152.71, Z:19.95 [[ 3.57170774e-01 -9.33738439e-01 -2.36973882e-02 2.34162413e+02] [ 9.31631821e-01 3.57955906e-01 -6.26874778e-02 1.52709694e+02] [ 6.70163277e-02 3.12894046e-04 9.97751830e-01 1.99538319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.18, Y:152.76, Z:19.96 [[ 3.46733256e-01 -9.37664828e-01 -2.36795050e-02 2.34183475e+02] [ 9.35566639e-01 3.47540641e-01 -6.26942322e-02 1.52763836e+02] [ 6.70157668e-02 -4.15579580e-04 9.97751830e-01 1.99575432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:152.82, Z:19.96 [[ 3.39553277e-01 -9.40289150e-01 -2.36619409e-02 2.34203519e+02] [ 9.38196735e-01 3.40375511e-01 -6.27008606e-02 1.52817124e+02] [ 6.70108841e-02 -9.09273030e-04 9.97751830e-01 1.99608986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.22, Y:152.87, Z:19.97 [[ 3.32587235e-01 -9.42776067e-01 -2.36435904e-02 2.34223258e+02] [ 9.40689304e-01 3.33423707e-01 -6.27077795e-02 1.52871545e+02] [ 6.70027273e-02 -1.38546560e-03 9.97751830e-01 1.99657118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.24, Y:152.92, Z:19.97 [[ 3.26728109e-01 -9.44823049e-01 -2.36251874e-02 2.34242782e+02] [ 9.42741021e-01 3.27576299e-01 -6.27147121e-02 1.52924619e+02] [ 6.69933569e-02 -1.78177400e-03 9.97751831e-01 1.99688744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.26, Y:152.98, Z:19.97 [[ 3.20228802e-01 -9.47046077e-01 -2.36059807e-02 2.34261165e+02] [ 9.44969399e-01 3.21090007e-01 -6.27219407e-02 1.52979812e+02] [ 6.69802124e-02 -2.22155747e-03 9.97751831e-01 1.99734951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.28, Y:153.04, Z:19.98 [[ 3.15003796e-01 -9.48797249e-01 -2.35879136e-02 2.34276705e+02] [ 9.46724848e-01 3.15875242e-01 -6.27287345e-02 1.53035384e+02] [ 6.69676887e-02 -2.57147437e-03 9.97751831e-01 1.99804619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.29, Y:153.09, Z:19.99 [[ 3.13186697e-01 -9.49399067e-01 -2.35691322e-02 2.34293474e+02] [ 9.47327816e-01 3.14060871e-01 -6.27357905e-02 1.53090949e+02] [ 6.69634432e-02 -2.67967954e-03 9.97751831e-01 1.99877157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:153.15, Z:19.99 [[ 3.12737258e-01 -9.49547676e-01 -2.35503269e-02 2.34309741e+02] [ 9.47476315e-01 3.13611171e-01 -6.27428490e-02 1.53147694e+02] [ 6.69629721e-02 -2.69135041e-03 9.97751831e-01 1.99893353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:153.20, Z:20.00 [[ 3.18853992e-01 -9.47511629e-01 -2.35338956e-02 2.34324721e+02] [ 9.45434226e-01 3.19713443e-01 -6.27490116e-02 1.53202583e+02] [ 6.69795210e-02 -2.24197758e-03 9.97751832e-01 1.99956471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.34, Y:153.26, Z:20.00 [[ 3.23373450e-01 -9.45979031e-01 -2.35220010e-02 2.34340575e+02] [ 9.43897227e-01 3.24222187e-01 -6.27534700e-02 1.53258535e+02] [ 6.69898214e-02 -1.90954540e-03 9.97751832e-01 2.00003401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.35, Y:153.32, Z:20.00 [[ 3.28385588e-01 -9.44251302e-01 -2.35028522e-02 2.34353196e+02] [ 9.42164517e-01 3.29222000e-01 -6.27606410e-02 1.53316900e+02] [ 6.69994730e-02 -1.53386340e-03 9.97751832e-01 2.00013258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.37, Y:153.37, Z:20.01 [[ 3.32498348e-01 -9.42811357e-01 -2.34860447e-02 2.34370149e+02] [ 9.40720503e-01 3.33324538e-01 -6.27669300e-02 1.53372100e+02] [ 6.70058494e-02 -1.22390329e-03 9.97751832e-01 2.00063671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:153.43, Z:20.01 [[ 3.37174019e-01 -9.41149811e-01 -2.34673098e-02 2.34384573e+02] [ 9.39054396e-01 3.37988572e-01 -6.27739338e-02 1.53428501e+02] [ 6.70113585e-02 -8.71340892e-04 9.97751832e-01 2.00071622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.40, Y:153.48, Z:20.01 [[ 3.39588955e-01 -9.40281368e-01 -2.34582862e-02 2.34400530e+02] [ 9.38183637e-01 3.40397523e-01 -6.27773057e-02 1.53483107e+02] [ 6.70134734e-02 -6.89700586e-04 9.97751832e-01 2.00111215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.42, Y:153.54, Z:20.01 [[ 3.43568096e-01 -9.38835209e-01 -2.34395588e-02 2.34415225e+02] [ 9.36733597e-01 3.44366521e-01 -6.27842974e-02 1.53539178e+02] [ 6.70159083e-02 -3.85940662e-04 9.97751832e-01 2.00134930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.43, Y:153.60, Z:20.01 [[ 3.45031172e-01 -9.38298949e-01 -2.34216479e-02 2.34427380e+02] [ 9.36195641e-01 3.45825121e-01 -6.27909783e-02 1.53597399e+02] [ 6.70165031e-02 -2.62399888e-04 9.97751833e-01 2.00128736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.45, Y:153.65, Z:20.02 [[ 3.49161085e-01 -9.36770413e-01 -2.34036368e-02 2.34446469e+02] [ 9.34663180e-01 3.49944554e-01 -6.27976907e-02 1.53651368e+02] [ 6.70169939e-02 5.19922545e-05 9.97751833e-01 2.00194168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.46, Y:153.71, Z:20.02 [[ 3.49505497e-01 -9.36642482e-01 -2.33830928e-02 2.34464065e+02] [ 9.34534450e-01 3.50286814e-01 -6.28053395e-02 1.53706325e+02] [ 6.70169381e-02 9.85056472e-05 9.97751833e-01 2.00233331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.48, Y:153.76, Z:20.03 [[ 3.48635251e-01 -9.36967211e-01 -2.33646730e-02 2.34481638e+02] [ 9.34859447e-01 3.49417291e-01 -6.28121912e-02 1.53760586e+02] [ 6.70169844e-02 5.58587274e-05 9.97751833e-01 2.00278870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.50, Y:153.82, Z:20.03 [[ 3.47102790e-01 -9.37536477e-01 -2.33453886e-02 2.34499982e+02] [ 9.35429514e-01 3.47886983e-01 -6.28193579e-02 1.53815922e+02] [ 6.70169963e-02 -3.31911299e-05 9.97751833e-01 2.00324905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.52, Y:153.87, Z:20.04 [[ 3.46087237e-01 -9.37912288e-01 -2.33273068e-02 2.34520363e+02] [ 9.35805724e-01 3.46872501e-01 -6.28260717e-02 1.53869853e+02] [ 6.70169459e-02 -8.65256565e-05 9.97751834e-01 2.00365815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.54, Y:153.92, Z:20.04 [[ 3.45894069e-01 -9.37983996e-01 -2.33091621e-02 2.34540988e+02] [ 9.35877140e-01 3.46678550e-01 -6.28328028e-02 1.53923812e+02] [ 6.70169500e-02 -8.10181455e-05 9.97751834e-01 2.00411019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:153.98, Z:20.04 [[ 3.45317183e-01 -9.38196973e-01 -2.32912860e-02 2.34558998e+02] [ 9.36090154e-01 3.46101762e-01 -6.28394286e-02 1.53979973e+02] [ 6.70169168e-02 -1.03209091e-04 9.97751834e-01 2.00400318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.58, Y:154.03, Z:20.05 [[ 3.50965706e-01 -9.36098883e-01 -2.32799223e-02 2.34581991e+02] [ 9.33987095e-01 3.51736811e-01 -6.28436382e-02 1.54031809e+02] [ 6.70162651e-02 3.12814885e-04 9.97751834e-01 2.00477509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.60, Y:154.09, Z:20.05 [[ 3.53863505e-01 -9.35007630e-01 -2.32669555e-02 2.34603590e+02] [ 9.32893149e-01 3.54627193e-01 -6.28484386e-02 1.54085871e+02] [ 6.70148648e-02 5.34185380e-04 9.97751834e-01 2.00521647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.63, Y:154.14, Z:20.06 [[ 3.57858415e-01 -9.33486403e-01 -2.32484455e-02 2.34625087e+02] [ 9.31368232e-01 3.58611809e-01 -6.28552849e-02 1.54139396e+02] [ 6.70117209e-02 8.40429076e-04 9.97751834e-01 2.00570566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.65, Y:154.19, Z:20.06 [[ 3.59979023e-01 -9.32671132e-01 -2.32306221e-02 2.34647646e+02] [ 9.30550831e-01 3.60726400e-01 -6.28618716e-02 1.54193495e+02] [ 6.70093516e-02 1.01168039e-03 9.97751835e-01 2.00626269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.67, Y:154.25, Z:20.07 [[ 3.61554135e-01 -9.32062096e-01 -2.32132802e-02 2.34669497e+02] [ 9.29940126e-01 3.62296759e-01 -6.28682749e-02 1.54247463e+02] [ 6.70072323e-02 1.14332403e-03 9.97751835e-01 2.00662716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.69, Y:154.30, Z:20.07 [[ 3.63881660e-01 -9.31156343e-01 -2.31948981e-02 2.34692536e+02] [ 9.29032094e-01 3.64617739e-01 -6.28750561e-02 1.54301257e+02] [ 6.70037786e-02 1.33027502e-03 9.97751835e-01 2.00666571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.71, Y:154.35, Z:20.07 [[ 3.64110711e-01 -9.31067248e-01 -2.31769448e-02 2.34714742e+02] [ 9.28942399e-01 3.64845056e-01 -6.28816734e-02 1.54354270e+02] [ 6.70030603e-02 1.36584405e-03 9.97751835e-01 2.00683030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.74, Y:154.41, Z:20.07 [[ 3.61963977e-01 -9.31904251e-01 -2.31634613e-02 2.34739684e+02] [ 9.29780784e-01 3.62702308e-01 -6.28866398e-02 1.54406332e+02] [ 6.70057679e-02 1.22575701e-03 9.97751835e-01 2.00728669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.76, Y:154.46, Z:20.08 [[ 3.59825266e-01 -9.32732589e-01 -2.31450877e-02 2.34764139e+02] [ 9.30610388e-01 3.60567228e-01 -6.28934015e-02 1.54459287e+02] [ 6.70080853e-02 1.09157589e-03 9.97751835e-01 2.00783066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.79, Y:154.51, Z:20.09 [[ 3.54830641e-01 -9.34644497e-01 -2.31274821e-02 2.34789970e+02] [ 9.32525875e-01 3.55582759e-01 -6.28998748e-02 1.54512050e+02] [ 6.70127558e-02 7.51827347e-04 9.97751836e-01 2.00859510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.81, Y:154.56, Z:20.09 [[ 3.52993761e-01 -9.35340244e-01 -2.31091516e-02 2.34813499e+02] [ 9.33222664e-01 3.53748808e-01 -6.29066087e-02 1.54563688e+02] [ 6.70139175e-02 6.39656364e-04 9.97751836e-01 2.00910592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.83, Y:154.62, Z:20.09 [[ 3.52481815e-01 -9.35533770e-01 -2.30897312e-02 2.34834431e+02] [ 9.33416137e-01 3.53236715e-01 -6.29137361e-02 1.54617711e+02] [ 6.70140655e-02 6.23620153e-04 9.97751836e-01 2.00948444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.86, Y:154.67, Z:20.10 [[ 3.51456490e-01 -9.35919885e-01 -2.30717301e-02 2.34856446e+02] [ 9.33802649e-01 3.52212499e-01 -6.29203368e-02 1.54671939e+02] [ 6.70145461e-02 5.69318015e-04 9.97751836e-01 2.00980694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.88, Y:154.73, Z:20.10 [[ 3.49488336e-01 -9.36657051e-01 -2.30536577e-02 2.34879815e+02] [ 9.34540973e-01 3.50247581e-01 -6.29269577e-02 1.54725356e+02] [ 6.70154665e-02 4.47650073e-04 9.97751836e-01 2.01006819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.90, Y:154.78, Z:20.10 [[ 3.47134810e-01 -9.37532287e-01 -2.30355315e-02 2.34902345e+02] [ 9.35417682e-01 3.47898150e-01 -6.29335924e-02 1.54779311e+02] [ 6.70162936e-02 2.98597107e-04 9.97751836e-01 2.01042983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.93, Y:154.83, Z:20.11 [[ 3.43623249e-01 -9.38825469e-01 -2.30174035e-02 2.34925856e+02] [ 9.36713294e-01 3.44393283e-01 -6.29402219e-02 1.54832335e+02] [ 6.70169225e-02 6.70156919e-05 9.97751837e-01 2.01072789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.95, Y:154.89, Z:20.11 [[ 3.41467308e-01 -9.39612210e-01 -2.29993948e-02 2.34948129e+02] [ 9.37501366e-01 3.42240982e-01 -6.29468019e-02 1.54886146e+02] [ 6.70169191e-02 -6.76890238e-05 9.97751837e-01 2.01117970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.97, Y:154.94, Z:20.12 [[ 3.38997153e-01 -9.40506666e-01 -2.29813259e-02 2.34972028e+02] [ 9.38397415e-01 3.39775162e-01 -6.29533980e-02 1.54939266e+02] [ 6.70165742e-02 -2.24594087e-04 9.97751837e-01 2.01170769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:154.99, Z:20.12 [[ 3.38090736e-01 -9.40833318e-01 -2.29634704e-02 2.34993501e+02] [ 9.38724377e-01 3.38869583e-01 -6.29599105e-02 1.54993491e+02] [ 6.70164032e-02 -2.70206932e-04 9.97751837e-01 2.01210351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.02, Y:155.05, Z:20.12 [[ 3.39297688e-01 -9.40399159e-01 -2.29456022e-02 2.35015890e+02] [ 9.38288780e-01 3.40072631e-01 -6.29664219e-02 1.55047054e+02] [ 6.70167415e-02 -1.65239735e-04 9.97751837e-01 2.01246700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.04, Y:155.10, Z:20.13 [[ 3.41957688e-01 -9.39435615e-01 -2.29273897e-02 2.35036211e+02] [ 9.37322608e-01 3.42725434e-01 -6.29730527e-02 1.55101385e+02] [ 6.70169281e-02 4.37587667e-05 9.97751838e-01 2.01281137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.05, Y:155.16, Z:20.13 [[ 3.43971435e-01 -9.38700599e-01 -2.29093380e-02 2.35053627e+02] [ 9.36585514e-01 3.44733438e-01 -6.29796192e-02 1.55157660e+02] [ 6.70166211e-02 2.06635910e-04 9.97751838e-01 2.01305283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.08, Y:155.21, Z:20.14 [[ 3.48851368e-01 -9.36898426e-01 -2.28923978e-02 2.35076166e+02] [ 9.34779002e-01 3.49601216e-01 -6.29857762e-02 1.55210479e+02] [ 6.70144847e-02 5.73341409e-04 9.97751838e-01 2.01359624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.10, Y:155.26, Z:20.14 [[ 3.51860043e-01 -9.35773108e-01 -2.28735785e-02 2.35096523e+02] [ 9.33650842e-01 3.52601810e-01 -6.29926098e-02 1.55264621e+02] [ 6.70120554e-02 8.08646571e-04 9.97751838e-01 2.01409667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.12, Y:155.32, Z:20.14 [[ 3.51277311e-01 -9.35992477e-01 -2.28546369e-02 2.35117067e+02] [ 9.33870227e-01 3.52019125e-01 -6.29994813e-02 1.55318289e+02] [ 6.70123098e-02 7.87023461e-04 9.97751838e-01 2.01429798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.14, Y:155.37, Z:20.15 [[ 3.49897990e-01 -9.36509438e-01 -2.28356986e-02 2.35137602e+02] [ 9.34387837e-01 3.50641655e-01 -6.30063452e-02 1.55372201e+02] [ 6.70131841e-02 7.08394508e-04 9.97751839e-01 2.01481364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.16, Y:155.43, Z:20.15 [[ 3.46152697e-01 -9.37900670e-01 -2.28176015e-02 2.35158513e+02] [ 9.35781627e-01 3.46903619e-01 -6.30128984e-02 1.55426424e+02] [ 6.70153482e-02 4.59792451e-04 9.97751839e-01 2.01516253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.18, Y:155.48, Z:20.16 [[ 3.42468479e-01 -9.39252634e-01 -2.27997905e-02 2.35178505e+02] [ 9.37136126e-01 3.43226519e-01 -6.30193423e-02 1.55480536e+02] [ 6.70165759e-02 2.15630932e-04 9.97751839e-01 2.01551551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.20, Y:155.54, Z:20.15 [[ 3.31773154e-01 -9.43084075e-01 -2.27815900e-02 2.35195326e+02] [ 9.40975868e-01 3.32553979e-01 -6.30259211e-02 1.55537380e+02] [ 6.70148509e-02 -5.26617842e-04 9.97751839e-01 2.01544059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.22, Y:155.59, Z:20.16 [[ 3.27442710e-01 -9.44596762e-01 -2.27646374e-02 2.35215777e+02] [ 9.42491735e-01 3.28232069e-01 -6.30320437e-02 1.55592078e+02] [ 6.70119484e-02 -8.16099424e-04 9.97751839e-01 2.01596358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.24, Y:155.64, Z:20.17 [[ 3.26878131e-01 -9.44792721e-01 -2.27464534e-02 2.35239521e+02] [ 9.42687711e-01 3.27667535e-01 -6.30386051e-02 1.55644379e+02] [ 6.70116896e-02 -8.36860720e-04 9.97751839e-01 2.01687007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.26, Y:155.70, Z:20.17 [[ 3.19912713e-01 -9.47174073e-01 -2.27405241e-02 2.35258448e+02] [ 9.45074781e-01 3.20717200e-01 -6.30407440e-02 1.55699329e+02] [ 6.70038355e-02 -1.32396042e-03 9.97751839e-01 2.01736294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.28, Y:155.75, Z:20.18 [[ 3.16429748e-01 -9.48343760e-01 -2.27228244e-02 2.35277800e+02] [ 9.46246984e-01 3.17240768e-01 -6.30471231e-02 1.55754320e+02] [ 6.69989521e-02 -1.55141882e-03 9.97751840e-01 2.01820045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.30, Y:155.81, Z:20.18 [[ 3.15279360e-01 -9.48727262e-01 -2.27048005e-02 2.35295780e+02] [ 9.46631007e-01 3.16091726e-01 -6.30536134e-02 1.55808560e+02] [ 6.69974815e-02 -1.61356527e-03 9.97751840e-01 2.01823208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.31, Y:155.86, Z:20.19 [[ 3.18830322e-01 -9.47540016e-01 -2.26967790e-02 2.35313054e+02] [ 9.45440529e-01 3.19634297e-01 -6.30565006e-02 1.55863963e+02] [ 6.70032266e-02 -1.35413035e-03 9.97751840e-01 2.01857647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:155.92, Z:20.19 [[ 3.22890697e-01 -9.46164505e-01 -2.26788018e-02 2.35329688e+02] [ 9.44061137e-01 3.23684465e-01 -6.30629656e-02 1.55918293e+02] [ 6.70087154e-02 -1.04773050e-03 9.97751840e-01 2.01888922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.34, Y:155.98, Z:20.19 [[ 3.26561332e-01 -9.44904341e-01 -2.26601363e-02 2.35341694e+02] [ 9.42797444e-01 3.27345683e-01 -6.30696719e-02 1.55976707e+02] [ 6.70125046e-02 -7.67802535e-04 9.97751840e-01 2.01879403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:156.03, Z:20.19 [[ 3.30679486e-01 -9.43471442e-01 -2.26432133e-02 2.35356918e+02] [ 9.41360729e-01 3.31453509e-01 -6.30757470e-02 1.56032563e+02] [ 6.70153385e-02 -4.57576187e-04 9.97751840e-01 2.01873778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.38, Y:156.09, Z:20.20 [[ 3.40729788e-01 -9.39888972e-01 -2.26259021e-02 2.35378181e+02] [ 9.37769707e-01 3.41480078e-01 -6.30819561e-02 1.56085799e+02] [ 6.70163297e-02 2.76015932e-04 9.97751841e-01 2.02022038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.39, Y:156.14, Z:20.21 [[ 3.44311235e-01 -9.38583305e-01 -2.26086774e-02 2.35394714e+02] [ 9.36460790e-01 3.45052281e-01 -6.30881289e-02 1.56141113e+02] [ 6.70146403e-02 5.49811709e-04 9.97751841e-01 2.02067477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.41, Y:156.20, Z:20.21 [[ 3.50636745e-01 -9.36239040e-01 -2.25905634e-02 2.35409274e+02] [ 9.34111156e-01 3.51362231e-01 -6.30946145e-02 1.56197027e+02] [ 6.70091121e-02 1.02119290e-03 9.97751841e-01 2.02107989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:156.25, Z:20.21 [[ 3.53949520e-01 -9.34992099e-01 -2.25723571e-02 2.35425917e+02] [ 9.32861247e-01 3.54666239e-01 -6.31011272e-02 1.56252767e+02] [ 6.70047084e-02 1.27773646e-03 9.97751841e-01 2.02146326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.44, Y:156.31, Z:20.22 [[ 3.56607558e-01 -9.33981997e-01 -2.25539302e-02 2.35441735e+02] [ 9.31848700e-01 3.57316969e-01 -6.31077128e-02 1.56307760e+02] [ 6.70003696e-02 1.48783673e-03 9.97751841e-01 2.02169391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.46, Y:156.36, Z:20.22 [[ 3.56643719e-01 -9.33968654e-01 -2.25346439e-02 2.35460634e+02] [ 9.31834898e-01 3.57351746e-01 -6.31145988e-02 1.56363047e+02] [ 6.69998513e-02 1.51085764e-03 9.97751842e-01 2.02207530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.48, Y:156.42, Z:20.22 [[ 3.55813220e-01 -9.34285803e-01 -2.25164614e-02 2.35478779e+02] [ 9.32152269e-01 3.56521915e-01 -6.31210849e-02 1.56417717e+02] [ 6.70007454e-02 1.47054581e-03 9.97751842e-01 2.02244672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.49, Y:156.48, Z:20.22 [[ 3.48113290e-01 -9.37182468e-01 -2.24979634e-02 2.35491990e+02] [ 9.35054414e-01 3.48838272e-01 -6.31276774e-02 1.56476063e+02] [ 6.70103032e-02 9.38763532e-04 9.97751842e-01 2.02186478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.52, Y:156.53, Z:20.23 [[ 3.50871672e-01 -9.36153652e-01 -2.24813285e-02 2.35515573e+02] [ 9.34023093e-01 3.51589262e-01 -6.31336009e-02 1.56527981e+02] [ 6.70069448e-02 1.15371210e-03 9.97751842e-01 2.02329215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:156.58, Z:20.24 [[ 3.47431452e-01 -9.37436127e-01 -2.24698502e-02 2.35534439e+02] [ 9.35307955e-01 3.48156089e-01 -6.31376859e-02 1.56582451e+02] [ 6.70105629e-02 9.19788286e-04 9.97751842e-01 2.02381904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.55, Y:156.64, Z:20.24 [[ 3.43740254e-01 -9.38796338e-01 -2.24515812e-02 2.35554139e+02] [ 9.36670611e-01 3.44472030e-01 -6.31441816e-02 1.56637286e+02] [ 6.70134683e-02 6.75460739e-04 9.97751842e-01 2.02438830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.57, Y:156.69, Z:20.25 [[ 3.40668314e-01 -9.39915847e-01 -2.24343711e-02 2.35573219e+02] [ 9.37792122e-01 3.41405882e-01 -6.31502956e-02 1.56691364e+02] [ 6.70151898e-02 4.74528229e-04 9.97751842e-01 2.02483105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.59, Y:156.75, Z:20.25 [[ 3.36520977e-01 -9.41409146e-01 -2.24154421e-02 2.35591946e+02] [ 9.39288247e-01 3.37266631e-01 -6.31570138e-02 1.56746299e+02] [ 6.70165711e-02 1.99098656e-04 9.97751843e-01 2.02517233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.61, Y:156.80, Z:20.25 [[ 3.33867645e-01 -9.42353838e-01 -2.23973265e-02 2.35611324e+02] [ 9.40234618e-01 3.34618057e-01 -6.31634375e-02 1.56800575e+02] [ 6.70168576e-02 2.94863886e-05 9.97751843e-01 2.02547081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.63, Y:156.86, Z:20.25 [[ 3.26075782e-01 -9.45078701e-01 -2.23792989e-02 2.35627602e+02] [ 9.42965312e-01 3.26842460e-01 -6.31698242e-02 1.56857908e+02] [ 6.70149605e-02 -5.04752799e-04 9.97751843e-01 2.02508908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.65, Y:156.91, Z:20.26 [[ 3.27658742e-01 -9.44531446e-01 -2.23628410e-02 2.35649968e+02] [ 9.42416378e-01 3.28420778e-01 -6.31756500e-02 1.56910603e+02] [ 6.70158096e-02 -3.75053620e-04 9.97751843e-01 2.02609311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:156.97, Z:20.27 [[ 3.26703178e-01 -9.44862707e-01 -2.23494351e-02 2.35669299e+02] [ 9.42748088e-01 3.27466457e-01 -6.31803922e-02 1.56965438e+02] [ 6.70154867e-02 -4.28652288e-04 9.97751843e-01 2.02675991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.69, Y:157.02, Z:20.27 [[ 3.28638855e-01 -9.44191615e-01 -2.23315153e-02 2.35688009e+02] [ 9.42075007e-01 3.29396599e-01 -6.31867254e-02 1.57020051e+02] [ 6.70163015e-02 -2.72349348e-04 9.97751843e-01 2.02723865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.70, Y:157.08, Z:20.27 [[ 3.34748284e-01 -9.42043362e-01 -2.23134517e-02 2.35704045e+02] [ 9.39921465e-01 3.35491089e-01 -6.31931037e-02 1.57076273e+02] [ 6.70166081e-02 1.80890749e-04 9.97751844e-01 2.02749293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.72, Y:157.13, Z:20.28 [[ 3.40395942e-01 -9.40017825e-01 -2.22955658e-02 2.35721251e+02] [ 9.37891096e-01 3.41124797e-01 -6.31994135e-02 1.57131891e+02] [ 6.70141455e-02 6.02011281e-04 9.97751844e-01 2.02792690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.74, Y:157.19, Z:20.28 [[ 3.47935374e-01 -9.37253806e-01 -2.22773247e-02 2.35737750e+02] [ 9.35120881e-01 3.48645893e-01 -6.32058427e-02 1.57186990e+02] [ 6.70068144e-02 1.15955704e-03 9.97751844e-01 2.02843576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.75, Y:157.24, Z:20.29 [[ 3.53450885e-01 -9.35188213e-01 -2.22593425e-02 2.35753518e+02] [ 9.33050743e-01 3.54147612e-01 -6.32121749e-02 1.57242833e+02] [ 6.69983739e-02 1.57330304e-03 9.97751844e-01 2.02884478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.77, Y:157.30, Z:20.28 [[ 3.49251876e-01 -9.36764893e-01 -2.22410268e-02 2.35766888e+02] [ 9.34630162e-01 3.49956950e-01 -6.32186186e-02 1.57300742e+02] [ 6.70043844e-02 1.29208665e-03 9.97751844e-01 2.02829698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.79, Y:157.35, Z:20.30 [[ 3.51703793e-01 -9.35847496e-01 -2.22240142e-02 2.35790327e+02] [ 9.33710550e-01 3.52402126e-01 -6.32245987e-02 1.57353401e+02] [ 6.70003722e-02 1.48553469e-03 9.97751845e-01 2.02950455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.80, Y:157.41, Z:20.29 [[ 3.43040770e-01 -9.39057713e-01 -2.22180588e-02 2.35803234e+02] [ 9.36927177e-01 3.43758419e-01 -6.32266915e-02 1.57411378e+02] [ 6.70111570e-02 8.72629794e-04 9.97751845e-01 2.02892682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.83, Y:157.46, Z:20.30 [[ 3.45801233e-01 -9.38044946e-01 -2.22078039e-02 2.35828138e+02] [ 9.35912078e-01 3.46511922e-01 -6.32302932e-02 1.57462419e+02] [ 6.70081258e-02 1.08056151e-03 9.97751845e-01 2.03030900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.84, Y:157.52, Z:20.30 [[ 3.38829035e-01 -9.40586135e-01 -2.21947478e-02 2.35843509e+02] [ 9.38458302e-01 3.39554658e-01 -6.32348758e-02 1.57519085e+02] [ 6.70141774e-02 5.96966646e-04 9.97751845e-01 2.03025425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.87, Y:157.57, Z:20.31 [[ 3.42715180e-01 -9.39177393e-01 -2.21840128e-02 2.35866062e+02] [ 9.37046335e-01 3.43431275e-01 -6.32386416e-02 1.57572073e+02] [ 6.70109863e-02 8.85394577e-04 9.97751845e-01 2.03108595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.89, Y:157.63, Z:20.31 [[ 3.43927879e-01 -9.38734121e-01 -2.21780010e-02 2.35885057e+02] [ 9.36602005e-01 3.44640817e-01 -6.32407499e-02 1.57626945e+02] [ 6.70096941e-02 9.78296817e-04 9.97751845e-01 2.03137278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.90, Y:157.68, Z:20.32 [[ 3.45777819e-01 -9.38054719e-01 -2.21595100e-02 2.35903650e+02] [ 9.35920788e-01 3.46485306e-01 -6.32472284e-02 1.57680699e+02] [ 6.70073057e-02 1.12994263e-03 9.97751845e-01 2.03169007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.92, Y:157.74, Z:20.32 [[ 3.49921980e-01 -9.36517035e-01 -2.21461099e-02 2.35921877e+02] [ 9.34379702e-01 3.50619121e-01 -6.32519202e-02 1.57735960e+02] [ 6.70013503e-02 1.44036162e-03 9.97751845e-01 2.03211097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.94, Y:157.79, Z:20.32 [[ 3.54049559e-01 -9.34964856e-01 -2.21275381e-02 2.35940623e+02] [ 9.32824065e-01 3.54736009e-01 -6.32584165e-02 1.57790735e+02] [ 6.69938308e-02 1.75551442e-03 9.97751845e-01 2.03249162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.96, Y:157.85, Z:20.33 [[ 3.55541349e-01 -9.34399022e-01 -2.21092043e-02 2.35960069e+02] [ 9.32256743e-01 3.56223141e-01 -6.32648236e-02 1.57845102e+02] [ 6.69903996e-02 1.88180590e-03 9.97751845e-01 2.03297450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.98, Y:157.90, Z:20.33 [[ 3.55605698e-01 -9.34374964e-01 -2.20910533e-02 2.35979785e+02] [ 9.32232248e-01 3.56286116e-01 -6.32711611e-02 1.57899731e+02] [ 6.69897244e-02 1.90559311e-03 9.97751846e-01 2.03349979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.99, Y:157.96, Z:20.33 [[ 3.50053352e-01 -9.36469641e-01 -2.20740229e-02 2.35993262e+02] [ 9.34330630e-01 3.50745325e-01 -6.32771021e-02 1.57956871e+02] [ 6.69994454e-02 1.52592597e-03 9.97751846e-01 2.03325646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.02, Y:158.01, Z:20.34 [[ 3.52632421e-01 -9.35501937e-01 -2.20567830e-02 2.36019781e+02] [ 9.33360654e-01 3.53317333e-01 -6.32831109e-02 1.58009407e+02] [ 6.69945166e-02 1.72874321e-03 9.97751846e-01 2.03428517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.04, Y:158.06, Z:20.35 [[ 3.51807562e-01 -9.35812832e-01 -2.20405030e-02 2.36039045e+02] [ 9.33671801e-01 3.52493261e-01 -6.32887805e-02 1.58063936e+02] [ 6.69955816e-02 1.68687543e-03 9.97751846e-01 2.03458240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.06, Y:158.12, Z:20.35 [[ 3.49701874e-01 -9.36602163e-01 -2.20224304e-02 2.36058635e+02] [ 9.34462287e-01 3.50391166e-01 -6.32950686e-02 1.58118534e+02] [ 6.69987632e-02 1.55527341e-03 9.97751846e-01 2.03478094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.08, Y:158.17, Z:20.35 [[ 3.48655399e-01 -9.36992653e-01 -2.20041162e-02 2.36078299e+02] [ 9.34853148e-01 3.49345845e-01 -6.33014347e-02 1.58172765e+02] [ 6.70000258e-02 1.49976969e-03 9.97751847e-01 2.03519449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.10, Y:158.23, Z:20.36 [[ 3.46266742e-01 -9.37878441e-01 -2.19857332e-02 2.36099785e+02] [ 9.35740300e-01 3.46961397e-01 -6.33078189e-02 1.58227103e+02] [ 6.70032392e-02 1.34845565e-03 9.97751847e-01 2.03582966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.12, Y:158.28, Z:20.36 [[ 3.44263824e-01 -9.38615906e-01 -2.19681828e-02 2.36119450e+02] [ 9.36478865e-01 3.44961858e-01 -6.33139084e-02 1.58281481e+02] [ 6.70056266e-02 1.22394931e-03 9.97751847e-01 2.03631270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.14, Y:158.34, Z:20.37 [[ 3.41849818e-01 -9.39498220e-01 -2.19498469e-02 2.36139549e+02] [ 9.37362575e-01 3.42552108e-01 -6.33202645e-02 1.58335364e+02] [ 6.70082421e-02 1.07105589e-03 9.97751847e-01 2.03674661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.16, Y:158.39, Z:20.37 [[ 3.40611645e-01 -9.39948246e-01 -2.19317542e-02 2.36159661e+02] [ 9.37813126e-01 3.41315529e-01 -6.33265305e-02 1.58389206e+02] [ 6.70093096e-02 1.00186674e-03 9.97751847e-01 2.03719307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.18, Y:158.44, Z:20.37 [[ 3.38600067e-01 -9.40675182e-01 -2.19133707e-02 2.36180555e+02] [ 9.38541163e-01 3.39307281e-01 -6.33328913e-02 1.58443154e+02] [ 6.70110453e-02 8.77920867e-04 9.97751847e-01 2.03737806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.20, Y:158.50, Z:20.38 [[ 3.37297936e-01 -9.41143299e-01 -2.18950523e-02 2.36199952e+02] [ 9.39009850e-01 3.38006869e-01 -6.33392236e-02 1.58496494e+02] [ 6.70119639e-02 8.04519600e-04 9.97751848e-01 2.03755596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.22, Y:158.55, Z:20.38 [[ 3.34428910e-01 -9.42167041e-01 -2.18762757e-02 2.36221421e+02] [ 9.40035339e-01 3.35143078e-01 -6.33457080e-02 1.58550556e+02] [ 6.70139207e-02 6.20163819e-04 9.97751848e-01 2.03799180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.24, Y:158.60, Z:20.39 [[ 3.30541380e-01 -9.43538345e-01 -2.18583521e-02 2.36242171e+02] [ 9.41409198e-01 3.31263128e-01 -6.33518922e-02 1.58604026e+02] [ 6.70158056e-02 3.62768166e-04 9.97751848e-01 2.03865800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.26, Y:158.66, Z:20.39 [[ 3.24510452e-01 -9.45629965e-01 -2.18388714e-02 2.36263850e+02] [ 9.43505018e-01 3.25244474e-01 -6.33586070e-02 1.58658343e+02] [ 6.70167695e-02 -4.45545398e-05 9.97751848e-01 2.03902508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.28, Y:158.71, Z:20.39 [[ 3.19528350e-01 -9.47325439e-01 -2.18207677e-02 2.36284306e+02] [ 9.45203961e-01 3.20272336e-01 -6.33648413e-02 1.58711845e+02] [ 6.70157144e-02 -3.78212903e-04 9.97751848e-01 2.03934754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.30, Y:158.77, Z:20.40 [[ 3.15664921e-01 -9.48620223e-01 -2.18020721e-02 2.36303968e+02] [ 9.46501351e-01 3.16416298e-01 -6.33712733e-02 1.58766181e+02] [ 6.70138024e-02 -6.31602731e-04 9.97751849e-01 2.03970261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.32, Y:158.82, Z:20.40 [[ 3.08294890e-01 -9.51041377e-01 -2.17844001e-02 2.36324981e+02] [ 9.48927972e-01 3.09061508e-01 -6.33773476e-02 1.58820164e+02] [ 6.70071995e-02 -1.13291425e-03 9.97751849e-01 2.04030727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.34, Y:158.87, Z:20.41 [[ 3.04044257e-01 -9.52409228e-01 -2.17658621e-02 2.36344621e+02] [ 9.50298815e-01 3.04819074e-01 -6.33837136e-02 1.58873104e+02] [ 6.70018836e-02 -1.41261886e-03 9.97751849e-01 2.04078806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.36, Y:158.93, Z:20.41 [[ 3.01141213e-01 -9.53331422e-01 -2.17524666e-02 2.36363252e+02] [ 9.51223050e-01 3.01921565e-01 -6.33883104e-02 1.58927401e+02] [ 6.69976069e-02 -1.60261500e-03 9.97751849e-01 2.04116697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.38, Y:158.98, Z:20.42 [[ 3.01970854e-01 -9.53069385e-01 -2.17336327e-02 2.36381538e+02] [ 9.50959873e-01 3.02748119e-01 -6.33947673e-02 1.58982043e+02] [ 6.69994283e-02 -1.52444059e-03 9.97751849e-01 2.04157576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.40, Y:159.04, Z:20.42 [[ 3.06576071e-01 -9.51598415e-01 -2.17156367e-02 2.36398991e+02] [ 9.49484735e-01 3.07341927e-01 -6.34009311e-02 1.59037207e+02] [ 6.70063512e-02 -1.18145723e-03 9.97751849e-01 2.04191656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.42, Y:159.09, Z:20.42 [[ 3.09991828e-01 -9.50491599e-01 -2.16976393e-02 2.36416109e+02] [ 9.48374752e-01 3.10748888e-01 -6.34070898e-02 1.59093064e+02] [ 6.70104234e-02 -9.21813597e-04 9.97751850e-01 2.04228705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.43, Y:159.15, Z:20.43 [[ 3.13823905e-01 -9.49233660e-01 -2.16798522e-02 2.36431883e+02] [ 9.47113357e-01 3.14571230e-01 -6.34131709e-02 1.59147474e+02] [ 6.70137741e-02 -6.32708650e-04 9.97751850e-01 2.04259244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.45, Y:159.20, Z:20.43 [[ 3.15926493e-01 -9.48536369e-01 -2.16612294e-02 2.36449003e+02] [ 9.46413980e-01 3.16667873e-01 -6.34195316e-02 1.59202414e+02] [ 6.70151476e-02 -4.64580135e-04 9.97751850e-01 2.04300529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.47, Y:159.26, Z:20.43 [[ 3.19490691e-01 -9.47342197e-01 -2.16439366e-02 2.36465623e+02] [ 9.45216637e-01 3.20222928e-01 -6.34254328e-02 1.59256372e+02] [ 6.70164736e-02 -1.94373604e-04 9.97751850e-01 2.04347789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.48, Y:159.31, Z:20.44 [[ 3.22188273e-01 -9.46428620e-01 -2.16236987e-02 2.36482288e+02] [ 9.44300520e-01 3.22913095e-01 -6.34323318e-02 1.59311510e+02] [ 6.70167497e-02 1.78835437e-05 9.97751850e-01 2.04381150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:236.50, Y:159.36, Z:20.45 [[ 3.30062150e-01 -9.43711932e-01 -2.16047670e-02 2.36502593e+02] [ 9.41577447e-01 3.30767945e-01 -6.34387792e-02 1.59364996e+02] [ 6.70140973e-02 5.96178463e-04 9.97751851e-01 2.04515127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.52, Y:159.42, Z:20.45 [[ 3.30791762e-01 -9.43456884e-01 -2.15851184e-02 2.36516601e+02] [ 9.41321418e-01 3.31494586e-01 -6.34454640e-02 1.59421828e+02] [ 6.70134096e-02 6.68702539e-04 9.97751851e-01 2.04465586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:159.48, Z:20.46 [[ 3.34837097e-01 -9.42029183e-01 -2.15670177e-02 2.36537369e+02] [ 9.39890327e-01 3.35529531e-01 -6.34516163e-02 1.59476504e+02] [ 6.70096457e-02 9.75323658e-04 9.97751851e-01 2.04554651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:236.56, Y:159.53, Z:20.46 [[ 3.35281982e-01 -9.41871329e-01 -2.15497630e-02 2.36556587e+02] [ 9.39731770e-01 3.35972244e-01 -6.34574759e-02 1.59531526e+02] [ 6.70088994e-02 1.02515137e-03 9.97751851e-01 2.04601108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.58, Y:159.59, Z:20.47 [[ 3.35525411e-01 -9.41785090e-01 -2.15300427e-02 2.36576952e+02] [ 9.39644925e-01 3.36213792e-01 -6.34641660e-02 1.59585674e+02] [ 6.70083026e-02 1.06324507e-03 9.97751851e-01 2.04652354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:159.64, Z:20.47 [[ 3.35454088e-01 -9.41810723e-01 -2.15201282e-02 2.36595335e+02] [ 9.39670396e-01 3.36141963e-01 -6.34675278e-02 1.59639854e+02] [ 6.70082164e-02 1.06861428e-03 9.97751851e-01 2.04662345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.62, Y:159.69, Z:20.47 [[ 3.36799847e-01 -9.41330575e-01 -2.15084143e-02 2.36616289e+02] [ 9.39189014e-01 3.37483873e-01 -6.34714972e-02 1.59694135e+02] [ 6.70064039e-02 1.17672413e-03 9.97751851e-01 2.04709002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.64, Y:159.75, Z:20.48 [[ 3.38532368e-01 -9.40709314e-01 -2.14900605e-02 2.36636927e+02] [ 9.38566105e-01 3.39211212e-01 -6.34777108e-02 1.59748772e+02] [ 6.70037433e-02 1.31941738e-03 9.97751852e-01 2.04757923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.66, Y:159.80, Z:20.48 [[ 3.38870421e-01 -9.40588014e-01 -2.14715098e-02 2.36655647e+02] [ 9.38444166e-01 3.39547243e-01 -6.34839850e-02 1.59802853e+02] [ 6.70028674e-02 1.36303160e-03 9.97751852e-01 2.04790028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.68, Y:159.86, Z:20.48 [[ 3.39769565e-01 -9.40264033e-01 -2.14520678e-02 2.36675272e+02] [ 9.38119127e-01 3.40443024e-01 -6.34905541e-02 1.59857296e+02] [ 6.70010913e-02 1.44756282e-03 9.97751852e-01 2.04822529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.70, Y:159.91, Z:20.49 [[ 3.39526303e-01 -9.40352303e-01 -2.14344636e-02 2.36696741e+02] [ 9.38207198e-01 3.40199130e-01 -6.34964967e-02 1.59911766e+02] [ 6.70010628e-02 1.44876273e-03 9.97751852e-01 2.04853754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:159.97, Z:20.49 [[ 3.37891601e-01 -9.40941318e-01 -2.14173266e-02 2.36718610e+02] [ 9.38797022e-01 3.38566999e-01 -6.35022765e-02 1.59965078e+02] [ 6.70031158e-02 1.35036349e-03 9.97751852e-01 2.04920198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.74, Y:160.02, Z:20.50 [[ 3.36749246e-01 -9.41351179e-01 -2.13986597e-02 2.36739279e+02] [ 9.39207307e-01 3.37425987e-01 -6.35085662e-02 1.60018333e+02] [ 6.70043275e-02 1.28868417e-03 9.97751853e-01 2.04958418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.76, Y:160.07, Z:20.50 [[ 3.36101711e-01 -9.41583014e-01 -2.13791515e-02 2.36760523e+02] [ 9.39439192e-01 3.36778611e-01 -6.35151327e-02 1.60071209e+02] [ 6.70048110e-02 1.26313197e-03 9.97751853e-01 2.04998966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.78, Y:160.13, Z:20.50 [[ 3.34601841e-01 -9.42117351e-01 -2.13659584e-02 2.36781581e+02] [ 9.39974328e-01 3.35281265e-01 -6.35195704e-02 1.60125516e+02] [ 6.70064950e-02 1.17031280e-03 9.97751853e-01 2.05039901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.80, Y:160.18, Z:20.51 [[ 3.31540976e-01 -9.43199263e-01 -2.13478694e-02 2.36802097e+02] [ 9.41058067e-01 3.32226137e-01 -6.35256492e-02 1.60180163e+02] [ 6.70096657e-02 9.71771009e-04 9.97751853e-01 2.05082957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.82, Y:160.23, Z:20.51 [[ 3.25381782e-01 -9.45342110e-01 -2.13304926e-02 2.36823601e+02] [ 9.43205048e-01 3.26079727e-01 -6.35314834e-02 1.60234815e+02] [ 6.70144279e-02 5.52959013e-04 9.97751853e-01 2.05130139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.84, Y:160.29, Z:20.52 [[ 3.20171116e-01 -9.47119951e-01 -2.13132378e-02 2.36844145e+02] [ 9.44986380e-01 3.20879661e-01 -6.35372715e-02 1.60289447e+02] [ 6.70164020e-02 2.02079730e-04 9.97751853e-01 2.05173077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.87, Y:160.34, Z:20.52 [[ 3.11775994e-01 -9.49916945e-01 -2.12961846e-02 2.36865701e+02] [ 9.47789339e-01 3.12502254e-01 -6.35429868e-02 1.60343619e+02] [ 6.70156656e-02 -3.73118854e-04 9.97751854e-01 2.05218724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.89, Y:160.40, Z:20.53 [[ 3.06607282e-01 -9.51598224e-01 -2.12789568e-02 2.36885737e+02] [ 9.49474199e-01 3.07343947e-01 -6.35487555e-02 1.60398467e+02] [ 6.70128414e-02 -7.19309305e-04 9.97751854e-01 2.05260671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.91, Y:160.45, Z:20.53 [[ 3.01606532e-01 -9.53195402e-01 -2.12609127e-02 2.36905062e+02] [ 9.51074849e-01 3.02353137e-01 -6.35547917e-02 1.60453711e+02] [ 6.70084389e-02 -1.05217907e-03 9.97751854e-01 2.05289357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.92, Y:160.51, Z:20.53 [[ 2.99262076e-01 -9.53934454e-01 -2.12430450e-02 2.36923641e+02] [ 9.51815322e-01 3.00012702e-01 -6.35607635e-02 1.60509155e+02] [ 6.70059855e-02 -1.19812967e-03 9.97751854e-01 2.05329351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.94, Y:160.56, Z:20.54 [[ 2.96515224e-01 -9.54792253e-01 -2.12244131e-02 2.36942252e+02] [ 9.52674848e-01 2.97270706e-01 -6.35669845e-02 1.60563500e+02] [ 6.70026606e-02 -1.37138595e-03 9.97751854e-01 2.05359533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:160.62, Z:20.54 [[ 2.96068441e-01 -9.54931188e-01 -2.12109609e-02 2.36960424e+02] [ 9.52813817e-01 2.96824019e-01 -6.35714729e-02 1.60618447e+02] [ 6.70023048e-02 -1.38858975e-03 9.97751854e-01 2.05400213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.98, Y:160.67, Z:20.54 [[ 2.98932962e-01 -9.54038758e-01 -2.11927672e-02 2.36976973e+02] [ 9.51918701e-01 2.99680970e-01 -6.35775375e-02 1.60674299e+02] [ 6.70065040e-02 -1.16836978e-03 9.97751855e-01 2.05448022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.99, Y:160.73, Z:20.55 [[ 3.03239815e-01 -9.52678989e-01 -2.11744811e-02 2.36993197e+02] [ 9.50555151e-01 3.03977018e-01 -6.35836271e-02 1.60730061e+02] [ 6.70113412e-02 -8.46424775e-04 9.97751855e-01 2.05485302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.01, Y:160.79, Z:20.55 [[ 3.11840027e-01 -9.49899052e-01 -2.11562930e-02 2.37008183e+02] [ 9.47768226e-01 3.12556782e-01 -6.35896783e-02 1.60785927e+02] [ 6.70163180e-02 -2.21455298e-04 9.97751855e-01 2.05511405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.02, Y:160.84, Z:20.55 [[ 3.17594455e-01 -9.47991000e-01 -2.11382729e-02 2.37023847e+02] [ 9.45855469e-01 3.18297067e-01 -6.35956680e-02 1.60840562e+02] [ 6.70163711e-02 2.03880467e-04 9.97751855e-01 2.05534746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.04, Y:160.90, Z:20.56 [[ 3.25277275e-01 -9.45382814e-01 -2.11194025e-02 2.37039969e+02] [ 9.43241246e-01 3.25961264e-01 -6.36019340e-02 1.60896667e+02] [ 6.70122825e-02 7.67572199e-04 9.97751855e-01 2.05572324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.06, Y:160.95, Z:20.56 [[ 3.29719373e-01 -9.43843148e-01 -2.11008641e-02 2.37057425e+02] [ 9.41697996e-01 3.30392034e-01 -6.36080838e-02 1.60951657e+02] [ 6.70076115e-02 1.10217610e-03 9.97751856e-01 2.05639520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.08, Y:161.01, Z:20.57 [[ 3.33469800e-01 -9.42525062e-01 -2.10808242e-02 2.37076287e+02] [ 9.40376834e-01 3.34132574e-01 -6.36147247e-02 1.61006515e+02] [ 6.70022624e-02 1.38967081e-03 9.97751856e-01 2.05679677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.10, Y:161.06, Z:20.57 [[ 3.34406224e-01 -9.42193635e-01 -2.10625592e-02 2.37096769e+02] [ 9.40044371e-01 3.35065631e-01 -6.36207716e-02 1.61060742e+02] [ 6.70004258e-02 1.47544181e-03 9.97751856e-01 2.05729320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.12, Y:161.12, Z:20.58 [[ 3.34029573e-01 -9.42327633e-01 -2.10446116e-02 2.37116742e+02] [ 9.40178262e-01 3.34688628e-01 -6.36267078e-02 1.61115220e+02] [ 6.70005972e-02 1.46751568e-03 9.97751856e-01 2.05780105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.14, Y:161.17, Z:20.58 [[ 3.34824246e-01 -9.42045979e-01 -2.10261154e-02 2.37137283e+02] [ 9.39895671e-01 3.35480240e-01 -6.36328195e-02 1.61170284e+02] [ 6.69988880e-02 1.54345593e-03 9.97751856e-01 2.05798684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.16, Y:161.22, Z:20.58 [[ 3.35198559e-01 -9.41913249e-01 -2.10084853e-02 2.37156757e+02] [ 9.39762319e-01 3.35852508e-01 -6.36386396e-02 1.61223960e+02] [ 6.69978303e-02 1.58859740e-03 9.97751856e-01 2.05814985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.18, Y:161.28, Z:20.59 [[ 3.34373473e-01 -9.42206879e-01 -2.09899299e-02 2.37177971e+02] [ 9.40056141e-01 3.35028052e-01 -6.36447591e-02 1.61278341e+02] [ 6.69987452e-02 1.54940661e-03 9.97751857e-01 2.05866129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.20, Y:161.33, Z:20.59 [[ 3.32852776e-01 -9.42745579e-01 -2.09714728e-02 2.37197880e+02] [ 9.40595519e-01 3.33509580e-01 -6.36508403e-02 1.61331345e+02] [ 6.70007354e-02 1.46068556e-03 9.97751857e-01 2.05909846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.22, Y:161.39, Z:20.60 [[ 3.30928161e-01 -9.43423186e-01 -2.09581638e-02 2.37217805e+02] [ 9.41274195e-01 3.31588453e-01 -6.36552223e-02 1.61385588e+02] [ 6.70032977e-02 1.33792689e-03 9.97751857e-01 2.05961879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.24, Y:161.44, Z:20.60 [[ 3.30436992e-01 -9.43595740e-01 -2.09397866e-02 2.37236527e+02] [ 9.41446712e-01 3.31097164e-01 -6.36612670e-02 1.61440343e+02] [ 6.70036043e-02 1.32234432e-03 9.97751857e-01 2.05999875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.26, Y:161.50, Z:20.60 [[ 3.28800920e-01 -9.44167486e-01 -2.09216213e-02 2.37255142e+02] [ 9.42019228e-01 3.29463591e-01 -6.36672363e-02 1.61495047e+02] [ 6.70054469e-02 1.22527632e-03 9.97751857e-01 2.06038510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.27, Y:161.55, Z:20.61 [[ 3.27604131e-01 -9.44583810e-01 -2.09035680e-02 2.37273681e+02] [ 9.42436017e-01 3.28268307e-01 -6.36731631e-02 1.61549903e+02] [ 6.70066179e-02 1.15931588e-03 9.97751858e-01 2.06080376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.29, Y:161.60, Z:20.61 [[ 3.23344086e-01 -9.46050947e-01 -2.08855750e-02 2.37292610e+02] [ 9.43905789e-01 3.24016724e-01 -6.36790645e-02 1.61604565e+02] [ 6.70109149e-02 8.76233752e-04 9.97751858e-01 2.06135351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.31, Y:161.66, Z:20.62 [[ 3.21860648e-01 -9.46557065e-01 -2.08673505e-02 2.37310051e+02] [ 9.44412578e-01 3.22535422e-01 -6.36850360e-02 1.61660226e+02] [ 6.70119805e-02 7.90318689e-04 9.97751858e-01 2.06184322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65999999999997 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:237.33, Y:161.71, Z:20.62 [[ 3.21063393e-01 -9.46828166e-01 -2.08499996e-02 2.37332755e+02] [ 9.44683880e-01 3.21738806e-01 -6.36907161e-02 1.61713523e+02] [ 6.70124179e-02 7.52098829e-04 9.97751858e-01 2.06233433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71999999999997 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:237.35, Y:161.77, Z:20.62 [[ 3.12373008e-01 -9.49731217e-01 -2.08259182e-02 2.37348299e+02] [ 9.47592687e-01 3.13066428e-01 -6.36985894e-02 1.61768706e+02] [ 6.70164347e-02 1.63232258e-04 9.97751858e-01 2.06232503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.37, Y:161.82, Z:20.63 [[ 3.09086191e-01 -9.50806536e-01 -2.08004262e-02 2.37366984e+02] [ 9.48669858e-01 3.09785296e-01 -6.37069126e-02 1.61822821e+02] [ 6.70166151e-02 -4.18103962e-05 9.97751859e-01 2.06306216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.38, Y:161.88, Z:20.63 [[ 3.07043996e-01 -9.51468532e-01 -2.07754038e-02 2.37384837e+02] [ 9.49332809e-01 3.07746011e-01 -6.37150716e-02 1.61877911e+02] [ 6.70164333e-02 -1.59442296e-04 9.97751859e-01 2.06344425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:161.93, Z:20.64 [[ 3.06272045e-01 -9.51717703e-01 -2.07568914e-02 2.37401550e+02] [ 9.49582142e-01 3.06974553e-01 -6.37211020e-02 1.61933843e+02] [ 6.70163383e-02 -1.94381208e-04 9.97751859e-01 2.06378974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.42, Y:161.99, Z:20.64 [[ 3.03191957e-01 -9.52703813e-01 -2.07384122e-02 2.37417240e+02] [ 9.50570125e-01 3.03900134e-01 -6.37271156e-02 1.61989026e+02] [ 6.70154723e-02 -3.91766151e-04 9.97751859e-01 2.06413576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.43, Y:162.04, Z:20.65 [[ 2.98721721e-01 -9.54115324e-01 -2.07191060e-02 2.37434007e+02] [ 9.51984547e-01 2.99438604e-01 -6.37333919e-02 1.62044783e+02] [ 6.70131060e-02 -6.85720226e-04 9.97751860e-01 2.06460721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.45, Y:162.10, Z:20.65 [[ 2.92320937e-01 -9.56096202e-01 -2.07007752e-02 2.37450206e+02] [ 9.53969857e-01 2.93050862e-01 -6.37393452e-02 1.62100278e+02] [ 6.70073259e-02 -1.11557042e-03 9.97751860e-01 2.06498466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.46, Y:162.16, Z:20.66 [[ 2.80171832e-01 -9.59727029e-01 -2.06826860e-02 2.37463188e+02] [ 9.57609684e-01 2.80927466e-01 -6.37452144e-02 1.62156976e+02] [ 6.69883398e-02 -1.94632684e-03 9.97751860e-01 2.06571122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.48, Y:162.21, Z:20.66 [[ 2.68941436e-01 -9.62934811e-01 -2.06652739e-02 2.37479029e+02] [ 9.60826012e-01 2.69720602e-01 -6.37508587e-02 1.62213759e+02] [ 6.69617712e-02 -2.71048524e-03 9.97751860e-01 2.06637346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.49, Y:162.27, Z:20.67 [[ 2.63225549e-01 -9.64513330e-01 -2.06481433e-02 2.37492670e+02] [ 9.62408765e-01 2.64016078e-01 -6.37564066e-02 1.62270349e+02] [ 6.69453459e-02 -3.08963895e-03 9.97751860e-01 2.06673830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.50, Y:162.33, Z:20.67 [[ 2.60977030e-01 -9.65124560e-01 -2.06294193e-02 2.37503422e+02] [ 9.63021377e-01 2.61771228e-01 -6.37624645e-02 1.62327705e+02] [ 6.69389089e-02 -3.22603310e-03 9.97751861e-01 2.06680890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.52, Y:162.38, Z:20.67 [[ 2.61160616e-01 -9.65075107e-01 -2.06196464e-02 2.37515284e+02] [ 9.62971530e-01 2.61953770e-01 -6.37656247e-02 1.62384701e+02] [ 6.69400112e-02 -3.20306263e-03 9.97751861e-01 2.06727474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.52, Y:162.44, Z:20.68 [[ 2.65743737e-01 -9.63823561e-01 -2.06011913e-02 2.37523627e+02] [ 9.61715786e-01 2.66525667e-01 -6.37715866e-02 1.62443039e+02] [ 6.69553040e-02 -2.86559111e-03 9.97751861e-01 2.06767031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.53, Y:162.50, Z:20.68 [[ 2.74563514e-01 -9.61348646e-01 -2.05829607e-02 2.37529952e+02] [ 9.59233360e-01 2.75324891e-01 -6.37774702e-02 1.62501816e+02] [ 6.69793860e-02 -2.23289619e-03 9.97751861e-01 2.06796511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.54, Y:162.56, Z:20.68 [[ 2.80877374e-01 -9.59523319e-01 -2.05645735e-02 2.37540042e+02] [ 9.57402643e-01 2.81623608e-01 -6.37833985e-02 1.62558482e+02] [ 6.69931276e-02 -1.77326358e-03 9.97751861e-01 2.06829372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.55, Y:162.62, Z:20.69 [[ 2.86155951e-01 -9.57962639e-01 -2.05512545e-02 2.37550722e+02] [ 9.55837581e-01 2.86889611e-01 -6.37876896e-02 1.62615841e+02] [ 6.70021649e-02 -1.39043439e-03 9.97751861e-01 2.06859374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.56, Y:162.67, Z:20.69 [[ 2.90982537e-01 -9.56507993e-01 -2.05334600e-02 2.37558818e+02] [ 9.54378860e-01 2.91704287e-01 -6.37934172e-02 1.62673194e+02] [ 6.70086118e-02 -1.03392971e-03 9.97751861e-01 2.06878489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.57, Y:162.73, Z:20.69 [[ 2.91564676e-01 -9.56331105e-01 -2.05148284e-02 2.37568938e+02] [ 9.54201113e-01 2.92283887e-01 -6.37994083e-02 1.62730317e+02] [ 6.70095124e-02 -9.73618334e-04 9.97751862e-01 2.06920386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:162.79, Z:20.70 [[ 2.90023696e-01 -9.56799956e-01 -2.04963521e-02 2.37582183e+02] [ 9.54670709e-01 2.90745105e-01 -6.38053435e-02 1.62786123e+02] [ 6.70081639e-02 -1.06220541e-03 9.97751862e-01 2.06968694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.59, Y:162.84, Z:20.70 [[ 2.86203176e-01 -9.57950120e-01 -2.04770340e-02 2.37594221e+02] [ 9.55823328e-01 2.86931791e-01 -6.38115426e-02 1.62843259e+02] [ 6.70037870e-02 -1.30936058e-03 9.97751862e-01 2.07005702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.61, Y:162.90, Z:20.70 [[ 2.82757894e-01 -9.58973103e-01 -2.04587920e-02 2.37608301e+02] [ 9.56848523e-01 2.83492935e-01 -6.38173907e-02 1.62899614e+02] [ 6.69990842e-02 -1.53109389e-03 9.97751862e-01 2.07032666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.62, Y:162.96, Z:20.70 [[ 2.77238737e-01 -9.60583602e-01 -2.04407736e-02 2.37620905e+02] [ 9.58462864e-01 2.77984788e-01 -6.38231615e-02 1.62956951e+02] [ 6.69897065e-02 -1.89746970e-03 9.97751862e-01 2.07038641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.63, Y:163.01, Z:20.71 [[ 2.71775000e-01 -9.62144108e-01 -2.04221480e-02 2.37633700e+02] [ 9.60027203e-01 2.72531858e-01 -6.38291208e-02 1.63013461e+02] [ 6.69784985e-02 -2.25865831e-03 9.97751863e-01 2.07080076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.65, Y:163.07, Z:20.71 [[ 2.68957980e-01 -9.62935771e-01 -2.04035839e-02 2.37647383e+02] [ 9.60820647e-01 2.69719801e-01 -6.38350545e-02 1.63070303e+02] [ 6.69723080e-02 -2.43523741e-03 9.97751863e-01 2.07125230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.66, Y:163.13, Z:20.72 [[ 2.67460395e-01 -9.63353201e-01 -2.03849760e-02 2.37658408e+02] [ 9.61238819e-01 2.68224272e-01 -6.38409961e-02 1.63127213e+02] [ 6.69691733e-02 -2.51989222e-03 9.97751863e-01 2.07165583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.67, Y:163.18, Z:20.72 [[ 2.69197578e-01 -9.62869608e-01 -2.03662100e-02 2.37668441e+02] [ 9.60753406e-01 2.69956398e-01 -6.38469822e-02 1.63184483e+02] [ 6.69743074e-02 -2.37945263e-03 9.97751863e-01 2.07196902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.68, Y:163.24, Z:20.72 [[ 2.72036579e-01 -9.62071764e-01 -2.03475159e-02 2.37681201e+02] [ 9.59952893e-01 2.72787914e-01 -6.38529393e-02 1.63240986e+02] [ 6.69816664e-02 -2.16232158e-03 9.97751863e-01 2.07230509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.69, Y:163.30, Z:20.73 [[ 2.79338277e-01 -9.59977534e-01 -2.03288249e-02 2.37691576e+02] [ 9.57852586e-01 2.80072250e-01 -6.38588894e-02 1.63298245e+02] [ 6.69966389e-02 -1.63378535e-03 9.97751864e-01 2.07262413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.71, Y:163.35, Z:20.73 [[ 2.82158276e-01 -9.59152861e-01 -2.03100225e-02 2.37706720e+02] [ 9.57025338e-01 2.82884749e-01 -6.38648689e-02 1.63353574e+02] [ 6.70015673e-02 -1.41720480e-03 9.97751864e-01 2.07299139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.72, Y:163.41, Z:20.73 [[ 2.91185396e-01 -9.56451384e-01 -2.02932343e-02 2.37717714e+02] [ 9.54316738e-01 2.91890665e-01 -6.38702030e-02 1.63410266e+02] [ 6.70121497e-02 -7.68102821e-04 9.97751864e-01 2.07331273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.73, Y:163.47, Z:20.74 [[ 2.95647209e-01 -9.55082032e-01 -2.02741154e-02 2.37732356e+02] [ 9.52943702e-01 2.96341226e-01 -6.38762713e-02 1.63466370e+02] [ 6.70151352e-02 -4.35249258e-04 9.97751864e-01 2.07372666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.75, Y:163.52, Z:20.74 [[ 3.00864666e-01 -9.53451712e-01 -2.02555165e-02 2.37747219e+02] [ 9.51309223e-01 3.01545735e-01 -6.38821685e-02 1.63522449e+02] [ 6.70165276e-02 -4.93724325e-05 9.97751864e-01 2.07416774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.76, Y:163.58, Z:20.74 [[ 3.03064399e-01 -9.52755191e-01 -2.02365257e-02 2.37763552e+02] [ 9.50610735e-01 3.03739248e-01 -6.38881839e-02 1.63578209e+02] [ 6.70164259e-02 1.25175496e-04 9.97751864e-01 2.07445643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.78, Y:163.63, Z:20.75 [[ 3.04843166e-01 -9.52187954e-01 -2.02174198e-02 2.37781814e+02] [ 9.50041842e-01 3.05512727e-01 -6.38942294e-02 1.63632936e+02] [ 6.70159946e-02 2.70324419e-04 9.97751865e-01 2.07483404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.80, Y:163.69, Z:20.75 [[ 3.03551479e-01 -9.52600926e-01 -2.01983984e-02 2.37800688e+02] [ 9.50455324e-01 3.04222675e-01 -6.39002419e-02 1.63686451e+02] [ 6.70162404e-02 1.99337674e-04 9.97751865e-01 2.07522643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.82, Y:163.74, Z:20.76 [[ 3.02451234e-01 -9.52951184e-01 -2.01814473e-02 2.37819759e+02] [ 9.50806003e-01 3.03123771e-01 -6.39055951e-02 1.63741122e+02] [ 6.70163890e-02 1.39684904e-04 9.97751865e-01 2.07563373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.84, Y:163.80, Z:20.76 [[ 3.01196551e-01 -9.53348889e-01 -2.01626886e-02 2.37840087e+02] [ 9.51204198e-01 3.01870653e-01 -6.39115131e-02 1.63795689e+02] [ 6.70164940e-02 7.10933021e-05 9.97751865e-01 2.07605950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.86, Y:163.85, Z:20.76 [[ 3.00983291e-01 -9.53416631e-01 -2.01441613e-02 2.37859067e+02] [ 9.51271701e-01 3.01656631e-01 -6.39173522e-02 1.63850918e+02] [ 6.70164863e-02 7.54844182e-05 9.97751865e-01 2.07642936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:163.91, Z:20.77 [[ 3.03065974e-01 -9.52757049e-01 -2.01251501e-02 2.37878356e+02] [ 9.50610256e-01 3.03733350e-01 -6.39233375e-02 1.63905610e+02] [ 6.70160896e-02 2.41814487e-04 9.97751866e-01 2.07673590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:237.90, Y:163.96, Z:20.77 [[ 3.06670716e-01 -9.51603289e-01 -2.01060164e-02 2.37897247e+02] [ 9.49453592e-01 3.07328675e-01 -6.39293551e-02 1.63959473e+02] [ 6.70145400e-02 5.15531579e-04 9.97751866e-01 2.07713563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.92, Y:164.01, Z:20.78 [[ 3.08263780e-01 -9.51088783e-01 -2.00890232e-02 2.37915531e+02] [ 9.48937640e-01 3.08916996e-01 -6.39346946e-02 1.64014673e+02] [ 6.70134116e-02 6.45520330e-04 9.97751866e-01 2.07750190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:164.07, Z:20.78 [[ 3.06480982e-01 -9.51665167e-01 -2.00703248e-02 2.37934205e+02] [ 9.49514868e-01 3.07136972e-01 -6.39405639e-02 1.64069304e+02] [ 6.70143462e-02 5.39494963e-04 9.97751866e-01 2.07790607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.95, Y:164.12, Z:20.78 [[ 3.04611156e-01 -9.52265697e-01 -2.00521021e-02 2.37954685e+02] [ 9.50116315e-01 3.05270144e-01 -6.39462781e-02 1.64122648e+02] [ 6.70151552e-02 4.26920359e-04 9.97751866e-01 2.07814230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:164.18, Z:20.79 [[ 2.98274937e-01 -9.54269708e-01 -2.00346284e-02 2.37975530e+02] [ 9.52124387e-01 2.98947026e-01 -6.39517522e-02 1.64176240e+02] [ 6.70165125e-02 -2.53354112e-07 9.97751866e-01 2.07853503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.00, Y:164.23, Z:20.79 [[ 2.93090983e-01 -9.55874975e-01 -2.00176622e-02 2.37995031e+02] [ 9.53732972e-01 2.93773572e-01 -6.39570624e-02 1.64230105e+02] [ 6.70156156e-02 -3.46266133e-04 9.97751867e-01 2.07887268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.02, Y:164.28, Z:20.79 [[ 2.84528712e-01 -9.58458909e-01 -1.99982719e-02 2.38015296e+02] [ 9.56322674e-01 2.85229140e-01 -6.39631249e-02 1.64284744e+02] [ 6.70101168e-02 -9.25455320e-04 9.97751867e-01 2.07909130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:164.34, Z:20.79 [[ 2.74239207e-01 -9.61453928e-01 -1.99800080e-02 2.38033920e+02] [ 9.59324911e-01 2.74961278e-01 -6.39688294e-02 1.64339070e+02] [ 6.69968109e-02 -1.62455829e-03 9.97751867e-01 2.07938256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.05, Y:164.39, Z:20.80 [[ 2.62155479e-01 -9.64819186e-01 -1.99610529e-02 2.38052332e+02] [ 9.62698952e-01 2.62902948e-01 -6.39747437e-02 1.64394205e+02] [ 6.69718798e-02 -2.44515512e-03 9.97751867e-01 2.07988592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.07, Y:164.45, Z:20.80 [[ 2.53822829e-01 -9.67045114e-01 -1.99428970e-02 2.38069611e+02] [ 9.64930973e-01 2.54587362e-01 -6.39804030e-02 1.64449204e+02] [ 6.69491456e-02 -3.00383208e-03 9.97751867e-01 2.08032600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.09, Y:164.50, Z:20.81 [[ 2.43721048e-01 -9.69640680e-01 -1.99249008e-02 2.38085231e+02] [ 9.67534189e-01 2.44506410e-01 -6.39860069e-02 1.64504319e+02] [ 6.69152012e-02 -3.68328608e-03 9.97751868e-01 2.08080934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.10, Y:164.56, Z:20.81 [[ 2.40313679e-01 -9.70491156e-01 -1.99061006e-02 2.38099779e+02] [ 9.68386971e-01 2.41105200e-01 -6.39918552e-02 1.64560098e+02] [ 6.69029938e-02 -3.89869029e-03 9.97751868e-01 2.08118784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.11, Y:164.62, Z:20.82 [[ 2.40883752e-01 -9.70350169e-01 -1.98888635e-02 2.38111539e+02] [ 9.68245095e-01 2.41672904e-01 -6.39972121e-02 1.64617744e+02] [ 6.69063050e-02 -3.84140595e-03 9.97751868e-01 2.08157277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.12, Y:164.67, Z:20.81 [[ 2.43314395e-01 -9.69743913e-01 -1.98708054e-02 2.38123712e+02] [ 9.67636427e-01 2.44097081e-01 -6.40028185e-02 1.64673603e+02] [ 6.69167493e-02 -3.65490810e-03 9.97751868e-01 2.08149398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.13, Y:164.73, Z:20.82 [[ 2.49608510e-01 -9.68143317e-01 -1.98522103e-02 2.38133447e+02] [ 9.66030345e-01 2.50376264e-01 -6.40085858e-02 1.64731581e+02] [ 6.69400068e-02 -3.20074983e-03 9.97751868e-01 2.08203225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.14, Y:164.79, Z:20.82 [[ 2.56431074e-01 -9.66358997e-01 -1.98341319e-02 2.38142184e+02] [ 9.64240238e-01 2.57182710e-01 -6.40141872e-02 1.64788517e+02] [ 6.69616816e-02 -2.70964130e-03 9.97751868e-01 2.08205184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.15, Y:164.85, Z:20.83 [[ 2.60849973e-01 -9.65175921e-01 -1.98175103e-02 2.38153741e+02] [ 9.63053360e-01 2.61590806e-01 -6.40193325e-02 1.64845278e+02] [ 6.69739967e-02 -2.38587865e-03 9.97751869e-01 2.08292259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.16, Y:164.90, Z:20.83 [[ 2.68736135e-01 -9.63010317e-01 -1.97994653e-02 2.38163350e+02] [ 9.60881361e-01 2.69458383e-01 -6.40249129e-02 1.64902089e+02] [ 6.69917836e-02 -1.81912948e-03 9.97751869e-01 2.08338791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.18, Y:164.96, Z:20.84 [[ 2.75562168e-01 -9.61079566e-01 -1.97878588e-02 2.38175487e+02] [ 9.58945284e-01 2.76268518e-01 -6.40284999e-02 1.64959155e+02] [ 6.70032453e-02 -1.33164161e-03 9.97751869e-01 2.08389434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.19, Y:165.02, Z:20.84 [[ 2.88900170e-01 -9.57155085e-01 -1.97695751e-02 2.38185499e+02] [ 9.55010801e-01 2.89575550e-01 -6.40341447e-02 1.65015861e+02] [ 6.70153928e-02 -3.80682490e-04 9.97751869e-01 2.08419013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.20, Y:165.07, Z:20.84 [[ 2.93073841e-01 -9.55885788e-01 -1.97505221e-02 2.38200609e+02] [ 9.53738183e-01 2.93738582e-01 -6.40400208e-02 1.65072058e+02] [ 6.70164362e-02 -6.83721639e-05 9.97751869e-01 2.08448839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.21, Y:165.13, Z:20.85 [[ 3.03127763e-01 -9.52745603e-01 -1.97325923e-02 2.38214148e+02] [ 9.50590755e-01 3.03768637e-01 -6.40455450e-02 1.65128204e+02] [ 6.70132541e-02 6.56362927e-04 9.97751869e-01 2.08505878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:165.18, Z:20.86 [[ 3.07968131e-01 -9.51192406e-01 -1.97138876e-02 2.38230679e+02] [ 9.49033960e-01 3.08596781e-01 -6.40513020e-02 1.65184222e+02] [ 6.70087544e-02 1.01661093e-03 9.97751870e-01 2.08553597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.25, Y:165.24, Z:20.86 [[ 3.12194843e-01 -9.49813898e-01 -1.96961900e-02 2.38248622e+02] [ 9.47652336e-01 3.12812696e-01 -6.40567437e-02 1.65239726e+02] [ 6.70032037e-02 1.33304457e-03 9.97751870e-01 2.08594518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.27, Y:165.29, Z:20.86 [[ 3.12716349e-01 -9.49642714e-01 -1.96774036e-02 2.38269726e+02] [ 9.47480453e-01 3.13331749e-01 -6.40625141e-02 1.65293649e+02] [ 6.70020551e-02 1.38944027e-03 9.97751870e-01 2.08628885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.29, Y:165.35, Z:20.87 [[ 3.11385370e-01 -9.50080368e-01 -1.96582183e-02 2.38290987e+02] [ 9.47918602e-01 3.12002505e-01 -6.40684008e-02 1.65348165e+02] [ 6.70035432e-02 1.31557184e-03 9.97751870e-01 2.08667036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.31, Y:165.40, Z:20.87 [[ 3.08540718e-01 -9.51008369e-01 -1.96394583e-02 2.38314317e+02] [ 9.48848095e-01 3.09163056e-01 -6.40741510e-02 1.65400650e+02] [ 6.70068488e-02 1.13462198e-03 9.97751870e-01 2.08697371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.34, Y:165.45, Z:20.87 [[ 3.07653695e-01 -9.51296045e-01 -1.96224267e-02 2.38336617e+02] [ 9.49136022e-01 3.08276901e-01 -6.40793664e-02 1.65454696e+02] [ 6.70075887e-02 1.08990179e-03 9.97751871e-01 2.08737804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.36, Y:165.51, Z:20.88 [[ 3.08077818e-01 -9.51159154e-01 -1.96041082e-02 2.38361041e+02] [ 9.48998499e-01 3.08698827e-01 -6.40849702e-02 1.65506969e+02] [ 6.70067713e-02 1.13888852e-03 9.97751871e-01 2.08772115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:165.56, Z:20.88 [[ 3.07519183e-01 -9.51340308e-01 -1.95849557e-02 2.38387649e+02] [ 9.49179646e-01 3.08140171e-01 -6.40908229e-02 1.65559398e+02] [ 6.70070948e-02 1.11951620e-03 9.97751871e-01 2.08816931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.41, Y:165.61, Z:20.89 [[ 3.06454208e-01 -9.51684266e-01 -1.95672138e-02 2.38411124e+02] [ 9.49523957e-01 3.07076420e-01 -6.40962391e-02 1.65612242e+02] [ 6.70080122e-02 1.06302391e-03 9.97751871e-01 2.08871091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.44, Y:165.67, Z:20.89 [[ 3.05143797e-01 -9.52105627e-01 -1.95483513e-02 2.38437268e+02] [ 9.49945809e-01 3.05767712e-01 -6.41019914e-02 1.65665129e+02] [ 6.70091214e-02 9.90450676e-04 9.97751871e-01 2.08921021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:165.72, Z:20.90 [[ 3.04656290e-01 -9.52262114e-01 -1.95297570e-02 2.38460188e+02] [ 9.50102254e-01 3.05280059e-01 -6.41076560e-02 1.65718438e+02] [ 6.70093374e-02 9.75534472e-04 9.97751871e-01 2.08963844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.49, Y:165.77, Z:20.90 [[ 3.04738213e-01 -9.52236279e-01 -1.95112679e-02 2.38485637e+02] [ 9.50076007e-01 3.05360553e-01 -6.41132827e-02 1.65771302e+02] [ 6.70089653e-02 1.00057965e-03 9.97751872e-01 2.08991726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.51, Y:165.82, Z:20.90 [[ 3.04546645e-01 -9.52297954e-01 -1.94922672e-02 2.38510460e+02] [ 9.50137439e-01 3.05168140e-01 -6.41190589e-02 1.65823841e+02] [ 6.70088675e-02 1.00691146e-03 9.97751872e-01 2.09013165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.54, Y:165.88, Z:20.91 [[ 3.03827681e-01 -9.52527984e-01 -1.94725627e-02 2.38536080e+02] [ 9.50367557e-01 3.04449481e-01 -6.41250425e-02 1.65876970e+02] [ 6.70093090e-02 9.76871167e-04 9.97751872e-01 2.09054089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.56, Y:165.93, Z:20.91 [[ 3.03637289e-01 -9.52589067e-01 -1.94542015e-02 2.38558809e+02] [ 9.50428409e-01 3.04258284e-01 -6.41306124e-02 1.65930915e+02] [ 6.70092223e-02 9.82619492e-04 9.97751872e-01 2.09094677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.58, Y:165.98, Z:20.91 [[ 3.04612711e-01 -9.52277980e-01 -1.94356455e-02 2.38583984e+02] [ 9.50116330e-01 3.05230244e-01 -6.41362356e-02 1.65984164e+02] [ 6.70078717e-02 1.07058840e-03 9.97751872e-01 2.09139756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.61, Y:166.04, Z:20.92 [[ 3.07229432e-01 -9.51437362e-01 -1.94170525e-02 2.38606241e+02] [ 9.49273669e-01 3.07839767e-01 -6.41418641e-02 1.66038201e+02] [ 6.70043069e-02 1.27417181e-03 9.97751873e-01 2.09177796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.63, Y:166.09, Z:20.92 [[ 3.13742810e-01 -9.49309828e-01 -1.93984419e-02 2.38630598e+02] [ 9.47141658e-01 3.14337046e-01 -6.41474920e-02 1.66091372e+02] [ 6.69934935e-02 1.75274196e-03 9.97751873e-01 2.09198539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.66, Y:166.14, Z:20.92 [[ 3.20089025e-01 -9.47189229e-01 -1.93798904e-02 2.38655082e+02] [ 9.45016797e-01 3.20667482e-01 -6.41530962e-02 1.66144595e+02] [ 6.69796224e-02 2.22038005e-03 9.97751873e-01 2.09223272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.68, Y:166.20, Z:20.93 [[ 3.21724274e-01 -9.46635431e-01 -1.93610902e-02 2.38677557e+02] [ 9.44461667e-01 3.22297706e-01 -6.41587695e-02 1.66197168e+02] [ 6.69749994e-02 2.35562595e-03 9.97751873e-01 2.09257470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.70, Y:166.25, Z:20.93 [[ 3.19399748e-01 -9.47422668e-01 -1.93413928e-02 2.38704684e+02] [ 9.45249963e-01 3.19977182e-01 -6.41647070e-02 1.66249368e+02] [ 6.69799023e-02 2.21174044e-03 9.97751873e-01 2.09309373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.73, Y:166.30, Z:20.94 [[ 3.15376140e-01 -9.48770005e-01 -1.93227335e-02 2.38728645e+02] [ 9.46599431e-01 3.15961528e-01 -6.41703257e-02 1.66302780e+02] [ 6.69881206e-02 1.94690108e-03 9.97751874e-01 2.09358987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.76, Y:166.36, Z:20.94 [[ 3.10029343e-01 -9.50530989e-01 -1.93040419e-02 2.38755627e+02] [ 9.48363398e-01 3.10625681e-01 -6.41759481e-02 1.66355390e+02] [ 6.69975586e-02 1.58918023e-03 9.97751874e-01 2.09403476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.78, Y:166.41, Z:20.94 [[ 3.07900381e-01 -9.51223125e-01 -1.92852444e-02 2.38778551e+02] [ 9.49056524e-01 3.08500304e-01 -6.41815964e-02 1.66407626e+02] [ 6.70005224e-02 1.45875102e-03 9.97751874e-01 2.09430579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.80, Y:166.46, Z:20.95 [[ 3.05808868e-01 -9.51897984e-01 -1.92656210e-02 2.38804486e+02] [ 9.49732337e-01 3.06412229e-01 -6.41874863e-02 1.66460239e+02] [ 6.70031606e-02 1.33191927e-03 9.97751874e-01 2.09460578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.83, Y:166.51, Z:20.95 [[ 3.03500911e-01 -9.52636740e-01 -1.92467699e-02 2.38829164e+02] [ 9.50472206e-01 3.04108249e-01 -6.41931383e-02 1.66512295e+02] [ 6.70058435e-02 1.18915612e-03 9.97751874e-01 2.09495655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.85, Y:166.56, Z:20.95 [[ 2.98580434e-01 -9.54190780e-01 -1.92270671e-02 2.38854049e+02] [ 9.52029030e-01 2.99197610e-01 -6.41990392e-02 1.66564895e+02] [ 6.70108237e-02 8.63850971e-04 9.97751875e-01 2.09547084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.87, Y:166.62, Z:20.96 [[ 2.92816559e-01 -9.55975674e-01 -1.92086643e-02 2.38874252e+02] [ 9.53817328e-01 2.93445533e-01 -6.42045449e-02 1.66619268e+02] [ 6.70146798e-02 4.78597098e-04 9.97751875e-01 2.09593833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.89, Y:166.67, Z:20.96 [[ 2.88203801e-01 -9.57376782e-01 -1.91902804e-02 2.38889223e+02] [ 9.55221128e-01 2.88841942e-01 -6.42100393e-02 1.66673805e+02] [ 6.70161586e-02 1.74616095e-04 9.97751875e-01 2.09643607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.90, Y:166.73, Z:20.97 [[ 2.90486488e-01 -9.56687029e-01 -1.91710648e-02 2.38902774e+02] [ 9.54529481e-01 2.91118195e-01 -6.42157759e-02 1.66729132e+02] [ 6.70154456e-02 3.54468679e-04 9.97751875e-01 2.09684208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.92, Y:166.78, Z:20.97 [[ 2.91289466e-01 -9.56443250e-01 -1.91508889e-02 2.38916638e+02] [ 9.54284779e-01 2.91918007e-01 -6.42217924e-02 1.66784741e+02] [ 6.70149892e-02 4.31729818e-04 9.97751875e-01 2.09721451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.93, Y:166.84, Z:20.97 [[ 2.92900008e-01 -9.55951715e-01 -1.91285941e-02 2.38931091e+02] [ 9.53791756e-01 2.93523415e-01 -6.42284323e-02 1.66840613e+02] [ 6.70139703e-02 5.67812947e-04 9.97751876e-01 2.09746342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.95, Y:166.90, Z:20.98 [[ 2.94280120e-01 -9.55528210e-01 -1.91063100e-02 2.38946377e+02] [ 9.53366923e-01 2.94898910e-01 -6.42350606e-02 1.66896140e+02] [ 6.70128424e-02 6.87777411e-04 9.97751876e-01 2.09776260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.96, Y:166.95, Z:20.98 [[ 2.95228433e-01 -9.55236007e-01 -1.90878096e-02 2.38960908e+02] [ 9.53073752e-01 2.95843833e-01 -6.42405576e-02 1.66951202e+02] [ 6.70119044e-02 7.73548761e-04 9.97751876e-01 2.09805375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.98, Y:167.01, Z:20.99 [[ 2.94941924e-01 -9.55324896e-01 -1.90684388e-02 2.38976907e+02] [ 9.53162456e-01 2.95556670e-01 -6.42463069e-02 1.67007012e+02] [ 6.70119007e-02 7.73609354e-04 9.97751876e-01 2.09875170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.99, Y:167.06, Z:20.99 [[ 2.92519469e-01 -9.56069796e-01 -1.90500614e-02 2.38993531e+02] [ 9.53908568e-01 2.93138460e-01 -6.42517556e-02 1.67061938e+02] [ 6.70134686e-02 6.22872674e-04 9.97751877e-01 2.09922844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.01, Y:167.12, Z:21.00 [[ 2.89950459e-01 -9.56852422e-01 -1.90308431e-02 2.39009497e+02] [ 9.54692491e-01 2.90573962e-01 -6.42574474e-02 1.67116916e+02] [ 6.70147617e-02 4.62873357e-04 9.97751877e-01 2.09956799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.02, Y:167.17, Z:21.00 [[ 2.87787139e-01 -9.57505691e-01 -1.90109148e-02 2.39024214e+02] [ 9.55346786e-01 2.88414185e-01 -6.42633428e-02 1.67171135e+02] [ 6.70155339e-02 3.32147220e-04 9.97751877e-01 2.09977230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.04, Y:167.23, Z:21.00 [[ 2.86868931e-01 -9.57781489e-01 -1.89956715e-02 2.39039974e+02] [ 9.55622889e-01 2.87497024e-01 -6.42678483e-02 1.67226842e+02] [ 6.70157545e-02 2.83750504e-04 9.97751877e-01 2.09999555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.05, Y:167.29, Z:20.99 [[ 2.80356995e-01 -9.59708197e-01 -1.89771524e-02 2.39049951e+02] [ 9.57553543e-01 2.80998494e-01 -6.42733162e-02 1.67286302e+02] [ 6.70161797e-02 -1.52165740e-04 9.97751877e-01 2.09905646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.07, Y:167.34, Z:21.01 [[ 2.86270799e-01 -9.57961147e-01 -1.89596812e-02 2.39072294e+02] [ 9.55802237e-01 2.86897825e-01 -6.42784695e-02 1.67339062e+02] [ 6.70157677e-02 2.79343111e-04 9.97751877e-01 2.10056535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.09, Y:167.39, Z:21.01 [[ 2.87249990e-01 -9.57668369e-01 -1.89403786e-02 2.39089363e+02] [ 9.55508445e-01 2.87873512e-01 -6.42841568e-02 1.67394622e+02] [ 6.70153369e-02 3.67931700e-04 9.97751878e-01 2.10107541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.11, Y:167.45, Z:21.01 [[ 2.88719028e-01 -9.57226872e-01 -1.89219216e-02 2.39106008e+02] [ 9.55065638e-01 2.89337997e-01 -6.42895891e-02 1.67448662e+02] [ 6.70145532e-02 4.89950612e-04 9.97751878e-01 2.10118728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:167.50, Z:21.02 [[ 2.89545936e-01 -9.56977488e-01 -1.89007547e-02 2.39122370e+02] [ 9.54815315e-01 2.90161616e-01 -6.42958115e-02 1.67503326e+02] [ 6.70139177e-02 5.69860942e-04 9.97751878e-01 2.10183052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.14, Y:167.56, Z:21.02 [[ 2.90854937e-01 -9.56580888e-01 -1.88788336e-02 2.39138604e+02] [ 9.54417458e-01 2.91466184e-01 -6.43022474e-02 1.67557512e+02] [ 6.70128425e-02 6.84337679e-04 9.97751878e-01 2.10221097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.16, Y:167.61, Z:21.03 [[ 2.92617368e-01 -9.56043616e-01 -1.88594866e-02 2.39156185e+02] [ 9.53878699e-01 2.93223326e-01 -6.43079213e-02 1.67613284e+02] [ 6.70112190e-02 8.27952138e-04 9.97751878e-01 2.10260138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.17, Y:167.67, Z:21.03 [[ 2.92142552e-01 -9.56189183e-01 -1.88407762e-02 2.39172463e+02] [ 9.54024215e-01 2.92748327e-01 -6.43134026e-02 1.67667448e+02] [ 6.70113856e-02 8.14124816e-04 9.97751879e-01 2.10300670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.19, Y:167.72, Z:21.04 [[ 2.89759785e-01 -9.56914327e-01 -1.88211931e-02 2.39189996e+02] [ 9.54750504e-01 2.90369635e-01 -6.43191330e-02 1.67722907e+02] [ 6.70130029e-02 6.67554570e-04 9.97751879e-01 2.10353855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.20, Y:167.78, Z:21.03 [[ 2.81878443e-01 -9.59265872e-01 -1.88024013e-02 2.39203926e+02] [ 9.57106773e-01 2.82504811e-01 -6.43246260e-02 1.67780106e+02] [ 6.70161873e-02 1.35819758e-04 9.97751879e-01 2.10326077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.22, Y:167.83, Z:21.04 [[ 2.82407538e-01 -9.59110632e-01 -1.87824009e-02 2.39224347e+02] [ 9.56950799e-01 2.83031374e-01 -6.43304655e-02 1.67832948e+02] [ 6.70160421e-02 1.93574797e-04 9.97751879e-01 2.10409734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:167.89, Z:21.04 [[ 2.80254805e-01 -9.59742210e-01 -1.87652515e-02 2.39240915e+02] [ 9.57583449e-01 2.80882335e-01 -6.43354676e-02 1.67888656e+02] [ 6.70162915e-02 6.10296518e-05 9.97751879e-01 2.10444630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.26, Y:167.94, Z:21.05 [[ 2.78292156e-01 -9.60313502e-01 -1.87470828e-02 2.39257396e+02] [ 9.58155672e-01 2.78922882e-01 -6.43407615e-02 1.67944636e+02] [ 6.70162923e-02 -5.70945232e-05 9.97751880e-01 2.10482922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.27, Y:168.00, Z:21.05 [[ 2.75850634e-01 -9.61018040e-01 -1.87284359e-02 2.39271691e+02] [ 9.58861452e-01 2.76485593e-01 -6.43461888e-02 1.68001267e+02] [ 6.70159909e-02 -2.08038321e-04 9.97751880e-01 2.10506436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.29, Y:168.06, Z:21.06 [[ 2.78185444e-01 -9.60345150e-01 -1.87096781e-02 2.39289231e+02] [ 9.58186659e-01 2.78813903e-01 -6.43516425e-02 1.68055130e+02] [ 6.70163061e-02 -2.56737245e-05 9.97751880e-01 2.10569683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.30, Y:168.11, Z:21.06 [[ 2.75611216e-01 -9.61087371e-01 -1.86955131e-02 2.39301800e+02] [ 9.58930294e-01 2.76244509e-01 -6.43557574e-02 1.68112664e+02] [ 6.70160386e-02 -1.90525314e-04 9.97751880e-01 2.10561732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.32, Y:168.17, Z:21.06 [[ 2.77943841e-01 -9.60415720e-01 -1.86779763e-02 2.39318762e+02] [ 9.58256769e-01 2.78570718e-01 -6.43608468e-02 1.68167354e+02] [ 6.70163062e-02 -9.59627248e-06 9.97751880e-01 2.10613786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.34, Y:168.22, Z:21.07 [[ 2.81314960e-01 -9.59434048e-01 -1.86601328e-02 2.39336681e+02] [ 9.57272567e-01 2.81933055e-01 -6.43660197e-02 1.68221569e+02] [ 6.70158591e-02 2.44291001e-04 9.97751880e-01 2.10689584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.35, Y:168.28, Z:21.07 [[ 2.83564945e-01 -9.58771835e-01 -1.86410796e-02 2.39352687e+02] [ 9.56608548e-01 2.84176689e-01 -6.43715373e-02 1.68277670e+02] [ 6.70149772e-02 4.21295311e-04 9.97751881e-01 2.10734594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.37, Y:168.33, Z:21.08 [[ 2.85827156e-01 -9.58100220e-01 -1.86227164e-02 2.39368511e+02] [ 9.55935150e-01 2.86432558e-01 -6.43768493e-02 1.68333091e+02] [ 6.70136258e-02 5.98542524e-04 9.97751881e-01 2.10793153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.38, Y:168.39, Z:21.08 [[ 2.87546592e-01 -9.57585947e-01 -1.86040799e-02 2.39383586e+02] [ 9.55419446e-01 2.88146854e-01 -6.43822346e-02 1.68389128e+02] [ 6.70122302e-02 7.38192441e-04 9.97751881e-01 2.10821078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.40, Y:168.45, Z:21.08 [[ 2.88844900e-01 -9.57195488e-01 -1.85855232e-02 2.39398701e+02] [ 9.55027832e-01 2.89440975e-01 -6.43875910e-02 1.68445087e+02] [ 6.70109236e-02 8.48335351e-04 9.97751881e-01 2.10839065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:168.50, Z:21.09 [[ 2.88495258e-01 -9.57301288e-01 -1.85668932e-02 2.39414169e+02] [ 9.55133506e-01 2.89090872e-01 -6.43929627e-02 1.68499335e+02] [ 6.70109855e-02 8.43202571e-04 9.97751881e-01 2.10851421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.43, Y:168.55, Z:21.09 [[ 2.88476504e-01 -9.57307368e-01 -1.85448053e-02 2.39430260e+02] [ 9.55139190e-01 2.89070676e-01 -6.43993233e-02 1.68554213e+02] [ 6.70107061e-02 8.64821382e-04 9.97751882e-01 2.10911083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:168.61, Z:21.10 [[ 2.88202969e-01 -9.57390190e-01 -1.85222094e-02 2.39446394e+02] [ 9.55221766e-01 2.88796240e-01 -6.44058216e-02 1.68609529e+02] [ 6.70106462e-02 8.69131439e-04 9.97751882e-01 2.10951331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.46, Y:168.66, Z:21.10 [[ 2.88085381e-01 -9.57425938e-01 -1.85036968e-02 2.39462414e+02] [ 9.55257246e-01 2.88677673e-01 -6.44111398e-02 1.68664633e+02] [ 6.70105001e-02 8.80117337e-04 9.97751882e-01 2.10983904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.48, Y:168.72, Z:21.10 [[ 2.88250369e-01 -9.57376651e-01 -1.84843742e-02 2.39478427e+02] [ 9.55207503e-01 2.88840988e-01 -6.44166845e-02 1.68720363e+02] [ 6.70100746e-02 9.11720203e-04 9.97751882e-01 2.11026493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.49, Y:168.78, Z:21.11 [[ 2.88291568e-01 -9.57364604e-01 -1.84658284e-02 2.39494736e+02] [ 9.55195092e-01 2.88880845e-01 -6.44220004e-02 1.68775599e+02] [ 6.70097670e-02 9.33850849e-04 9.97751883e-01 2.11057334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.51, Y:168.83, Z:21.11 [[ 2.86212940e-01 -9.57988442e-01 -1.84471530e-02 2.39512072e+02] [ 9.55819871e-01 2.86805669e-01 -6.44273477e-02 1.68830513e+02] [ 6.70114025e-02 8.07785185e-04 9.97751883e-01 2.11087513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.53, Y:168.89, Z:21.11 [[ 2.85463176e-01 -9.58212483e-01 -1.84285487e-02 2.39528801e+02] [ 9.56044034e-01 2.86056352e-01 -6.44326687e-02 1.68886362e+02] [ 6.70117909e-02 7.74650200e-04 9.97751883e-01 2.11128862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.54, Y:168.94, Z:21.12 [[ 2.85588468e-01 -9.58175508e-01 -1.84098797e-02 2.39544898e+02] [ 9.56006638e-01 2.86180105e-01 -6.44380025e-02 1.68941165e+02] [ 6.70114570e-02 8.02783187e-04 9.97751883e-01 2.11160422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.56, Y:169.00, Z:21.12 [[ 2.85275397e-01 -9.58269139e-01 -1.83903388e-02 2.39561058e+02] [ 9.56100105e-01 2.85866428e-01 -6.44435789e-02 1.68996605e+02] [ 6.70114733e-02 8.01162755e-04 9.97751883e-01 2.11203656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:169.05, Z:21.13 [[ 2.83482165e-01 -9.58801511e-01 -1.83718406e-02 2.39578369e+02] [ 9.56633245e-01 2.84076010e-01 -6.44488520e-02 1.69051778e+02] [ 6.70126559e-02 6.94986588e-04 9.97751883e-01 2.11258527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.60, Y:169.11, Z:21.13 [[ 2.80237151e-01 -9.59755329e-01 -1.83533915e-02 2.39595243e+02] [ 9.57588742e-01 2.80837089e-01 -6.44541054e-02 1.69107622e+02] [ 6.70144842e-02 4.87433832e-04 9.97751884e-01 2.11308426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.61, Y:169.16, Z:21.13 [[ 2.77994711e-01 -9.60407612e-01 -1.83346741e-02 2.39611093e+02] [ 9.58242081e-01 2.78598451e-01 -6.44594294e-02 1.69162754e+02] [ 6.70153384e-02 3.50324233e-04 9.97751884e-01 2.11342308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:169.22, Z:21.14 [[ 2.75486531e-01 -9.61130444e-01 -1.83150516e-02 2.39626354e+02] [ 9.58966126e-01 2.76094606e-01 -6.44650043e-02 1.69216996e+02] [ 6.70159652e-02 1.95726307e-04 9.97751884e-01 2.11373935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:169.27, Z:21.14 [[ 2.69966845e-01 -9.62695817e-01 -1.82939032e-02 2.39638244e+02] [ 9.60534618e-01 2.70585914e-01 -6.44710053e-02 1.69273950e+02] [ 6.70160396e-02 -1.66893453e-04 9.97751884e-01 2.11389765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.66, Y:169.33, Z:21.14 [[ 2.70016664e-01 -9.62682198e-01 -1.82752906e-02 2.39656897e+02] [ 9.60520611e-01 2.70634373e-01 -6.44762809e-02 1.69328368e+02] [ 6.70160896e-02 -1.44123015e-04 9.97751884e-01 2.11443982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.67, Y:169.38, Z:21.15 [[ 2.67402781e-01 -9.63411778e-01 -1.82619697e-02 2.39672272e+02] [ 9.61251618e-01 2.68025464e-01 -6.44800536e-02 1.69384739e+02] [ 6.70155160e-02 -3.12202279e-04 9.97751885e-01 2.11474564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.69, Y:169.44, Z:21.15 [[ 2.63991395e-01 -9.64352481e-01 -1.82437689e-02 2.39687321e+02] [ 9.62194184e-01 2.64620502e-01 -6.44852029e-02 1.69440530e+02] [ 6.70141407e-02 -5.30509732e-04 9.97751885e-01 2.11524614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.70, Y:169.50, Z:21.16 [[ 2.60601527e-01 -9.65274402e-01 -1.82256155e-02 2.39699750e+02] [ 9.63117971e-01 2.61237001e-01 -6.44903332e-02 1.69496748e+02] [ 6.70120730e-02 -7.47138522e-04 9.97751885e-01 2.11580407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.72, Y:169.55, Z:21.16 [[ 2.63462774e-01 -9.64497717e-01 -1.82076879e-02 2.39715618e+02] [ 9.62339063e-01 2.64090652e-01 -6.44953944e-02 1.69552963e+02] [ 6.70141408e-02 -5.29833803e-04 9.97751885e-01 2.11606361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.73, Y:169.61, Z:21.16 [[ 2.65322641e-01 -9.63988089e-01 -1.81895714e-02 2.39729859e+02] [ 9.61827878e-01 2.65945142e-01 -6.45005034e-02 1.69609129e+02] [ 6.70151451e-02 -3.81792890e-04 9.97751885e-01 2.11646948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:169.67, Z:21.17 [[ 2.69348003e-01 -9.62871465e-01 -1.81712709e-02 2.39742216e+02] [ 9.60708325e-01 2.69960247e-01 -6.45056586e-02 1.69665711e+02] [ 6.70161788e-02 -8.28208853e-05 9.97751885e-01 2.11687734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.75, Y:169.72, Z:21.16 [[ 2.67738130e-01 -9.63320707e-01 -1.81523936e-02 2.39748267e+02] [ 9.61158234e-01 2.68352725e-01 -6.45109704e-02 1.69724355e+02] [ 6.70159979e-02 -1.75275949e-04 9.97751886e-01 2.11596688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.77, Y:169.78, Z:21.17 [[ 2.75997358e-01 -9.60987283e-01 -1.81356405e-02 2.39768297e+02] [ 9.58819304e-01 2.76592243e-01 -6.45156798e-02 1.69777427e+02] [ 6.70149253e-02 4.17354968e-04 9.97751886e-01 2.11745126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.78, Y:169.83, Z:21.18 [[ 2.78758199e-01 -9.60190422e-01 -1.81168668e-02 2.39781632e+02] [ 9.58020401e-01 2.79345589e-01 -6.45209513e-02 1.69833395e+02] [ 6.70132663e-02 6.29416229e-04 9.97751886e-01 2.11783055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.79, Y:169.89, Z:21.17 [[ 2.70163192e-01 -9.62644438e-01 -1.80979219e-02 2.39786168e+02] [ 9.60479400e-01 2.70768688e-01 -6.45262649e-02 1.69893404e+02] [ 6.70162006e-02 4.99405492e-05 9.97751886e-01 2.11653966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.80, Y:169.95, Z:21.17 [[ 2.73656277e-01 -9.61657645e-01 -1.80780541e-02 2.39803909e+02] [ 9.59490056e-01 2.74252576e-01 -6.45318307e-02 1.69948318e+02] [ 6.70154812e-02 3.13827405e-04 9.97751886e-01 2.11730213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.82, Y:170.00, Z:21.18 [[ 2.77306080e-01 -9.60611907e-01 -1.80583030e-02 2.39821842e+02] [ 9.58441710e-01 2.77892817e-01 -6.45373573e-02 1.70003617e+02] [ 6.70136265e-02 5.88770723e-04 9.97751887e-01 2.11807381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.84, Y:170.06, Z:21.19 [[ 2.83480636e-01 -9.58808263e-01 -1.80400505e-02 2.39841260e+02] [ 9.56634014e-01 2.84052170e-01 -6.45424590e-02 1.70057581e+02] [ 6.70081585e-02 1.03881140e-03 9.97751887e-01 2.11917028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.86, Y:170.11, Z:21.19 [[ 2.83757891e-01 -9.58726595e-01 -1.80215531e-02 2.39856067e+02] [ 9.56551853e-01 2.84327551e-01 -6.45476234e-02 1.70112397e+02] [ 6.70075473e-02 1.07734746e-03 9.97751887e-01 2.11944273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.87, Y:170.17, Z:21.20 [[ 2.83232969e-01 -9.58882165e-01 -1.80021796e-02 2.39871824e+02] [ 9.56707395e-01 2.83802516e-01 -6.45530262e-02 1.70167613e+02] [ 6.70078094e-02 1.06072690e-03 9.97751887e-01 2.12009885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.89, Y:170.22, Z:21.20 [[ 2.80779809e-01 -9.59603715e-01 -1.79835691e-02 2.39885859e+02] [ 9.57430078e-01 2.81353664e-01 -6.45582104e-02 1.70224402e+02] [ 6.70100416e-02 9.08631978e-04 9.97751887e-01 2.12039080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.90, Y:170.28, Z:21.21 [[ 2.80519881e-01 -9.59680094e-01 -1.79642421e-02 2.39903729e+02] [ 9.57506269e-01 2.81093025e-01 -6.45635880e-02 1.70278763e+02] [ 6.70100134e-02 9.10495550e-04 9.97751888e-01 2.12078609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:170.33, Z:21.21 [[ 2.79431460e-01 -9.59997862e-01 -1.79489077e-02 2.39919569e+02] [ 9.57824416e-01 2.80006037e-01 -6.45678508e-02 1.70333990e+02] [ 6.70108012e-02 8.50386805e-04 9.97751888e-01 2.12124731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.94, Y:170.39, Z:21.22 [[ 2.76697419e-01 -9.60789811e-01 -1.79298040e-02 2.39937208e+02] [ 9.58617666e-01 2.77276898e-01 -6.45731552e-02 1.70388266e+02] [ 6.70127500e-02 6.79398575e-04 9.97751888e-01 2.12169046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.95, Y:170.44, Z:21.22 [[ 2.74514845e-01 -9.61416058e-01 -1.79098697e-02 2.39953847e+02] [ 9.59244875e-01 2.75097916e-01 -6.45786837e-02 1.70444287e+02] [ 6.70139514e-02 5.47856611e-04 9.97751888e-01 2.12204146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.97, Y:170.50, Z:21.22 [[ 2.69528788e-01 -9.62826124e-01 -1.78909758e-02 2.39966908e+02] [ 9.60657645e-01 2.70121836e-01 -6.45839177e-02 1.70501494e+02] [ 6.70158264e-02 2.20122341e-04 9.97751888e-01 2.12186588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.99, Y:170.55, Z:21.23 [[ 2.72956854e-01 -9.61860230e-01 -1.78732709e-02 2.39986855e+02] [ 9.59689332e-01 2.73540984e-01 -6.45888171e-02 1.70554791e+02] [ 6.70144866e-02 4.77172927e-04 9.97751888e-01 2.12275789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.00, Y:170.61, Z:21.22 [[ 2.67242192e-01 -9.63463842e-01 -1.78615529e-02 2.39997236e+02] [ 9.61296234e-01 2.67838414e-01 -6.45920574e-02 1.70613466e+02] [ 6.70161219e-02 9.14794529e-05 9.97751889e-01 2.12237287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.02, Y:170.67, Z:21.24 [[ 2.71772217e-01 -9.62196158e-01 -1.78442302e-02 2.40019832e+02] [ 9.60025455e-01 2.72357071e-01 -6.45968427e-02 1.70666029e+02] [ 6.70148361e-02 4.24711926e-04 9.97751889e-01 2.12368426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.04, Y:170.72, Z:21.24 [[ 2.72113486e-01 -9.62099930e-01 -1.78318454e-02 2.40035033e+02] [ 9.59928797e-01 2.72696738e-01 -6.46002613e-02 1.70720783e+02] [ 6.70145930e-02 4.61300393e-04 9.97751889e-01 2.12412833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.04, Y:170.78, Z:21.24 [[ 2.69371826e-01 -9.62871507e-01 -1.78123512e-02 2.40044894e+02] [ 9.60701689e-01 2.69959952e-01 -6.46056360e-02 1.70779569e+02] [ 6.70155476e-02 2.90582228e-04 9.97751889e-01 2.12375442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.06, Y:170.83, Z:21.25 [[ 2.76099288e-01 -9.60964388e-01 -1.77940180e-02 2.40064899e+02] [ 9.58790186e-01 2.76670993e-01 -6.46106851e-02 1.70833317e+02] [ 6.70116561e-02 7.78234304e-04 9.97751889e-01 2.12487496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.08, Y:170.89, Z:21.25 [[ 2.74611065e-01 -9.61390975e-01 -1.77807706e-02 2.40075211e+02] [ 9.59217425e-01 2.75185245e-01 -6.46143305e-02 1.70891977e+02] [ 6.70126400e-02 6.88185080e-04 9.97751889e-01 2.12453572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.09, Y:170.95, Z:21.26 [[ 2.80391902e-01 -9.59721251e-01 -1.77623479e-02 2.40094746e+02] [ 9.57543966e-01 2.80951752e-01 -6.46193945e-02 1.70945814e+02] [ 6.70069689e-02 1.11052593e-03 9.97751889e-01 2.12551712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:171.00, Z:21.25 [[ 2.75501973e-01 -9.61136639e-01 -1.77489207e-02 2.40104959e+02] [ 9.58961996e-01 2.76071997e-01 -6.46230824e-02 1.71004247e+02] [ 6.70115922e-02 7.83246285e-04 9.97751890e-01 2.12481156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.12, Y:171.06, Z:21.25 [[ 2.73364554e-01 -9.61747084e-01 -1.77304204e-02 2.40120827e+02] [ 9.59573385e-01 2.73938169e-01 -6.46281578e-02 1.71060629e+02] [ 6.70129812e-02 6.53408015e-04 9.97751890e-01 2.12514080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:171.11, Z:21.27 [[ 2.76924490e-01 -9.60728450e-01 -1.77107853e-02 2.40142983e+02] [ 9.58552299e-01 2.77488730e-01 -6.46335382e-02 1.71112803e+02] [ 6.70098223e-02 9.21895592e-04 9.97751890e-01 2.12672149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.15, Y:171.17, Z:21.26 [[ 2.63207904e-01 -9.64576802e-01 -1.76972166e-02 2.40152802e+02] [ 9.62408663e-01 2.63802183e-01 -6.46372533e-02 1.71171127e+02] [ 6.70161594e-02 -1.89185773e-05 9.97751890e-01 2.12599140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97999999999996 meters Centerline goodness : 0.998003 with order 1 Centerline is valid? [True, True] Translation: X:240.18, Y:171.22, Z:21.27 [[ 2.64282791e-01 -9.64283214e-01 -1.76773545e-02 2.40175362e+02] [ 9.62114051e-01 2.64873322e-01 -6.46426848e-02 1.71223688e+02] [ 6.70161155e-02 7.63180474e-05 9.97751890e-01 2.12687864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.19, Y:171.28, Z:21.28 [[ 2.59733458e-01 -9.65518988e-01 -1.76526100e-02 2.40191716e+02] [ 9.63352174e-01 2.60332553e-01 -6.46494414e-02 1.71276830e+02] [ 6.70158122e-02 -2.14057220e-04 9.97751891e-01 2.12776360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.21, Y:171.33, Z:21.28 [[ 2.57410107e-01 -9.66141488e-01 -1.76255992e-02 2.40206599e+02] [ 9.63975619e-01 2.58012605e-01 -6.46568046e-02 1.71331565e+02] [ 6.70152482e-02 -3.47332933e-04 9.97751891e-01 2.12804024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.22, Y:171.39, Z:21.29 [[ 2.56039159e-01 -9.66505955e-01 -1.76121540e-02 2.40222275e+02] [ 9.64340691e-01 2.56643830e-01 -6.46604668e-02 1.71387412e+02] [ 6.70147769e-02 -4.28505159e-04 9.97751891e-01 2.12881014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.24, Y:171.44, Z:21.29 [[ 2.56041312e-01 -9.66505710e-01 -1.75943208e-02 2.40237420e+02] [ 9.64340112e-01 2.56644784e-01 -6.46653189e-02 1.71443591e+02] [ 6.70148906e-02 -4.09916233e-04 9.97751891e-01 2.12928617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.25, Y:171.50, Z:21.30 [[ 2.57659158e-01 -9.66076009e-01 -1.75756573e-02 2.40251612e+02] [ 9.63909058e-01 2.58257755e-01 -6.46703911e-02 1.71499784e+02] [ 6.70155632e-02 -2.78416762e-04 9.97751891e-01 2.12987643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.26, Y:171.56, Z:21.30 [[ 2.57293444e-01 -9.66173811e-01 -1.75570479e-02 2.40260861e+02] [ 9.64006744e-01 2.57891616e-01 -6.46754429e-02 1.71558700e+02] [ 6.70155347e-02 -2.84545119e-04 9.97751892e-01 2.13002416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:171.61, Z:21.31 [[ 2.63249661e-01 -9.64568289e-01 -1.75394067e-02 2.40278473e+02] [ 9.62397254e-01 2.63833268e-01 -6.46802267e-02 1.71613206e+02] [ 6.70159747e-02 1.47170919e-04 9.97751892e-01 2.13057143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:171.67, Z:21.31 [[ 2.66752611e-01 -9.63605659e-01 -1.75265188e-02 2.40291444e+02] [ 9.61432289e-01 2.67327460e-01 -6.46837188e-02 1.71669687e+02] [ 6.70149172e-02 4.03989732e-04 9.97751892e-01 2.13094716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.30, Y:171.73, Z:21.31 [[ 2.69256717e-01 -9.62909286e-01 -1.75079150e-02 2.40304773e+02] [ 9.60734102e-01 2.69824665e-01 -6.46887539e-02 1.71725957e+02] [ 6.70134691e-02 5.97430535e-04 9.97751892e-01 2.13125388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.32, Y:171.78, Z:21.32 [[ 2.71864287e-01 -9.62176663e-01 -1.74893972e-02 2.40318408e+02] [ 9.59999627e-01 2.72425095e-01 -6.46937600e-02 1.71782919e+02] [ 6.70113769e-02 7.98108147e-04 9.97751892e-01 2.13151834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.33, Y:171.84, Z:21.32 [[ 2.75308448e-01 -9.61197184e-01 -1.74709125e-02 2.40331786e+02] [ 9.59017839e-01 2.75860212e-01 -6.46987516e-02 1.71839983e+02] [ 6.70077874e-02 1.05719617e-03 9.97751892e-01 2.13168238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.35, Y:171.90, Z:21.32 [[ 2.76728068e-01 -9.60789774e-01 -1.74523918e-02 2.40346345e+02] [ 9.58609303e-01 2.77275366e-01 -6.47037471e-02 1.71896465e+02] [ 6.70058169e-02 1.17531777e-03 9.97751893e-01 2.13198100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.36, Y:171.95, Z:21.32 [[ 2.78752483e-01 -9.60204720e-01 -1.74340989e-02 2.40361427e+02] [ 9.58022795e-01 2.79293952e-01 -6.47086757e-02 1.71952754e+02] [ 6.70028142e-02 1.33543989e-03 9.97751893e-01 2.13240262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.38, Y:172.01, Z:21.33 [[ 2.80337285e-01 -9.59743561e-01 -1.74156463e-02 2.40376436e+02] [ 9.57560438e-01 2.80873907e-01 -6.47136416e-02 1.72008542e+02] [ 6.70001015e-02 1.46511266e-03 9.97751893e-01 2.13279655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.39, Y:172.06, Z:21.33 [[ 2.80609260e-01 -9.59664415e-01 -1.73969266e-02 2.40391613e+02] [ 9.57480832e-01 2.81144002e-01 -6.47186737e-02 1.72064309e+02] [ 6.69992497e-02 1.50343544e-03 9.97751893e-01 2.13313336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.41, Y:172.12, Z:21.34 [[ 2.80492092e-01 -9.59699004e-01 -1.73783703e-02 2.40407139e+02] [ 9.57515180e-01 2.81025850e-01 -6.47236561e-02 1.72119634e+02] [ 6.69989996e-02 1.51442033e-03 9.97751893e-01 2.13354381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.42, Y:172.17, Z:21.34 [[ 2.78140609e-01 -9.60383502e-01 -1.73588540e-02 2.40423404e+02] [ 9.58200668e-01 2.78678399e-01 -6.47288899e-02 1.72174983e+02] [ 6.70020957e-02 1.37046733e-03 9.97751894e-01 2.13389519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.44, Y:172.23, Z:21.34 [[ 2.74204014e-01 -9.61515186e-01 -1.73408776e-02 2.40440362e+02] [ 9.59334270e-01 2.74749532e-01 -6.47337055e-02 1.72230732e+02] [ 6.70068388e-02 1.11454371e-03 9.97751894e-01 2.13435207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.46, Y:172.29, Z:21.35 [[ 2.68926406e-01 -9.63004943e-01 -1.73224725e-02 2.40457960e+02] [ 9.60826736e-01 2.69482639e-01 -6.47386302e-02 1.72286492e+02] [ 6.70117265e-02 7.66032414e-04 9.97751894e-01 2.13482075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:172.34, Z:21.35 [[ 2.59267381e-01 -9.65650563e-01 -1.73036060e-02 2.40476831e+02] [ 9.63477701e-01 2.59844139e-01 -6.47436726e-02 1.72340097e+02] [ 6.70160045e-02 1.14283867e-04 9.97751894e-01 2.13514131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.49, Y:172.40, Z:21.36 [[ 2.52681392e-01 -9.67395150e-01 -1.72840618e-02 2.40494418e+02] [ 9.65225912e-01 2.53271634e-01 -6.47488897e-02 1.72395293e+02] [ 6.70153244e-02 -3.22184702e-04 9.97751894e-01 2.13556820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.51, Y:172.45, Z:21.36 [[ 2.47595160e-01 -9.68709729e-01 -1.72655154e-02 2.40509036e+02] [ 9.66543278e-01 2.48195552e-01 -6.47538348e-02 1.72451400e+02] [ 6.70128939e-02 -6.55131785e-04 9.97751894e-01 2.13620695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.52, Y:172.51, Z:21.37 [[ 2.45948847e-01 -9.69129356e-01 -1.72469122e-02 2.40521303e+02] [ 9.66963583e-01 2.46551676e-01 -6.47587893e-02 1.72508228e+02] [ 6.70118989e-02 -7.49786483e-04 9.97751895e-01 2.13653841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.53, Y:172.57, Z:21.37 [[ 2.45211416e-01 -9.69316535e-01 -1.72283861e-02 2.40534705e+02] [ 9.67150876e-01 2.45814655e-01 -6.47637176e-02 1.72565015e+02] [ 6.70115321e-02 -7.81645789e-04 9.97751895e-01 2.13689248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.55, Y:172.62, Z:21.37 [[ 2.44097384e-01 -9.69598004e-01 -1.72098169e-02 2.40548179e+02] [ 9.67432693e-01 2.44701872e-01 -6.47686517e-02 1.72621451e+02] [ 6.70108298e-02 -8.39481079e-04 9.97751895e-01 2.13732824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.56, Y:172.68, Z:21.38 [[ 2.43100374e-01 -9.69848784e-01 -1.71913861e-02 2.40559493e+02] [ 9.67683752e-01 2.43705857e-01 -6.47735434e-02 1.72678966e+02] [ 6.70101838e-02 -8.89352307e-04 9.97751895e-01 2.13767903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.57, Y:172.74, Z:21.38 [[ 2.44570871e-01 -9.69479335e-01 -1.71729150e-02 2.40571758e+02] [ 9.67313044e-01 2.45171836e-01 -6.47784401e-02 1.72735252e+02] [ 6.70116741e-02 -7.68665186e-04 9.97751895e-01 2.13804259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.58, Y:172.79, Z:21.38 [[ 2.50242976e-01 -9.68031078e-01 -1.71547389e-02 2.40580925e+02] [ 9.65860976e-01 2.50830031e-01 -6.47832532e-02 1.72792774e+02] [ 6.70151261e-02 -3.57538786e-04 9.97751896e-01 2.13837793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.59, Y:172.85, Z:21.39 [[ 2.55079653e-01 -9.66768179e-01 -1.71364637e-02 2.40591437e+02] [ 9.64594845e-01 2.55654626e-01 -6.47880870e-02 1.72850233e+02] [ 6.70160771e-02 -3.62179755e-06 9.97751896e-01 2.13866121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.60, Y:172.91, Z:21.39 [[ 2.63018661e-01 -9.64638867e-01 -1.71183860e-02 2.40600820e+02] [ 9.62460571e-01 2.63574534e-01 -6.47928632e-02 1.72907673e+02] [ 6.70136848e-02 5.65960583e-04 9.97751896e-01 2.13901573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.61, Y:172.96, Z:21.39 [[ 2.70342732e-01 -9.62612271e-01 -1.71003593e-02 2.40610749e+02] [ 9.60429513e-01 2.70880819e-01 -6.47976205e-02 1.72962709e+02] [ 6.70071440e-02 1.09387602e-03 9.97751896e-01 2.13942695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.62, Y:173.02, Z:21.40 [[ 2.72051734e-01 -9.62131047e-01 -1.70792959e-02 2.40619933e+02] [ 9.59946991e-01 2.72584526e-01 -6.48031719e-02 1.73020791e+02] [ 6.70046955e-02 1.23459652e-03 9.97751896e-01 2.13973045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.63, Y:173.08, Z:21.40 [[ 2.75439755e-01 -9.61166936e-01 -1.70605544e-02 2.40630336e+02] [ 9.58980713e-01 2.75963586e-01 -6.48081056e-02 1.73078588e+02] [ 6.69995001e-02 1.48998604e-03 9.97751896e-01 2.13977522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:173.13, Z:21.41 [[ 2.80678772e-01 -9.59650478e-01 -1.70407453e-02 2.40647730e+02] [ 9.57461118e-01 2.81189334e-01 -6.48133138e-02 1.73133357e+02] [ 6.69898034e-02 1.87587034e-03 9.97751897e-01 2.14059107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.66, Y:173.19, Z:21.41 [[ 2.80707622e-01 -9.59642373e-01 -1.70219529e-02 2.40660809e+02] [ 9.57452703e-01 2.81216849e-01 -6.48182489e-02 1.73190346e+02] [ 6.69891982e-02 1.89726170e-03 9.97751897e-01 2.14092604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.68, Y:173.25, Z:21.41 [[ 2.79222015e-01 -9.60076023e-01 -1.70028022e-02 2.40675773e+02] [ 9.57886842e-01 2.79733339e-01 -6.48232721e-02 1.73245797e+02] [ 6.69915199e-02 1.81332416e-03 9.97751897e-01 2.14129658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:173.30, Z:21.42 [[ 2.74405716e-01 -9.61464034e-01 -1.69827802e-02 2.40691511e+02] [ 9.59277121e-01 2.74926659e-01 -6.48285171e-02 1.73301804e+02] [ 6.69993066e-02 1.49812314e-03 9.97751897e-01 2.14180520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.71, Y:173.36, Z:21.42 [[ 2.69985191e-01 -9.62715029e-01 -1.69637869e-02 2.40706987e+02] [ 9.60530223e-01 2.70514897e-01 -6.48334868e-02 1.73358117e+02] [ 6.70051292e-02 1.20985125e-03 9.97751897e-01 2.14222233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.72, Y:173.41, Z:21.43 [[ 2.64812169e-01 -9.64151119e-01 -1.69450373e-02 2.40722204e+02] [ 9.61968877e-01 2.65352338e-01 -6.48383869e-02 1.73414094e+02] [ 6.70104085e-02 8.69395432e-04 9.97751898e-01 2.14252497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.74, Y:173.47, Z:21.43 [[ 2.55550398e-01 -9.66647556e-01 -1.69262413e-02 2.40738915e+02] [ 9.64470271e-01 2.56110216e-01 -6.48432933e-02 1.73469699e+02] [ 6.70155942e-02 2.45872812e-04 9.97751898e-01 2.14290345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.76, Y:173.53, Z:21.43 [[ 2.42826079e-01 -9.69922484e-01 -1.69076796e-02 2.40755341e+02] [ 9.67752409e-01 2.43413219e-01 -6.48481328e-02 1.73525328e+02] [ 6.70132148e-02 -6.15629900e-04 9.97751898e-01 2.14331006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.77, Y:173.58, Z:21.44 [[ 2.33328585e-01 -9.72251272e-01 -1.68889068e-02 2.40771797e+02] [ 9.70086691e-01 2.33935669e-01 -6.48530216e-02 1.73580933e+02] [ 6.70043505e-02 -1.25163998e-03 9.97751898e-01 2.14379661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.79, Y:173.64, Z:21.44 [[ 2.19961663e-01 -9.75362636e-01 -1.68699231e-02 2.40788027e+02] [ 9.73206220e-01 2.20597139e-01 -6.48579594e-02 1.73635726e+02] [ 6.69814870e-02 -2.15164952e-03 9.97751898e-01 2.14434719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.80, Y:173.69, Z:21.44 [[ 2.08317894e-01 -9.77916013e-01 -1.68501100e-02 2.40797563e+02] [ 9.75766923e-01 2.08977722e-01 -6.48631064e-02 1.73693447e+02] [ 6.69519681e-02 -2.92963422e-03 9.97751899e-01 2.14402979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.82, Y:173.75, Z:21.45 [[ 2.07524758e-01 -9.78084975e-01 -1.68301970e-02 2.40815018e+02] [ 9.75936016e-01 2.08185011e-01 -6.48682729e-02 1.73747331e+02] [ 6.69504779e-02 -2.96342276e-03 9.97751899e-01 2.14529788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.83, Y:173.80, Z:21.46 [[ 2.07247507e-01 -9.78144064e-01 -1.68125341e-02 2.40827736e+02] [ 9.75994933e-01 2.07907201e-01 -6.48728505e-02 1.73803241e+02] [ 6.69504405e-02 -2.96421149e-03 9.97751899e-01 2.14568293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.84, Y:173.86, Z:21.46 [[ 2.09340582e-01 -9.77698480e-01 -1.67989155e-02 2.40839658e+02] [ 9.75547667e-01 2.09994772e-01 -6.48763768e-02 1.73859864e+02] [ 6.69572194e-02 -2.80688430e-03 9.97751899e-01 2.14605639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.85, Y:173.92, Z:21.46 [[ 2.13226653e-01 -9.76858646e-01 -1.67803280e-02 2.40850791e+02] [ 9.74704881e-01 2.13871052e-01 -6.48811842e-02 1.73916762e+02] [ 6.69685722e-02 -2.52146989e-03 9.97751899e-01 2.14642171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.86, Y:173.97, Z:21.47 [[ 2.21816329e-01 -9.74944391e-01 -1.67615973e-02 2.40858988e+02] [ 9.72784677e-01 2.22440501e-01 -6.48860228e-02 1.73974967e+02] [ 6.69887220e-02 -1.91264563e-03 9.97751899e-01 2.14671829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:174.03, Z:21.47 [[ 2.29349711e-01 -9.73200082e-01 -1.67424804e-02 2.40868956e+02] [ 9.71035248e-01 2.29955888e-01 -6.48909551e-02 1.74032696e+02] [ 6.70019148e-02 -1.37481683e-03 9.97751900e-01 2.14718022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:174.09, Z:21.48 [[ 2.42260977e-01 -9.70066977e-01 -1.67236219e-02 2.40874896e+02] [ 9.67893945e-01 2.42837073e-01 -6.48958150e-02 1.74089901e+02] [ 6.70144024e-02 -4.64968884e-04 9.97751900e-01 2.14758431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.88, Y:174.15, Z:21.48 [[ 2.50657619e-01 -9.67931576e-01 -1.67099438e-02 2.40883897e+02] [ 9.65753399e-01 2.51213948e-01 -6.48993367e-02 1.74147452e+02] [ 6.70158882e-02 1.29828200e-04 9.97751900e-01 2.14793826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.89, Y:174.21, Z:21.48 [[ 2.60510140e-01 -9.65326820e-01 -1.66912173e-02 2.40891744e+02] [ 9.63142779e-01 2.61042980e-01 -6.49041526e-02 1.74205528e+02] [ 6.70108443e-02 8.32164497e-04 9.97751900e-01 2.14832548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.90, Y:174.26, Z:21.49 [[ 2.63931642e-01 -9.64397282e-01 -1.66724425e-02 2.40902269e+02] [ 9.62211063e-01 2.64455471e-01 -6.49089751e-02 1.74262673e+02] [ 6.70071578e-02 1.08912379e-03 9.97751900e-01 2.14861403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.91, Y:174.32, Z:21.49 [[ 2.65630464e-01 -9.63931076e-01 -1.66534618e-02 2.40913051e+02] [ 9.61743634e-01 2.66149161e-01 -6.49138445e-02 1.74319525e+02] [ 6.70047769e-02 1.22673375e-03 9.97751901e-01 2.14879225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:174.38, Z:21.49 [[ 2.63938625e-01 -9.64396025e-01 -1.66345970e-02 2.40926539e+02] [ 9.62209193e-01 2.64459891e-01 -6.49186784e-02 1.74376418e+02] [ 6.70064991e-02 1.12858458e-03 9.97751901e-01 2.14914927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.94, Y:174.43, Z:21.50 [[ 2.60837013e-01 -9.65239850e-01 -1.66158227e-02 2.40940289e+02] [ 9.63054400e-01 2.61364044e-01 -6.49234833e-02 1.74432189e+02] [ 6.70095119e-02 9.32506306e-04 9.97751901e-01 2.14965224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.96, Y:174.49, Z:21.50 [[ 2.59042499e-01 -9.65723313e-01 -1.65972078e-02 2.40955279e+02] [ 9.63538543e-01 2.59572340e-01 -6.49282418e-02 1.74488156e+02] [ 6.70108928e-02 8.27124599e-04 9.97751901e-01 2.15013631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.97, Y:174.54, Z:21.51 [[ 2.57492003e-01 -9.66138196e-01 -1.65787611e-02 2.40970169e+02] [ 9.63953977e-01 2.58024111e-01 -6.49329516e-02 1.74543682e+02] [ 6.70119248e-02 7.38553043e-04 9.97751901e-01 2.15058235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.98, Y:174.60, Z:21.51 [[ 2.56813174e-01 -9.66319180e-01 -1.65600412e-02 2.40984725e+02] [ 9.64135030e-01 2.57345558e-01 -6.49377254e-02 1.74599969e+02] [ 6.70122227e-02 7.10747553e-04 9.97751901e-01 2.15092721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.00, Y:174.66, Z:21.51 [[ 2.56765103e-01 -9.66332278e-01 -1.65411835e-02 2.40999657e+02] [ 9.64147845e-01 2.57296329e-01 -6.49425286e-02 1.74655951e+02] [ 6.70120474e-02 7.26828608e-04 9.97751902e-01 2.15107537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.02, Y:174.71, Z:21.51 [[ 2.56442706e-01 -9.66418204e-01 -1.65225218e-02 2.41015026e+02] [ 9.64233644e-01 2.56973406e-01 -6.49472761e-02 1.74712083e+02] [ 6.70120787e-02 7.23683823e-04 9.97751902e-01 2.15146536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.03, Y:174.77, Z:21.52 [[ 2.54770256e-01 -9.66860773e-01 -1.65034140e-02 2.41030142e+02] [ 9.64676821e-01 2.55303451e-01 -6.49521312e-02 1.74767975e+02] [ 6.70130463e-02 6.27410153e-04 9.97751902e-01 2.15180073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:174.82, Z:21.52 [[ 2.52977367e-01 -9.67331749e-01 -1.64845212e-02 2.41045578e+02] [ 9.65148477e-01 2.53513342e-01 -6.49569257e-02 1.74822804e+02] [ 6.70139426e-02 5.22621560e-04 9.97751902e-01 2.15216458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.06, Y:174.88, Z:21.53 [[ 2.51045921e-01 -9.67835138e-01 -1.64648447e-02 2.41061785e+02] [ 9.65652614e-01 2.51584933e-01 -6.49619128e-02 1.74878486e+02] [ 6.70147287e-02 4.09102945e-04 9.97751902e-01 2.15285678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.08, Y:174.93, Z:21.53 [[ 2.49795598e-01 -9.68158923e-01 -1.64456295e-02 2.41077748e+02] [ 9.65976778e-01 2.50336138e-01 -6.49667770e-02 1.74932684e+02] [ 6.70151002e-02 3.42318698e-04 9.97751903e-01 2.15335269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.09, Y:174.99, Z:21.54 [[ 2.51570616e-01 -9.67699554e-01 -1.64255738e-02 2.41093766e+02] [ 9.65516091e-01 2.52105807e-01 -6.49718473e-02 1.74988536e+02] [ 6.70142101e-02 4.85851782e-04 9.97751903e-01 2.15368727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.11, Y:175.04, Z:21.54 [[ 2.53839519e-01 -9.67107188e-01 -1.64068615e-02 2.41109074e+02] [ 9.64922172e-01 2.54368331e-01 -6.49765722e-02 1.75044781e+02] [ 6.70126960e-02 6.62277329e-04 9.97751903e-01 2.15397308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.13, Y:175.10, Z:21.54 [[ 2.56754078e-01 -9.66337815e-01 -1.63881341e-02 2.41125088e+02] [ 9.64150914e-01 2.57275041e-01 -6.49812952e-02 1.75100688e+02] [ 6.70101407e-02 8.83578121e-04 9.97751903e-01 2.15432480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.14, Y:175.15, Z:21.55 [[ 2.59099910e-01 -9.65711806e-01 -1.63690234e-02 2.41141807e+02] [ 9.63523344e-01 2.59614275e-01 -6.49861089e-02 1.75154936e+02] [ 6.70074848e-02 1.06595880e-03 9.97751903e-01 2.15463607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:175.21, Z:21.55 [[ 2.58688163e-01 -9.65822417e-01 -1.63551967e-02 2.41158785e+02] [ 9.63633956e-01 2.59202531e-01 -6.49895886e-02 1.75210163e+02] [ 6.70077099e-02 1.05161434e-03 9.97751903e-01 2.15514003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.18, Y:175.26, Z:21.56 [[ 2.57518224e-01 -9.66135335e-01 -1.63364442e-02 2.41177823e+02] [ 9.63947200e-01 2.58033981e-01 -6.49943021e-02 1.75264881e+02] [ 6.70086495e-02 9.89747570e-04 9.97751904e-01 2.15561808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.19, Y:175.32, Z:21.56 [[ 2.57431364e-01 -9.66158800e-01 -1.63176598e-02 2.41194536e+02] [ 9.63970415e-01 2.57946055e-01 -6.49990178e-02 1.75320328e+02] [ 6.70084490e-02 1.00304457e-03 9.97751904e-01 2.15604454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.20, Y:175.38, Z:21.55 [[ 2.52374030e-01 -9.67492475e-01 -1.62990579e-02 2.41203493e+02] [ 9.65306512e-01 2.52898911e-01 -6.50036820e-02 1.75379069e+02] [ 6.70125872e-02 6.71654419e-04 9.97751904e-01 2.15526166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:175.44, Z:21.55 [[ 2.55284688e-01 -9.66728850e-01 -1.62806467e-02 2.41220550e+02] [ 9.64541024e-01 2.55801750e-01 -6.50082930e-02 1.75435194e+02] [ 6.70100102e-02 8.92270182e-04 9.97751904e-01 2.15527566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.25, Y:175.49, Z:21.57 [[ 2.64710878e-01 -9.64190701e-01 -1.62616875e-02 2.41245194e+02] [ 9.61997643e-01 2.65205278e-01 -6.50130352e-02 1.75487311e+02] [ 6.69976494e-02 1.56595262e-03 9.97751904e-01 2.15682530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.26, Y:175.54, Z:21.57 [[ 2.66591069e-01 -9.63672821e-01 -1.62448965e-02 2.41263347e+02] [ 9.61478550e-01 2.67080058e-01 -6.50172305e-02 1.75542093e+02] [ 6.69940259e-02 1.71389343e-03 9.97751905e-01 2.15712408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:175.60, Z:21.58 [[ 2.66760627e-01 -9.63626218e-01 -1.62259178e-02 2.41281149e+02] [ 9.61431577e-01 2.67247950e-01 -6.50219666e-02 1.75597311e+02] [ 6.69932150e-02 1.74519090e-03 9.97751905e-01 2.15760105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.30, Y:175.65, Z:21.58 [[ 2.66524022e-01 -9.63692005e-01 -1.62069521e-02 2.41296780e+02] [ 9.61497200e-01 2.67010605e-01 -6.50266936e-02 1.75652964e+02] [ 6.69931328e-02 1.74823685e-03 9.97751905e-01 2.15805949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.32, Y:175.71, Z:21.59 [[ 2.66365899e-01 -9.63736042e-01 -1.61879273e-02 2.41315091e+02] [ 9.61541033e-01 2.66851559e-01 -6.50314293e-02 1.75708117e+02] [ 6.69929059e-02 1.75679873e-03 9.97751905e-01 2.15863632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:175.77, Z:21.58 [[ 2.61872950e-01 -9.64966903e-01 -1.61689444e-02 2.41326955e+02] [ 9.62773892e-01 2.62367553e-01 -6.50361487e-02 1.75765341e+02] [ 6.69999374e-02 1.46417061e-03 9.97751905e-01 2.15839217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.35, Y:175.82, Z:21.59 [[ 2.62659661e-01 -9.64753380e-01 -1.61498686e-02 2.41345965e+02] [ 9.62559678e-01 2.63151190e-01 -6.50408854e-02 1.75820447e+02] [ 6.69982711e-02 1.53840458e-03 9.97751906e-01 2.15921797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.36, Y:175.88, Z:21.59 [[ 2.60947898e-01 -9.65218118e-01 -1.61300853e-02 2.41361531e+02] [ 9.63024991e-01 2.61441986e-01 -6.50457912e-02 1.75875375e+02] [ 6.70004577e-02 1.43988720e-03 9.97751906e-01 2.15937408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:175.93, Z:21.60 [[ 2.56130413e-01 -9.66507992e-01 -1.61093929e-02 2.41379866e+02] [ 9.64317037e-01 2.56634041e-01 -6.50509156e-02 1.75930647e+02] [ 6.70064484e-02 1.12695585e-03 9.97751906e-01 2.15984597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.40, Y:175.99, Z:21.60 [[ 2.53213147e-01 -9.67276695e-01 -1.60903224e-02 2.41397131e+02] [ 9.65086970e-01 2.53722100e-01 -6.50556323e-02 1.75985365e+02] [ 6.70092674e-02 9.44380855e-04 9.97751906e-01 2.16027499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.41, Y:176.04, Z:21.61 [[ 2.48396043e-01 -9.68525258e-01 -1.60695733e-02 2.41413758e+02] [ 9.66337763e-01 2.48914495e-01 -6.50607572e-02 1.76040938e+02] [ 6.70129364e-02 6.32199128e-04 9.97751906e-01 2.16087732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.43, Y:176.10, Z:21.61 [[ 2.45661575e-01 -9.69222783e-01 -1.60495355e-02 2.41429065e+02] [ 9.67036438e-01 2.46184854e-01 -6.50656999e-02 1.76095434e+02] [ 6.70143113e-02 4.63656728e-04 9.97751907e-01 2.16117797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.44, Y:176.15, Z:21.62 [[ 2.43615635e-01 -9.69739358e-01 -1.60312090e-02 2.41442656e+02] [ 9.67553826e-01 2.44142296e-01 -6.50702150e-02 1.76151674e+02] [ 6.70150447e-02 3.41064075e-04 9.97751907e-01 2.16157462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.45, Y:176.21, Z:21.61 [[ 2.43523640e-01 -9.69762773e-01 -1.60125453e-02 2.41453738e+02] [ 9.67576989e-01 2.44049257e-01 -6.50748074e-02 1.76209056e+02] [ 6.70149755e-02 3.53883635e-04 9.97751907e-01 2.16149603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.47, Y:176.26, Z:21.62 [[ 2.46546426e-01 -9.68999013e-01 -1.59928938e-02 2.41467318e+02] [ 9.66811289e-01 2.47063905e-01 -6.50796367e-02 1.76264849e+02] [ 6.70133705e-02 5.83041563e-04 9.97751907e-01 2.16190658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.48, Y:176.32, Z:21.62 [[ 2.46458944e-01 -9.69021605e-01 -1.59724438e-02 2.41479259e+02] [ 9.66833603e-01 2.46975247e-01 -6.50846554e-02 1.76322309e+02] [ 6.70132354e-02 5.98000076e-04 9.97751907e-01 2.16181903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.49, Y:176.38, Z:21.63 [[ 2.50378440e-01 -9.68016606e-01 -1.59526401e-02 2.41493716e+02] [ 9.65826225e-01 2.50884553e-01 -6.50895090e-02 1.76377029e+02] [ 6.70099966e-02 8.89531635e-04 9.97751908e-01 2.16256257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.51, Y:176.43, Z:21.63 [[ 2.52328578e-01 -9.67510369e-01 -1.59365626e-02 2.41506679e+02] [ 9.65318726e-01 2.52829194e-01 -6.50934452e-02 1.76433467e+02] [ 6.70078115e-02 1.04107414e-03 9.97751908e-01 2.16304799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.52, Y:176.49, Z:21.63 [[ 2.52613064e-01 -9.67436439e-01 -1.59177754e-02 2.41517780e+02] [ 9.65244361e-01 2.53111772e-01 -6.50980391e-02 1.76491177e+02] [ 6.70071915e-02 1.08007217e-03 9.97751908e-01 2.16322118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.53, Y:176.55, Z:21.64 [[ 2.51350119e-01 -9.67765654e-01 -1.58983183e-02 2.41530886e+02] [ 9.65573930e-01 2.51850379e-01 -6.51027906e-02 1.76548145e+02] [ 6.70082422e-02 1.01259240e-03 9.97751908e-01 2.16361645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.55, Y:176.60, Z:21.64 [[ 2.50659652e-01 -9.67945054e-01 -1.58780161e-02 2.41546232e+02] [ 9.65753375e-01 2.51160110e-01 -6.51077417e-02 1.76603050e+02] [ 6.70086409e-02 9.85636194e-04 9.97751908e-01 2.16423096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.56, Y:176.66, Z:21.64 [[ 2.44237949e-01 -9.69585609e-01 -1.58610007e-02 2.41557176e+02] [ 9.67397027e-01 2.44751782e-01 -6.51118866e-02 1.76658838e+02] [ 6.70135564e-02 5.58908742e-04 9.97751908e-01 2.16432821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.57, Y:176.72, Z:21.65 [[ 2.41179638e-01 -9.70351187e-01 -1.58415746e-02 2.41569022e+02] [ 9.68163927e-01 2.41699065e-01 -6.51166126e-02 1.76715766e+02] [ 6.70148762e-02 3.67559968e-04 9.97751909e-01 2.16466459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:176.77, Z:21.65 [[ 2.34378836e-01 -9.72016562e-01 -1.58228882e-02 2.41581609e+02] [ 9.69832687e-01 2.34912315e-01 -6.51211530e-02 1.76772007e+02] [ 6.70158306e-02 -8.25341849e-05 9.97751909e-01 2.16530858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.59, Y:176.83, Z:21.66 [[ 2.32438348e-01 -9.72482742e-01 -1.58028883e-02 2.41594820e+02] [ 9.70299606e-01 2.32974846e-01 -6.51260060e-02 1.76827327e+02] [ 6.70155923e-02 -1.95755049e-04 9.97751909e-01 2.16557147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.61, Y:176.88, Z:21.67 [[ 2.29163104e-01 -9.73260089e-01 -1.57819730e-02 2.41607195e+02] [ 9.71078423e-01 2.29705549e-01 -6.51310740e-02 1.76884094e+02] [ 6.70146817e-02 -3.99894289e-04 9.97751909e-01 2.16651507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:176.94, Z:21.67 [[ 2.29546245e-01 -9.73170108e-01 -1.57626749e-02 2.41620783e+02] [ 9.70987909e-01 2.30086539e-01 -6.51357441e-02 1.76939307e+02] [ 6.70149385e-02 -3.53701197e-04 9.97751910e-01 2.16666853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.63, Y:177.00, Z:21.67 [[ 2.26236507e-01 -9.73945194e-01 -1.57417079e-02 2.41631546e+02] [ 9.71764493e-01 2.26782815e-01 -6.51408109e-02 1.76995155e+02] [ 6.70135286e-02 -5.60003263e-04 9.97751910e-01 2.16680395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.64, Y:177.05, Z:21.67 [[ 2.21226057e-01 -9.75095857e-01 -1.57194752e-02 2.41639216e+02] [ 9.72917614e-01 2.21782084e-01 -6.51461756e-02 1.77053771e+02] [ 6.70100639e-02 -8.81722700e-04 9.97751910e-01 2.16692773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:177.11, Z:21.68 [[ 2.23205833e-01 -9.74644864e-01 -1.57017713e-02 2.41655260e+02] [ 9.72465197e-01 2.23756252e-01 -6.51504424e-02 1.77108360e+02] [ 6.70119136e-02 -7.27467387e-04 9.97751910e-01 2.16776939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:177.17, Z:21.67 [[ 2.10148686e-01 -9.77543604e-01 -1.56854370e-02 2.41659002e+02] [ 9.75371205e-01 2.10727124e-01 -6.51543748e-02 1.77167768e+02] [ 6.69965893e-02 -1.60701735e-03 9.97751910e-01 2.16699518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:177.22, Z:21.69 [[ 2.15380940e-01 -9.76404443e-01 -1.56657216e-02 2.41681045e+02] [ 9.74228635e-01 2.15946420e-01 -6.51591148e-02 1.77220123e+02] [ 6.70046057e-02 -1.22796314e-03 9.97751911e-01 2.16867051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.69, Y:177.28, Z:21.69 [[ 2.14321130e-01 -9.76637979e-01 -1.56432554e-02 2.41692440e+02] [ 9.74462396e-01 2.14887472e-01 -6.51645080e-02 1.77277134e+02] [ 6.70036730e-02 -1.27763317e-03 9.97751911e-01 2.16905021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.70, Y:177.33, Z:21.69 [[ 2.16473787e-01 -9.76163392e-01 -1.56247234e-02 2.41704721e+02] [ 9.73986247e-01 2.17034095e-01 -6.51689512e-02 1.77333911e+02] [ 6.70066422e-02 -1.11089597e-03 9.97751911e-01 2.16942701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.71, Y:177.39, Z:21.68 [[ 2.17218713e-01 -9.75998204e-01 -1.56056739e-02 2.41709354e+02] [ 9.73820306e-01 2.17776087e-01 -6.51735126e-02 1.77393709e+02] [ 6.70077738e-02 -1.04021557e-03 9.97751911e-01 2.16834312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.72, Y:177.45, Z:21.69 [[ 2.20753936e-01 -9.75204978e-01 -1.55868534e-02 2.41722678e+02] [ 9.73024759e-01 2.21302157e-01 -6.51780134e-02 1.77450253e+02] [ 6.70113274e-02 -7.78091238e-04 9.97751911e-01 2.16885047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.74, Y:177.51, Z:21.70 [[ 2.32384223e-01 -9.72499460e-01 -1.55683338e-02 2.41736475e+02] [ 9.70312553e-01 2.32905128e-01 -6.51824367e-02 1.77505138e+02] [ 6.70158293e-02 4.12202215e-05 9.97751912e-01 2.16972085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.75, Y:177.56, Z:21.70 [[ 2.38598524e-01 -9.70993719e-01 -1.55544655e-02 2.41747852e+02] [ 9.68803311e-01 2.39104502e-01 -6.51857459e-02 1.77560461e+02] [ 6.70140926e-02 4.84005098e-04 9.97751912e-01 2.17023645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.76, Y:177.62, Z:21.71 [[ 2.44253629e-01 -9.69586945e-01 -1.55345075e-02 2.41762720e+02] [ 9.67393324e-01 2.44745490e-01 -6.51905018e-02 1.77616003e+02] [ 6.70098601e-02 8.95037787e-04 9.97751912e-01 2.17103486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.78, Y:177.67, Z:21.72 [[ 2.51357559e-01 -9.67769940e-01 -1.55151976e-02 2.41776689e+02] [ 9.65572490e-01 2.51832020e-01 -6.51950972e-02 1.77671460e+02] [ 6.70010788e-02 1.40623257e-03 9.97751912e-01 2.17178590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.79, Y:177.73, Z:21.72 [[ 2.51728824e-01 -9.67673739e-01 -1.54962938e-02 2.41791588e+02] [ 9.65475833e-01 2.52201169e-01 -6.51995902e-02 1.77727248e+02] [ 6.70001146e-02 1.45131893e-03 9.97751912e-01 2.17212337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.81, Y:177.78, Z:21.72 [[ 2.50728478e-01 -9.67933722e-01 -1.54770580e-02 2.41806714e+02] [ 9.65736027e-01 2.51201800e-01 -6.52041561e-02 1.77782711e+02] [ 6.70011663e-02 1.40178636e-03 9.97751912e-01 2.17238201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.82, Y:177.84, Z:21.73 [[ 2.48952303e-01 -9.68392392e-01 -1.54572066e-02 2.41822691e+02] [ 9.66195279e-01 2.49428319e-01 -6.52088617e-02 1.77838708e+02] [ 6.70032306e-02 1.29921626e-03 9.97751913e-01 2.17279761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.84, Y:177.89, Z:21.73 [[ 2.45751270e-01 -9.69209974e-01 -1.54382561e-02 2.41840178e+02] [ 9.67014166e-01 2.46233269e-01 -6.52133479e-02 1.77894333e+02] [ 6.70068395e-02 1.09725074e-03 9.97751913e-01 2.17320428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.86, Y:177.95, Z:21.73 [[ 2.42783726e-01 -9.69957890e-01 -1.54192611e-02 2.41855564e+02] [ 9.67763284e-01 2.43271166e-01 -6.52178389e-02 1.77950736e+02] [ 6.70096190e-02 9.11635202e-04 9.97751913e-01 2.17346948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:178.01, Z:21.74 [[ 2.41913381e-01 -9.70175498e-01 -1.54084002e-02 2.41875006e+02] [ 9.67981167e-01 2.42402060e-01 -6.52204048e-02 1.78005179e+02] [ 6.70102666e-02 8.62647423e-04 9.97751913e-01 2.17405359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.89, Y:178.06, Z:21.74 [[ 2.39803319e-01 -9.70699434e-01 -1.53940342e-02 2.41892086e+02] [ 9.68505954e-01 2.40295803e-01 -6.52237954e-02 1.78060190e+02] [ 6.70118231e-02 7.31668830e-04 9.97751913e-01 2.17440912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.91, Y:178.12, Z:21.75 [[ 2.37096996e-01 -9.71364226e-01 -1.53803238e-02 2.41909495e+02] [ 9.69171918e-01 2.37594670e-01 -6.52270283e-02 1.78115963e+02] [ 6.70134848e-02 5.58954580e-04 9.97751913e-01 2.17480714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:178.17, Z:21.75 [[ 2.32554257e-01 -9.72462097e-01 -1.53618833e-02 2.41928352e+02] [ 9.70271853e-01 2.33060935e-01 -6.52313710e-02 1.78171600e+02] [ 6.70152908e-02 2.64629993e-04 9.97751913e-01 2.17517544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.94, Y:178.23, Z:21.76 [[ 2.31162551e-01 -9.72794038e-01 -1.53503910e-02 2.41941140e+02] [ 9.70604342e-01 2.31671592e-01 -6.52340753e-02 1.78227939e+02] [ 6.70155691e-02 1.80519048e-04 9.97751914e-01 2.17564905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.95, Y:178.28, Z:21.76 [[ 2.29137006e-01 -9.73273427e-01 -1.53319483e-02 2.41953451e+02] [ 9.71084506e-01 2.29649369e-01 -6.52384096e-02 1.78284934e+02] [ 6.70157828e-02 5.99163989e-05 9.97751914e-01 2.17620650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.97, Y:178.34, Z:21.77 [[ 2.26690896e-01 -9.73846362e-01 -1.53133953e-02 2.41966729e+02] [ 9.71658442e-01 2.27207514e-01 -6.52427643e-02 1.78340792e+02] [ 6.70157471e-02 -8.94490837e-05 9.97751914e-01 2.17676842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.98, Y:178.40, Z:21.77 [[ 2.20680928e-01 -9.75226126e-01 -1.52948091e-02 2.41979883e+02] [ 9.73041132e-01 2.21209785e-01 -6.52471211e-02 1.78397252e+02] [ 6.70140586e-02 -4.83683137e-04 9.97751914e-01 2.17720296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.99, Y:178.45, Z:21.77 [[ 2.15385619e-01 -9.76409587e-01 -1.52758996e-02 2.41992569e+02] [ 9.74227183e-01 2.15925062e-01 -6.52515480e-02 1.78454335e+02] [ 6.70106866e-02 -8.27951589e-04 9.97751914e-01 2.17747443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.01, Y:178.51, Z:21.78 [[ 2.07677884e-01 -9.78078276e-01 -1.52572209e-02 2.42005149e+02] [ 9.75899876e-01 2.08233278e-01 -6.52559152e-02 1.78509807e+02] [ 6.70024542e-02 -1.33730959e-03 9.97751914e-01 2.17786256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.02, Y:178.56, Z:21.78 [[ 2.03404164e-01 -9.78976281e-01 -1.52376715e-02 2.42016503e+02] [ 9.76799990e-01 2.03967764e-01 -6.52604798e-02 1.78564940e+02] [ 6.69964557e-02 -1.60990402e-03 9.97751915e-01 2.17829008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:178.62, Z:21.79 [[ 1.98717863e-01 -9.79938606e-01 -1.52164025e-02 2.42026192e+02] [ 9.77764664e-01 1.99290454e-01 -6.52654387e-02 1.78622030e+02] [ 6.69886067e-02 -1.90865210e-03 9.97751915e-01 2.17877507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.04, Y:178.68, Z:21.79 [[ 1.96152879e-01 -9.80455544e-01 -1.51978601e-02 2.42037590e+02] [ 9.78282779e-01 1.96729923e-01 -6.52697562e-02 1.78679099e+02] [ 6.69839681e-02 -2.06495428e-03 9.97751915e-01 2.17928324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.05, Y:178.74, Z:21.80 [[ 1.94234693e-01 -9.80837639e-01 -1.51792616e-02 2.42048466e+02] [ 9.78665677e-01 1.94814751e-01 -6.52740812e-02 1.78735914e+02] [ 6.69804198e-02 -2.17693123e-03 9.97751915e-01 2.17973691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.06, Y:178.79, Z:21.80 [[ 1.93893437e-01 -9.80905445e-01 -1.51605973e-02 2.42055569e+02] [ 9.78733353e-01 1.94473009e-01 -6.52784159e-02 1.78792548e+02] [ 6.69802806e-02 -2.18112584e-03 9.97751915e-01 2.18002106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.06, Y:178.85, Z:21.80 [[ 1.95526008e-01 -9.80581627e-01 -1.51410935e-02 2.42064744e+02] [ 9.78408231e-01 1.96100667e-01 -6.52829395e-02 1.78849998e+02] [ 6.69844295e-02 -2.04965800e-03 9.97751916e-01 2.18030002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.07, Y:178.91, Z:21.81 [[ 1.99248385e-01 -9.79832325e-01 -1.51226664e-02 2.42072064e+02] [ 9.77656444e-01 1.99813559e-01 -6.52872078e-02 1.78907869e+02] [ 6.69922304e-02 -1.77640155e-03 9.97751916e-01 2.18054605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.08, Y:178.97, Z:21.81 [[ 2.01436199e-01 -9.79385175e-01 -1.51042202e-02 2.42081549e+02] [ 9.77207720e-01 2.01995283e-01 -6.52914751e-02 1.78965063e+02] [ 6.69964839e-02 -1.60789400e-03 9.97751916e-01 2.18089941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.09, Y:179.02, Z:21.81 [[ 2.03994341e-01 -9.78855829e-01 -1.50856179e-02 2.42089536e+02] [ 9.76676607e-01 2.04546494e-01 -6.52957729e-02 1.79022470e+02] [ 6.70008581e-02 -1.41380193e-03 9.97751916e-01 2.18147133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.10, Y:179.08, Z:21.82 [[ 2.05032709e-01 -9.78639145e-01 -1.50669010e-02 2.42099921e+02] [ 9.76459024e-01 2.05581302e-01 -6.53000915e-02 1.79079924e+02] [ 6.70026988e-02 -1.32355681e-03 9.97751916e-01 2.18202616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.11, Y:179.14, Z:21.82 [[ 2.07472678e-01 -9.78125061e-01 -1.50483237e-02 2.42107758e+02] [ 9.75943271e-01 2.08014592e-01 -6.53043723e-02 1.79137295e+02] [ 6.70061141e-02 -1.13743730e-03 9.97751917e-01 2.18243943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.12, Y:179.19, Z:21.83 [[ 2.09711359e-01 -9.77647819e-01 -1.50295532e-02 2.42121304e+02] [ 9.75464486e-01 2.10247023e-01 -6.53086920e-02 1.79193728e+02] [ 6.70088192e-02 -9.64820837e-04 9.97751917e-01 2.18260730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.13, Y:179.25, Z:21.83 [[ 2.11735169e-01 -9.77211805e-01 -1.50101974e-02 2.42127619e+02] [ 9.75027054e-01 2.12265017e-01 -6.53131404e-02 1.79250786e+02] [ 6.70109116e-02 -8.06259765e-04 9.97751917e-01 2.18311306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.13, Y:179.31, Z:21.83 [[ 2.17188287e-01 -9.76014645e-01 -1.49886544e-02 2.42134713e+02] [ 9.73826629e-01 2.17704487e-01 -6.53180839e-02 1.79308308e+02] [ 6.70145038e-02 -4.10028079e-04 9.97751917e-01 2.18334507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.14, Y:179.37, Z:21.84 [[ 2.20594254e-01 -9.75250776e-01 -1.49699570e-02 2.42143331e+02] [ 9.73060681e-01 2.21101560e-01 -6.53223688e-02 1.79365353e+02] [ 6.70155717e-02 -1.56937363e-04 9.97751917e-01 2.18362495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.15, Y:179.42, Z:21.84 [[ 2.24409643e-01 -9.74380195e-01 -1.49515504e-02 2.42150651e+02] [ 9.72187850e-01 2.24907139e-01 -6.53265816e-02 1.79422822e+02] [ 6.70156377e-02 1.24199179e-04 9.97751918e-01 2.18410725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.16, Y:179.48, Z:21.84 [[ 2.25388346e-01 -9.74154569e-01 -1.49321230e-02 2.42160414e+02] [ 9.71961433e-01 2.25882337e-01 -6.53310220e-02 1.79479220e+02] [ 6.70154164e-02 2.11403341e-04 9.97751918e-01 2.18447288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.17, Y:179.54, Z:21.85 [[ 2.26169565e-01 -9.73973801e-01 -1.49118037e-02 2.42168837e+02] [ 9.71779964e-01 2.26660434e-01 -6.53356595e-02 1.79536657e+02] [ 6.70151366e-02 2.85945620e-04 9.97751918e-01 2.18495926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.18, Y:179.59, Z:21.85 [[ 2.26638852e-01 -9.73864984e-01 -1.48937239e-02 2.42177864e+02] [ 9.71670641e-01 2.27127451e-01 -6.53397807e-02 1.79592581e+02] [ 6.70148980e-02 3.36738681e-04 9.97751918e-01 2.18536170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:179.65, Z:21.86 [[ 2.27385184e-01 -9.73691205e-01 -1.48800256e-02 2.42185416e+02] [ 9.71496284e-01 2.27871181e-01 -6.53429001e-02 1.79650285e+02] [ 6.70145362e-02 4.02117715e-04 9.97751918e-01 2.18576007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:179.71, Z:21.86 [[ 2.27999647e-01 -9.73547789e-01 -1.48615069e-02 2.42194764e+02] [ 9.71352288e-01 2.28483016e-01 -6.53471117e-02 1.79707524e+02] [ 6.70141380e-02 4.63359665e-04 9.97751918e-01 2.18600811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.21, Y:179.77, Z:21.86 [[ 2.30080441e-01 -9.73058416e-01 -1.48428149e-02 2.42206171e+02] [ 9.70861614e-01 2.30557860e-01 -6.53513571e-02 1.79765440e+02] [ 6.70128157e-02 6.25749849e-04 9.97751919e-01 2.18553581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.21, Y:179.82, Z:21.87 [[ 2.26782991e-01 -9.73832513e-01 -1.48226934e-02 2.42210707e+02] [ 9.71637043e-01 2.27266498e-01 -6.53559207e-02 1.79822719e+02] [ 6.70144221e-02 4.19333168e-04 9.97751919e-01 2.18652502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:179.88, Z:21.86 [[ 2.24068520e-01 -9.74460943e-01 -1.48043587e-02 2.42225191e+02] [ 9.72266555e-01 2.24556914e-01 -6.53600736e-02 1.79879458e+02] [ 6.70152600e-02 2.51352157e-04 9.97751919e-01 2.18595984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.24, Y:179.94, Z:21.86 [[ 2.21901419e-01 -9.74957001e-01 -1.47853266e-02 2.42236669e+02] [ 9.72763418e-01 2.22393415e-01 -6.53643786e-02 1.79936035e+02] [ 6.70156179e-02 1.21823523e-04 9.97751919e-01 2.18644693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.25, Y:179.99, Z:21.87 [[ 2.16920882e-01 -9.76077529e-01 -1.47644408e-02 2.42245142e+02] [ 9.73886165e-01 2.17422672e-01 -6.53690960e-02 1.79993490e+02] [ 6.70154298e-02 -1.98962668e-04 9.97751919e-01 2.18676340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.25, Y:180.05, Z:21.87 [[ 2.14726868e-01 -9.76562837e-01 -1.47444118e-02 2.42254003e+02] [ 9.74372297e-01 2.15232240e-01 -6.53736134e-02 1.80050771e+02] [ 6.70149141e-02 -3.29075098e-04 9.97751920e-01 2.18697195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.26, Y:180.11, Z:21.88 [[ 2.15865205e-01 -9.76312144e-01 -1.47245198e-02 2.42263660e+02] [ 9.74120711e-01 2.16366691e-01 -6.53780934e-02 1.80108376e+02] [ 6.70153222e-02 -2.30604185e-04 9.97751920e-01 2.18766618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.27, Y:180.17, Z:21.88 [[ 2.19864227e-01 -9.75419621e-01 -1.47066385e-02 2.42269084e+02] [ 9.73225883e-01 2.20355530e-01 -6.53821156e-02 1.80166148e+02] [ 6.70156875e-02 6.23070898e-05 9.97751920e-01 2.18824958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:180.22, Z:21.89 [[ 2.23562917e-01 -9.74578855e-01 -1.46859787e-02 2.42276193e+02] [ 9.72382965e-01 2.24044509e-01 -6.53867558e-02 1.80224200e+02] [ 6.70148625e-02 3.37658403e-04 9.97751920e-01 2.18866779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:180.28, Z:21.89 [[ 2.29680067e-01 -9.73155682e-01 -1.46658057e-02 2.42278088e+02] [ 9.70956522e-01 2.30146501e-01 -6.53912802e-02 1.80281795e+02] [ 6.70111797e-02 7.79213882e-04 9.97751920e-01 2.18922933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:180.34, Z:21.90 [[ 2.34687849e-01 -9.71960357e-01 -1.46519127e-02 2.42283307e+02] [ 9.69758632e-01 2.35142019e-01 -6.53943930e-02 1.80339901e+02] [ 6.70060379e-02 1.13845066e-03 9.97751920e-01 2.18981863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:180.40, Z:21.90 [[ 2.39437881e-01 -9.70801418e-01 -1.46324424e-02 2.42281302e+02] [ 9.68597235e-01 2.39879968e-01 -6.53987493e-02 1.80400644e+02] [ 6.69992284e-02 1.48599474e-03 9.97751921e-01 2.18984096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.29, Y:180.46, Z:21.91 [[ 2.45195078e-01 -9.69363608e-01 -1.46140397e-02 2.42288485e+02] [ 9.67156600e-01 2.45622835e-01 -6.54028613e-02 1.80458806e+02] [ 6.69886955e-02 1.90239472e-03 9.97751921e-01 2.19063693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.29, Y:180.52, Z:21.91 [[ 2.49420967e-01 -9.68285155e-01 -1.45958727e-02 2.42292839e+02] [ 9.66076071e-01 2.49837868e-01 -6.54069154e-02 1.80517556e+02] [ 6.69791470e-02 2.21313269e-03 9.97751921e-01 2.19089512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:180.58, Z:21.91 [[ 2.44248249e-01 -9.69603188e-01 -1.45756875e-02 2.42283600e+02] [ 9.67396097e-01 2.44675577e-01 -6.54114133e-02 1.80578081e+02] [ 6.69894296e-02 1.87615995e-03 9.97751921e-01 2.19145239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.29, Y:180.64, Z:21.92 [[ 2.43885478e-01 -9.69694617e-01 -1.45678965e-02 2.42290111e+02] [ 9.67487585e-01 2.44313106e-01 -6.54131484e-02 1.80635882e+02] [ 6.69899059e-02 1.85905790e-03 9.97751921e-01 2.19168440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.31, Y:180.69, Z:21.92 [[ 2.47415510e-01 -9.68800232e-01 -1.45490903e-02 2.42309308e+02] [ 9.66591416e-01 2.47833828e-01 -6.54173310e-02 1.80690988e+02] [ 6.69820822e-02 2.12223648e-03 9.97751921e-01 2.19216235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.31, Y:180.75, Z:21.92 [[ 2.37621029e-01 -9.71249264e-01 -1.45297300e-02 2.42305253e+02] [ 9.69044525e-01 2.38060325e-01 -6.54216308e-02 1.80752159e+02] [ 6.69996631e-02 1.46559998e-03 9.97751922e-01 2.19194826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:180.81, Z:21.93 [[ 2.40231950e-01 -9.70607050e-01 -1.45108242e-02 2.42328550e+02] [ 9.68400888e-01 2.40664042e-01 -6.54258240e-02 1.80806055e+02] [ 6.69949996e-02 1.66507817e-03 9.97751922e-01 2.19319040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:180.87, Z:21.92 [[ 2.27838954e-01 -9.73590961e-01 -1.44931521e-02 2.42328192e+02] [ 9.71390239e-01 2.28297949e-01 -6.54297385e-02 1.80866532e+02] [ 6.70105589e-02 8.28936714e-04 9.97751922e-01 2.19223618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:180.92, Z:21.93 [[ 2.25427867e-01 -9.74152350e-01 -1.44732613e-02 2.42350425e+02] [ 9.71952490e-01 2.25890973e-01 -6.54341381e-02 1.80920292e+02] [ 6.70121985e-02 6.83355839e-04 9.97751922e-01 2.19334517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36 meters Centerline goodness : 0.996672 with order 1 Centerline is valid? [True, True] Translation: X:242.36, Y:180.98, Z:21.93 [[ 2.18634552e-01 -9.75699787e-01 -1.44519085e-02 2.42358621e+02] [ 9.73502896e-01 2.19111543e-01 -6.54388538e-02 1.80977281e+02] [ 6.70152557e-02 2.38219676e-04 9.97751922e-01 2.19342891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41999999999996 meters Centerline goodness : 0.995444 with order 1 Centerline is valid? [True, True] Translation: X:242.37, Y:181.03, Z:21.94 [[ 2.17351794e-01 -9.75986718e-01 -1.44265192e-02 2.42369848e+02] [ 9.73790084e-01 2.17829970e-01 -6.54444506e-02 1.81032939e+02] [ 6.70154428e-02 1.76067437e-04 9.97751923e-01 2.19385290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47999999999996 meters Centerline goodness : 0.995854 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:181.09, Z:21.94 [[ 2.23695624e-01 -9.74552657e-01 -1.44009447e-02 2.42386192e+02] [ 9.72352598e-01 2.24157785e-01 -6.54500778e-02 1.81087930e+02] [ 6.70126310e-02 6.38100060e-04 9.97751923e-01 2.19407000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53999999999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:242.40, Y:181.14, Z:21.94 [[ 2.23869189e-01 -9.74513220e-01 -1.43725669e-02 2.42396593e+02] [ 9.72312680e-01 2.24329051e-01 -6.54563089e-02 1.81144019e+02] [ 6.70122226e-02 6.79021678e-04 9.97751924e-01 2.19366964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.41, Y:181.20, Z:21.94 [[ 2.28155119e-01 -9.73519132e-01 -1.43437001e-02 2.42411324e+02] [ 9.71316195e-01 2.28603354e-01 -6.54626340e-02 1.81200263e+02] [ 6.70081445e-02 1.00336683e-03 9.97751924e-01 2.19401554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.42, Y:181.26, Z:21.94 [[ 2.33014247e-01 -9.72367820e-01 -1.43241898e-02 2.42424877e+02] [ 9.70162413e-01 2.33450161e-01 -6.54669029e-02 1.81256831e+02] [ 6.70018941e-02 1.35793057e-03 9.97751924e-01 2.19449558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71999999999997 meters Centerline goodness : 0.997501 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:181.31, Z:21.96 [[ 2.36222346e-01 -9.71593729e-01 -1.43048602e-02 2.42440097e+02] [ 9.69386642e-01 2.36649677e-01 -6.54711262e-02 1.81311315e+02] [ 6.69965762e-02 1.59880260e-03 9.97751924e-01 2.19576997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78 meters Centerline goodness : 0.997737 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:181.37, Z:21.96 [[ 2.43660054e-01 -9.69755579e-01 -1.42791712e-02 2.42453449e+02] [ 9.67544962e-01 2.44068728e-01 -6.54767285e-02 1.81367084e+02] [ 6.69815219e-02 2.13832301e-03 9.97751925e-01 2.19584881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:242.47, Y:181.42, Z:21.97 [[ 2.54407742e-01 -9.66992007e-01 -1.42534204e-02 2.42467073e+02] [ 9.64776689e-01 2.54790117e-01 -6.54823336e-02 1.81422527e+02] [ 6.69525239e-02 2.90784489e-03 9.97751925e-01 2.19673149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.48, Y:181.48, Z:21.98 [[ 2.59465226e-01 -9.65647615e-01 -1.42295593e-02 2.42483545e+02] [ 9.63430058e-01 2.59834387e-01 -6.54875184e-02 1.81478486e+02] [ 6.69351947e-02 3.28254868e-03 9.97751925e-01 2.19750627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.50, Y:181.54, Z:21.96 [[ 2.61428561e-01 -9.65118190e-01 -1.42122286e-02 2.42497474e+02] [ 9.62899694e-01 2.61792039e-01 -6.54912793e-02 1.81535916e+02] [ 6.69274732e-02 3.43634036e-03 9.97751926e-01 2.19629030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.51, Y:181.59, Z:21.98 [[ 2.63207890e-01 -9.64634693e-01 -1.41956522e-02 2.42513298e+02] [ 9.62415349e-01 2.63566153e-01 -6.54948722e-02 1.81590884e+02] [ 6.69201193e-02 3.57665352e-03 9.97751926e-01 2.19769916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.53, Y:181.65, Z:21.98 [[ 2.60442432e-01 -9.65385185e-01 -1.41839317e-02 2.42528002e+02] [ 9.63166747e-01 2.60806261e-01 -6.54974103e-02 1.81647620e+02] [ 6.69294878e-02 3.39681342e-03 9.97751926e-01 2.19811326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.54, Y:181.70, Z:21.98 [[ 2.54776128e-01 -9.66896287e-01 -1.41666483e-02 2.42544367e+02] [ 9.64679823e-01 2.55151794e-01 -6.55011484e-02 1.81703626e+02] [ 6.69474629e-02 3.02184923e-03 9.97751926e-01 2.19839051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.56, Y:181.76, Z:21.99 [[ 2.42243719e-01 -9.70112284e-01 -1.41469755e-02 2.42562867e+02] [ 9.67900625e-01 2.42646706e-01 -6.55053971e-02 1.81758671e+02] [ 6.69803074e-02 2.17540459e-03 9.97751926e-01 2.19882558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.58, Y:181.81, Z:21.99 [[ 2.32897066e-01 -9.72398773e-01 -1.41274019e-02 2.42579425e+02] [ 9.70190841e-01 2.33319999e-01 -6.55096182e-02 1.81814947e+02] [ 6.69976778e-02 1.55072194e-03 9.97751926e-01 2.19933789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.60, Y:181.87, Z:21.99 [[ 2.26129490e-01 -9.73995057e-01 -1.41096433e-02 2.42600141e+02] [ 9.71789883e-01 2.26566573e-01 -6.55134429e-02 1.81869745e+02] [ 6.70065431e-02 1.10291283e-03 9.97751926e-01 2.19931848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:181.92, Z:22.00 [[ 2.25741998e-01 -9.74085135e-01 -1.40961262e-02 2.42614558e+02] [ 9.71879954e-01 2.26179049e-01 -6.55163512e-02 1.81924847e+02] [ 6.70067522e-02 1.09004958e-03 9.97751927e-01 2.19966105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.63, Y:181.98, Z:22.00 [[ 2.29138629e-01 -9.73292023e-01 -1.40757371e-02 2.42627015e+02] [ 9.71085065e-01 2.29566613e-01 -6.55207313e-02 1.81981373e+02] [ 6.70021245e-02 1.34459247e-03 9.97751927e-01 2.20017805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.64, Y:182.04, Z:22.01 [[ 2.37211679e-01 -9.71356283e-01 -1.40567118e-02 2.42638747e+02] [ 9.69145611e-01 2.37620042e-01 -6.55248128e-02 1.82038166e+02] [ 6.69880950e-02 1.92025027e-03 9.97751927e-01 2.20064276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.65, Y:182.09, Z:22.01 [[ 2.45030011e-01 -9.69413860e-01 -1.40378785e-02 2.42650359e+02] [ 9.67199746e-01 2.45419278e-01 -6.55288473e-02 1.82094525e+02] [ 6.69697388e-02 2.47910168e-03 9.97751927e-01 2.20102603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:182.15, Z:22.01 [[ 2.49115311e-01 -9.68372336e-01 -1.40207069e-02 2.42661611e+02] [ 9.66156402e-01 2.49494080e-01 -6.55325212e-02 1.82151295e+02] [ 6.69579640e-02 2.77895866e-03 9.97751927e-01 2.20148547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:182.21, Z:22.02 [[ 2.52340753e-01 -9.67537134e-01 -1.40014040e-02 2.42672258e+02] [ 9.65319732e-01 2.52710831e-01 -6.55366451e-02 1.82208909e+02] [ 6.69474442e-02 3.02173486e-03 9.97751928e-01 2.20182219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.68, Y:182.26, Z:22.02 [[ 2.56572482e-01 -9.66423845e-01 -1.39825679e-02 2.42681717e+02] [ 9.64204639e-01 2.56931579e-01 -6.55406637e-02 1.82264915e+02] [ 6.69326235e-02 3.33387392e-03 9.97751928e-01 2.20199040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.69, Y:182.32, Z:22.02 [[ 2.57473169e-01 -9.66184568e-01 -1.39623776e-02 2.42693284e+02] [ 9.63964808e-01 2.57828831e-01 -6.55449646e-02 1.82321806e+02] [ 6.69284368e-02 3.41682913e-03 9.97751928e-01 2.20227679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.71, Y:182.38, Z:22.02 [[ 2.56269657e-01 -9.66504749e-01 -1.39439140e-02 2.42706150e+02] [ 9.64285233e-01 2.56626834e-01 -6.55488923e-02 1.82377563e+02] [ 6.69316982e-02 3.35228180e-03 9.97751928e-01 2.20228027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.72, Y:182.43, Z:22.03 [[ 2.51383801e-01 -9.67787216e-01 -1.39315680e-02 2.42720507e+02] [ 9.65569395e-01 2.51751351e-01 -6.55515162e-02 1.82433683e+02] [ 6.69472105e-02 3.02669357e-03 9.97751928e-01 2.20295101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.73, Y:182.49, Z:22.04 [[ 2.48833272e-01 -9.68446403e-01 -1.39128847e-02 2.42734788e+02] [ 9.66229345e-01 2.49205402e-01 -6.55554814e-02 1.82489824e+02] [ 6.69541361e-02 2.86934741e-03 9.97751928e-01 2.20356092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.75, Y:182.55, Z:22.04 [[ 2.45619537e-01 -9.69266712e-01 -1.38954521e-02 2.42750464e+02] [ 9.67050700e-01 2.45997842e-01 -6.55591763e-02 1.82546280e+02] [ 6.69625785e-02 2.66500782e-03 9.97751929e-01 2.20415899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.76, Y:182.60, Z:22.04 [[ 2.43772376e-01 -9.69733182e-01 -1.38774803e-02 2.42764569e+02] [ 9.67517686e-01 2.44153689e-01 -6.55629803e-02 1.82603094e+02] [ 6.69668355e-02 2.55573587e-03 9.97751929e-01 2.20448285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.78, Y:182.66, Z:22.05 [[ 2.42939456e-01 -9.69942434e-01 -1.38598303e-02 2.42778372e+02] [ 9.67727061e-01 2.43321480e-01 -6.55667113e-02 1.82658450e+02] [ 6.69683300e-02 2.51620834e-03 9.97751929e-01 2.20467287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21999999999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.79, Y:182.71, Z:22.05 [[ 2.42104448e-01 -9.70151476e-01 -1.38401400e-02 2.42793100e+02] [ 9.67936202e-01 2.42487050e-01 -6.55708674e-02 1.82714885e+02] [ 6.69697285e-02 2.47862611e-03 9.97751929e-01 2.20541261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.81, Y:182.77, Z:22.06 [[ 2.41501019e-01 -9.70302122e-01 -1.38220809e-02 2.42806620e+02] [ 9.68086876e-01 2.41883781e-01 -6.55746739e-02 1.82771568e+02] [ 6.69705824e-02 2.45537552e-03 9.97751929e-01 2.20584112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.82, Y:182.83, Z:22.06 [[ 2.41301266e-01 -9.70352071e-01 -1.38042893e-02 2.42819159e+02] [ 9.68136696e-01 2.41683283e-01 -6.55784191e-02 1.82828283e+02] [ 6.69704207e-02 2.45971647e-03 9.97751929e-01 2.20624073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.83, Y:182.89, Z:22.07 [[ 2.40696863e-01 -9.70502432e-01 -1.37858488e-02 2.42831684e+02] [ 9.68287081e-01 2.41079015e-01 -6.55822954e-02 1.82885431e+02] [ 6.69712560e-02 2.43679351e-03 9.97751930e-01 2.20681455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.85, Y:182.94, Z:22.07 [[ 2.39671661e-01 -9.70756376e-01 -1.37678255e-02 2.42845210e+02] [ 9.68541219e-01 2.40054937e-01 -6.55860789e-02 1.82941141e+02] [ 6.69731387e-02 2.38441792e-03 9.97751930e-01 2.20720081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.86, Y:183.00, Z:22.08 [[ 2.37856657e-01 -9.71202929e-01 -1.37507159e-02 2.42858592e+02] [ 9.68988291e-01 2.38242919e-01 -6.55896659e-02 1.82997996e+02] [ 6.69768863e-02 2.27665599e-03 9.97751930e-01 2.20759818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.87, Y:183.05, Z:22.08 [[ 2.33448864e-01 -9.72272120e-01 -1.37314240e-02 2.42872342e+02] [ 9.70059025e-01 2.33843867e-01 -6.55937045e-02 1.83053215e+02] [ 6.69859394e-02 1.99248399e-03 9.97751930e-01 2.20767437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.89, Y:183.11, Z:22.08 [[ 2.30011922e-01 -9.73091130e-01 -1.37174896e-02 2.42885258e+02] [ 9.70879273e-01 2.30413803e-01 -6.55966184e-02 1.83109106e+02] [ 6.69921865e-02 1.76997787e-03 9.97751930e-01 2.20822437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.90, Y:183.16, Z:22.09 [[ 2.25129740e-01 -9.74232515e-01 -1.36969611e-02 2.42898868e+02] [ 9.72022444e-01 2.25541326e-01 -6.56009046e-02 1.83164286e+02] [ 6.69997651e-02 1.45496101e-03 9.97751930e-01 2.20872054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.91, Y:183.22, Z:22.09 [[ 2.22228743e-01 -9.74898459e-01 -1.36886943e-02 2.42911151e+02] [ 9.72689518e-01 2.22646349e-01 -6.56026296e-02 1.83221080e+02] [ 6.70036403e-02 1.26394043e-03 9.97751930e-01 2.20920272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.92, Y:183.28, Z:22.10 [[ 2.20678306e-01 -9.75250840e-01 -1.36705353e-02 2.42923379e+02] [ 9.73042334e-01 2.21098203e-01 -6.56064134e-02 1.83277918e+02] [ 6.70052406e-02 1.17590257e-03 9.97751931e-01 2.20968628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.94, Y:183.34, Z:22.10 [[ 2.21568059e-01 -9.75049353e-01 -1.36511965e-02 2.42935140e+02] [ 9.72840218e-01 2.21984640e-01 -6.56104371e-02 1.83335051e+02] [ 6.70037702e-02 1.25674416e-03 9.97751931e-01 2.21000375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.95, Y:183.39, Z:22.10 [[ 2.24230724e-01 -9.74440742e-01 -1.36316976e-02 2.42945820e+02] [ 9.72230235e-01 2.24639956e-01 -6.56144882e-02 1.83392531e+02] [ 6.69996545e-02 1.45963563e-03 9.97751931e-01 2.21023604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.96, Y:183.45, Z:22.10 [[ 2.30499467e-01 -9.72977233e-01 -1.36124696e-02 2.42955481e+02] [ 9.70763906e-01 2.30893165e-01 -6.56184770e-02 1.83448688e+02] [ 6.69883104e-02 1.91052976e-03 9.97751931e-01 2.21044150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.97, Y:183.50, Z:22.11 [[ 2.34264921e-01 -9.72077763e-01 -1.35930037e-02 2.42965511e+02] [ 9.69862701e-01 2.34648734e-01 -6.56225092e-02 1.83504600e+02] [ 6.69797630e-02 2.18970467e-03 9.97751931e-01 2.21081112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.98, Y:183.56, Z:22.11 [[ 2.36958073e-01 -9.71425056e-01 -1.35732333e-02 2.42975752e+02] [ 9.69208712e-01 2.37334411e-01 -6.56265982e-02 1.83560775e+02] [ 6.69727171e-02 2.39545628e-03 9.97751932e-01 2.21125163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:183.62, Z:22.12 [[ 2.37896588e-01 -9.71195873e-01 -1.35569097e-02 2.42986494e+02] [ 9.68978981e-01 2.38269683e-01 -6.56299701e-02 1.83617774e+02] [ 6.69697567e-02 2.47678538e-03 9.97751932e-01 2.21169692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:183.68, Z:22.12 [[ 2.36898587e-01 -9.71440055e-01 -1.35380809e-02 2.42997858e+02] [ 9.69223332e-01 2.37272689e-01 -6.56338539e-02 1.83675047e+02] [ 6.69715714e-02 2.42714332e-03 9.97751932e-01 2.21208167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:183.73, Z:22.12 [[ 2.35419003e-01 -9.71799943e-01 -1.35190476e-02 2.43007975e+02] [ 9.69583575e-01 2.35795197e-01 -6.56377740e-02 1.83731815e+02] [ 6.69745115e-02 2.34453277e-03 9.97751932e-01 2.21249581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:183.79, Z:22.13 [[ 2.34614899e-01 -9.71994647e-01 -1.35002072e-02 2.43018119e+02] [ 9.69778375e-01 2.34991656e-01 -6.56416489e-02 1.83788998e+02] [ 6.69757674e-02 2.30829986e-03 9.97751932e-01 2.21288728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:183.85, Z:22.13 [[ 2.34069605e-01 -9.72126367e-01 -1.34813187e-02 2.43026846e+02] [ 9.69910090e-01 2.34446331e-01 -6.56455279e-02 1.83846082e+02] [ 6.69763943e-02 2.28995581e-03 9.97751932e-01 2.21310853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.04, Y:183.90, Z:22.13 [[ 2.33138066e-01 -9.72350455e-01 -1.34623774e-02 2.43036654e+02] [ 9.70134321e-01 2.33515638e-01 -6.56494121e-02 1.83903019e+02] [ 6.69779114e-02 2.24506262e-03 9.97751933e-01 2.21330709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:183.96, Z:22.14 [[ 2.30654897e-01 -9.72942746e-01 -1.34436411e-02 2.43047874e+02] [ 9.70727366e-01 2.31036863e-01 -6.56532487e-02 1.83960404e+02] [ 6.69828288e-02 2.09313307e-03 9.97751933e-01 2.21361261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.06, Y:184.02, Z:22.14 [[ 2.24019338e-01 -9.74492215e-01 -1.34260276e-02 2.43059295e+02] [ 9.72279277e-01 2.24415206e-01 -6.56568505e-02 1.84016879e+02] [ 6.69950944e-02 1.65455574e-03 9.97751933e-01 2.21424888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:184.07, Z:22.15 [[ 2.17925093e-01 -9.75873413e-01 -1.34065647e-02 2.43070099e+02] [ 9.73662750e-01 2.18333473e-01 -6.56608244e-02 1.84072233e+02] [ 6.70037547e-02 1.25566860e-03 9.97751933e-01 2.21466513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71999999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.08, Y:184.13, Z:22.15 [[ 2.10185754e-01 -9.77569715e-01 -1.33940422e-02 2.43079759e+02] [ 9.75362196e-01 2.10610797e-01 -6.56633788e-02 1.84129428e+02] [ 6.70114604e-02 7.37464423e-04 9.97751933e-01 2.21531812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.09, Y:184.19, Z:22.16 [[ 2.05850367e-01 -9.78492076e-01 -1.33747336e-02 2.43088480e+02] [ 9.76286207e-01 2.06283895e-01 -6.56673115e-02 1.84186257e+02] [ 6.70139361e-02 4.60072240e-04 9.97751933e-01 2.21573066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.10, Y:184.24, Z:22.16 [[ 2.01866242e-01 -9.79322017e-01 -1.33569536e-02 2.43096655e+02] [ 9.77117692e-01 2.02307552e-01 -6.56709278e-02 1.84242587e+02] [ 6.70151980e-02 2.05427773e-04 9.97751934e-01 2.21607369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.10, Y:184.30, Z:22.16 [[ 1.94881588e-01 -9.80736104e-01 -1.33364771e-02 2.43101944e+02] [ 9.78534696e-01 1.95337226e-01 -6.56750859e-02 1.84300455e+02] [ 6.70150383e-02 -2.51340472e-04 9.97751934e-01 2.21643018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:184.36, Z:22.17 [[ 1.87423327e-01 -9.82188956e-01 -1.33173383e-02 2.43106014e+02] [ 9.79990800e-01 1.87894400e-01 -6.56789666e-02 1.84359288e+02] [ 6.70114089e-02 -7.41098588e-04 9.97751934e-01 2.21661392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:184.42, Z:22.17 [[ 1.84413874e-01 -9.82758695e-01 -1.32992986e-02 2.43114270e+02] [ 9.80561730e-01 1.84890473e-01 -6.56826192e-02 1.84415649e+02] [ 6.70090787e-02 -9.27996982e-04 9.97751934e-01 2.21723835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:184.47, Z:22.18 [[ 1.78332835e-01 -9.83880549e-01 -1.32840407e-02 2.43115905e+02] [ 9.81686347e-01 1.78821993e-01 -6.56857049e-02 1.84473391e+02] [ 6.70023661e-02 -1.32684343e-03 9.97751934e-01 2.21767025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:184.53, Z:22.18 [[ 1.74757585e-01 -9.84522064e-01 -1.32699894e-02 2.43118893e+02] [ 9.82329441e-01 1.75253774e-01 -6.56885435e-02 1.84532160e+02] [ 6.69974361e-02 -1.55593000e-03 9.97751934e-01 2.21808196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:184.59, Z:22.19 [[ 1.70676006e-01 -9.85238100e-01 -1.32508994e-02 2.43120987e+02] [ 9.83047260e-01 1.71180006e-01 -6.56923942e-02 1.84591113e+02] [ 6.69909387e-02 -1.81414489e-03 9.97751935e-01 2.21850584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.13, Y:184.65, Z:22.19 [[ 1.68371022e-01 -9.85634878e-01 -1.32320222e-02 2.43127684e+02] [ 9.83444930e-01 1.68878887e-01 -6.56961963e-02 1.84648724e+02] [ 6.69870716e-02 -1.95162945e-03 9.97751935e-01 2.21896331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:184.71, Z:22.20 [[ 1.62283193e-01 -9.86655756e-01 -1.32130756e-02 2.43121877e+02] [ 9.84468685e-01 1.62803308e-01 -6.57000067e-02 1.84707953e+02] [ 6.69744222e-02 -2.34585232e-03 9.97751935e-01 2.21950991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:184.77, Z:22.19 [[ 1.64422699e-01 -9.86301736e-01 -1.31932768e-02 2.43117335e+02] [ 9.84113233e-01 1.64936752e-01 -6.57039823e-02 1.84769716e+02] [ 6.69800080e-02 -2.18045216e-03 9.97751935e-01 2.21924394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:184.83, Z:22.20 [[ 1.62168559e-01 -9.86675103e-01 -1.31756948e-02 2.43107087e+02] [ 9.84487504e-01 1.62686442e-01 -6.57075079e-02 1.84829468e+02] [ 6.69754690e-02 -2.31561505e-03 9.97751935e-01 2.22027759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.10, Y:184.89, Z:22.21 [[ 1.64898243e-01 -9.86222815e-01 -1.31578027e-02 2.43100714e+02] [ 9.84033513e-01 1.65408880e-01 -6.57110905e-02 1.84888670e+02] [ 6.69821941e-02 -2.11207543e-03 9.97751936e-01 2.22062975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.09, Y:184.95, Z:22.21 [[ 1.68570761e-01 -9.85601958e-01 -1.31406955e-02 2.43085126e+02] [ 9.83410508e-01 1.69072100e-01 -6.57145114e-02 1.84950815e+02] [ 6.69900761e-02 -1.84515277e-03 9.97751936e-01 2.22110258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.09, Y:185.01, Z:22.21 [[ 1.77453564e-01 -9.84041695e-01 -1.31215403e-02 2.43088370e+02] [ 9.81845533e-01 1.77933838e-01 -6.57183360e-02 1.85009460e+02] [ 6.70043488e-02 -1.22137279e-03 9.97751936e-01 2.22098844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:185.07, Z:22.21 [[ 1.81824458e-01 -9.83243613e-01 -1.31096755e-02 2.43073586e+02] [ 9.81045169e-01 1.82294175e-01 -6.57207028e-02 1.85072512e+02] [ 6.70092787e-02 -9.11552649e-04 9.97751936e-01 2.22129210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:185.13, Z:22.21 [[ 1.83714426e-01 -9.82892475e-01 -1.30916628e-02 2.43066683e+02] [ 9.80692877e-01 1.84178712e-01 -6.57242907e-02 1.85132477e+02] [ 6.70111164e-02 -7.64400121e-04 9.97751936e-01 2.22148681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:185.19, Z:22.22 [[ 1.91167023e-01 -9.81470428e-01 -1.30754608e-02 2.43052004e+02] [ 9.79267151e-01 1.91613520e-01 -6.57275139e-02 1.85194806e+02] [ 6.70150463e-02 -2.39436034e-04 9.97751936e-01 2.22182326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:185.26, Z:22.22 [[ 1.98889807e-01 -9.79934889e-01 -1.30559687e-02 2.43046043e+02] [ 9.77727910e-01 1.99317633e-01 -6.57313855e-02 1.85256230e+02] [ 6.70147627e-02 3.08117620e-04 9.97751936e-01 2.22209134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.04, Y:185.32, Z:22.23 [[ 2.12854776e-01 -9.76996859e-01 -1.30377354e-02 2.43035586e+02] [ 9.74783780e-01 2.13249835e-01 -6.57350019e-02 1.85316415e+02] [ 6.70031853e-02 1.28303609e-03 9.97751937e-01 2.22279324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97999999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:185.38, Z:22.24 [[ 2.09987984e-01 -9.77617136e-01 -1.30300625e-02 2.43012812e+02] [ 9.75405132e-01 2.10389017e-01 -6.57365228e-02 1.85377976e+02] [ 6.70065332e-02 1.09429005e-03 9.97751937e-01 2.22405129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03999999999996 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:185.44, Z:22.24 [[ 2.33281080e-01 -9.72322283e-01 -1.30121067e-02 2.43020452e+02] [ 9.70101142e-01 2.33627947e-01 -6.57400768e-02 1.85436239e+02] [ 6.69605334e-02 2.71285655e-03 9.97751937e-01 2.22370808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09999999999997 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:185.50, Z:22.24 [[ 2.39845863e-01 -9.70724023e-01 -1.29936128e-02 2.43020017e+02] [ 9.68500402e-01 2.40176464e-01 -6.57437320e-02 1.85496546e+02] [ 6.69397800e-02 3.18404294e-03 9.97751937e-01 2.22402615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15999999999997 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:185.56, Z:22.25 [[ 2.36326605e-01 -9.71587030e-01 -1.29760525e-02 2.42993628e+02] [ 9.69364442e-01 2.36664076e-01 -6.57471978e-02 1.85559523e+02] [ 6.69500901e-02 2.95928820e-03 9.97751937e-01 2.22514987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21999999999997 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:185.61, Z:22.25 [[ 2.48193356e-01 -9.68623840e-01 -1.29581576e-02 2.43011852e+02] [ 9.66397122e-01 2.48502404e-01 -6.57507245e-02 1.85613869e+02] [ 6.69078526e-02 3.79616677e-03 9.97751937e-01 2.22487495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:185.68, Z:22.25 [[ 2.44081426e-01 -9.69668415e-01 -1.29391669e-02 2.42996683e+02] [ 9.67442845e-01 2.44398635e-01 -6.57544615e-02 1.85675810e+02] [ 6.69223392e-02 3.53153829e-03 9.97751937e-01 2.22512135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:185.73, Z:22.25 [[ 2.46162680e-01 -9.69142417e-01 -1.29193573e-02 2.42999100e+02] [ 9.66915984e-01 2.46473771e-01 -6.57583534e-02 1.85734170e+02] [ 6.69134923e-02 3.69531945e-03 9.97751938e-01 2.22541892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4 meters Centerline goodness : 0.998419 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:185.79, Z:22.26 [[ 2.46897142e-01 -9.68955831e-01 -1.28995518e-02 2.42996752e+02] [ 9.66728977e-01 2.47205205e-01 -6.57622384e-02 1.85793285e+02] [ 6.69095407e-02 3.76613823e-03 9.97751938e-01 2.22579870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:185.85, Z:22.26 [[ 2.43813885e-01 -9.69736512e-01 -1.28796933e-02 2.42985440e+02] [ 9.67510459e-01 2.44127687e-01 -6.57661275e-02 1.85852914e+02] [ 6.69201048e-02 3.57345703e-03 9.97751938e-01 2.22649521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52 meters Centerline goodness : 0.997622 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:185.91, Z:22.26 [[ 2.40171200e-01 -9.70645249e-01 -1.28684162e-02 2.42999400e+02] [ 9.68420279e-01 2.40492596e-01 -6.57683340e-02 1.85909460e+02] [ 6.69324797e-02 3.33362447e-03 9.97751938e-01 2.22619850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58 meters Centerline goodness : 0.997568 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:185.97, Z:22.27 [[ 2.37262243e-01 -9.71360658e-01 -1.28491482e-02 2.42988909e+02] [ 9.69136470e-01 2.37589001e-01 -6.57720982e-02 1.85969652e+02] [ 6.69412449e-02 3.15265740e-03 9.97751938e-01 2.22700403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64 meters Centerline goodness : 0.996773 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:186.03, Z:22.27 [[ 2.36474281e-01 -9.71552935e-01 -1.28377800e-02 2.43006899e+02] [ 9.69328900e-01 2.36802075e-01 -6.57743171e-02 1.86025721e+02] [ 6.69432437e-02 3.10990322e-03 9.97751938e-01 2.22686573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7 meters Centerline goodness : 0.996400 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.08, Z:22.27 [[ 2.28681105e-01 -9.73416979e-01 -1.28194247e-02 2.43000172e+02] [ 9.71195450e-01 2.29025473e-01 -6.57778943e-02 1.86084535e+02] [ 6.69652940e-02 2.59199469e-03 9.97751939e-01 2.22740439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76 meters Centerline goodness : 0.994108 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:186.14, Z:22.28 [[ 2.35443100e-01 -9.71803724e-01 -1.28089216e-02 2.43007744e+02] [ 9.69579750e-01 2.35771305e-01 -6.57799395e-02 1.86141383e+02] [ 6.69451664e-02 3.06816185e-03 9.97751939e-01 2.22792378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82 meters Centerline goodness : 0.994328 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.20, Z:22.28 [[ 2.31772637e-01 -9.72685901e-01 -1.27899368e-02 2.42996809e+02] [ 9.70462988e-01 2.32107954e-01 -6.57836306e-02 1.86201010e+02] [ 6.69554561e-02 2.83468524e-03 9.97751939e-01 2.22841375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88 meters Centerline goodness : 0.993950 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.26, Z:22.29 [[ 2.32607032e-01 -9.72486809e-01 -1.27818025e-02 2.42998880e+02] [ 9.70263527e-01 2.32939893e-01 -6.57852111e-02 1.86259535e+02] [ 6.69526418e-02 2.90038591e-03 9.97751939e-01 2.22881219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94 meters Centerline goodness : 0.993844 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.32, Z:22.29 [[ 2.33450436e-01 -9.72284934e-01 -1.27632545e-02 2.43002747e+02] [ 9.70061179e-01 2.33780115e-01 -6.57888095e-02 1.86316641e+02] [ 6.69492634e-02 2.97728858e-03 9.97751939e-01 2.22920955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0 meters Centerline goodness : 0.993421 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.38, Z:22.30 [[ 2.37782603e-01 -9.71234705e-01 -1.27507349e-02 2.43001779e+02] [ 9.69009380e-01 2.38101520e-01 -6.57912359e-02 1.86375271e+02] [ 6.69347009e-02 3.28842963e-03 9.97751939e-01 2.22964579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.43, Z:22.30 [[ 2.41268592e-01 -9.70374860e-01 -1.27317989e-02 2.42998578e+02] [ 9.68148226e-01 2.41578235e-01 -6.57949001e-02 1.86433450e+02] [ 6.69214425e-02 3.54797435e-03 9.97751939e-01 2.22990513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12 meters Centerline goodness : 0.993164 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:186.49, Z:22.30 [[ 2.43930513e-01 -9.69709303e-01 -1.27189864e-02 2.43005308e+02] [ 9.67481710e-01 2.44233179e-01 -6.57973769e-02 1.86491425e+02] [ 6.69107270e-02 3.74460124e-03 9.97751939e-01 2.23032054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18 meters Centerline goodness : 0.993633 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.55, Z:22.31 [[ 2.52076676e-01 -9.67623916e-01 -1.27006808e-02 2.43002924e+02] [ 9.65393699e-01 2.52359359e-01 -6.58009102e-02 1.86551132e+02] [ 6.68756700e-02 4.32571752e-03 9.97751940e-01 2.23081782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24 meters Centerline goodness : 0.993528 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.61, Z:22.31 [[ 2.57288982e-01 -9.66251283e-01 -1.26821937e-02 2.43004385e+02] [ 9.64019424e-01 2.57558386e-01 -6.58044731e-02 1.86609512e+02] [ 6.68500619e-02 4.70488486e-03 9.97751940e-01 2.23123661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3 meters Centerline goodness : 0.993916 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:186.67, Z:22.32 [[ 2.63629808e-01 -9.64540801e-01 -1.26636469e-02 2.43003265e+02] [ 9.62307077e-01 2.63883290e-01 -6.58080422e-02 1.86668434e+02] [ 6.68162665e-02 5.16264455e-03 9.97751940e-01 2.23167272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36 meters Centerline goodness : 0.994766 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:186.73, Z:22.32 [[ 2.68905898e-01 -9.63083441e-01 -1.26453140e-02 2.43008182e+02] [ 9.60848229e-01 2.69145905e-01 -6.58115647e-02 1.86726507e+02] [ 6.67854627e-02 5.54689036e-03 9.97751940e-01 2.23206016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41999999999996 meters Centerline goodness : 0.995622 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:186.78, Z:22.32 [[ 2.74458214e-01 -9.61516122e-01 -1.26267946e-02 2.43009107e+02] [ 9.59279436e-01 2.74684062e-01 -6.58151177e-02 1.86784360e+02] [ 6.67506760e-02 5.95087527e-03 9.97751940e-01 2.23245771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47999999999996 meters Centerline goodness : 0.996426 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:186.84, Z:22.33 [[ 2.79179671e-01 -9.60156024e-01 -1.26143298e-02 2.43014720e+02] [ 9.57918174e-01 2.79393680e-01 -6.58175067e-02 1.86842518e+02] [ 6.67194395e-02 6.29141411e-03 9.97751940e-01 2.23282702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53999999999996 meters Centerline goodness : 0.996090 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:186.90, Z:22.33 [[ 2.85776332e-01 -9.58213559e-01 -1.25961587e-02 2.43018932e+02] [ 9.55974181e-01 2.85973710e-01 -6.58209841e-02 1.86900681e+02] [ 6.66727297e-02 6.76847689e-03 9.97751941e-01 2.23311289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59999999999997 meters Centerline goodness : 0.996949 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:186.96, Z:22.33 [[ 2.88986024e-01 -9.57250682e-01 -1.25781525e-02 2.43024733e+02] [ 9.55010552e-01 2.89174672e-01 -6.58244249e-02 1.86958783e+02] [ 6.66477587e-02 7.01007053e-03 9.97751941e-01 2.23346177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65999999999997 meters Centerline goodness : 0.997197 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:187.02, Z:22.34 [[ 2.89522164e-01 -9.57088903e-01 -1.25598061e-02 2.43032304e+02] [ 9.54848564e-01 2.89708310e-01 -6.58279253e-02 1.87015329e+02] [ 6.66418570e-02 7.06593056e-03 9.97751941e-01 2.23379462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71999999999997 meters Centerline goodness : 0.997147 with order 1 Centerline is valid? [True, True] Translation: X:243.04, Y:187.07, Z:22.34 [[ 2.90404059e-01 -9.56821787e-01 -1.25519212e-02 2.43039465e+02] [ 9.54581233e-01 2.90587604e-01 -6.58294288e-02 1.87072757e+02] [ 6.66344644e-02 7.13530495e-03 9.97751941e-01 2.23423144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78 meters Centerline goodness : 0.997360 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:187.13, Z:22.35 [[ 2.91524600e-01 -9.56481213e-01 -1.25338289e-02 2.43048824e+02] [ 9.54240347e-01 2.91704291e-01 -6.58328733e-02 1.87129512e+02] [ 6.66240782e-02 7.23161688e-03 9.97751941e-01 2.23459904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84 meters Centerline goodness : 0.997240 with order 1 Centerline is valid? [True, True] Translation: X:243.06, Y:187.19, Z:22.35 [[ 2.92047347e-01 -9.56321966e-01 -1.25157530e-02 2.43058505e+02] [ 9.54080905e-01 2.92224583e-01 -6.58363097e-02 1.87186165e+02] [ 6.66181198e-02 7.28627858e-03 9.97751941e-01 2.23492914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9 meters Centerline goodness : 0.996944 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:187.24, Z:22.35 [[ 2.89460631e-01 -9.57108329e-01 -1.24975811e-02 2.43070016e+02] [ 9.54867655e-01 2.89642690e-01 -6.58397590e-02 1.87243185e+02] [ 6.66356148e-02 7.12448222e-03 9.97751941e-01 2.23532521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96 meters Centerline goodness : 0.997552 with order 1 Centerline is valid? [True, True] Translation: X:243.08, Y:187.30, Z:22.37 [[ 2.84816291e-01 -9.58500885e-01 -1.24793471e-02 2.43080072e+02] [ 9.56261013e-01 2.85007974e-01 -6.58432149e-02 1.87301590e+02] [ 6.66674932e-02 6.81970711e-03 9.97751942e-01 2.23710657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02 meters Centerline goodness : 0.996833 with order 1 Centerline is valid? [True, True] Translation: X:243.10, Y:187.36, Z:22.36 [[ 2.82137793e-01 -9.59292767e-01 -1.24761013e-02 2.43095403e+02] [ 9.57053420e-01 2.82335512e-01 -6.58438300e-02 1.87359544e+02] [ 6.66859563e-02 6.63673743e-03 9.97751942e-01 2.23620172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08 meters Centerline goodness : 0.997177 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:187.42, Z:22.37 [[ 2.77980688e-01 -9.60505674e-01 -1.24735019e-02 2.43107351e+02] [ 9.58267188e-01 2.78187926e-01 -6.58443224e-02 1.87415921e+02] [ 6.67138229e-02 6.35050241e-03 9.97751942e-01 2.23675597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:187.47, Z:22.39 [[ 2.72228988e-01 -9.62151893e-01 -1.24544510e-02 2.43115426e+02] [ 9.59914560e-01 2.72448322e-01 -6.58479257e-02 1.87473249e+02] [ 6.67489006e-02 5.97050530e-03 9.97751942e-01 2.23884962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2 meters Centerline goodness : 0.996672 with order 1 Centerline is valid? [True, True] Translation: X:243.13, Y:187.53, Z:22.38 [[ 2.71129286e-01 -9.62462548e-01 -1.24400282e-02 2.43131979e+02] [ 9.60225370e-01 2.71350198e-01 -6.58506503e-02 1.87530923e+02] [ 6.67543888e-02 5.90880913e-03 9.97751942e-01 2.23761905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26 meters Centerline goodness : 0.996952 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:187.59, Z:22.38 [[ 2.69283529e-01 -9.62980663e-01 -1.24348053e-02 2.43143475e+02] [ 9.60743877e-01 2.69508375e-01 -6.58516366e-02 1.87587317e+02] [ 6.67651368e-02 5.78609801e-03 9.97751942e-01 2.23798870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32 meters Centerline goodness : 0.997304 with order 1 Centerline is valid? [True, True] Translation: X:243.15, Y:187.64, Z:22.38 [[ 2.69300733e-01 -9.62976096e-01 -1.24158308e-02 2.43153753e+02] [ 9.60739178e-01 2.69524252e-01 -6.58552139e-02 1.87643465e+02] [ 6.67633643e-02 5.80648236e-03 9.97751942e-01 2.23832153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38 meters Centerline goodness : 0.996926 with order 1 Centerline is valid? [True, True] Translation: X:243.16, Y:187.70, Z:22.39 [[ 2.70641181e-01 -9.62600392e-01 -1.24030535e-02 2.43164497e+02] [ 9.60363080e-01 2.70860718e-01 -6.58576203e-02 1.87701632e+02] [ 6.67540711e-02 5.91234950e-03 9.97751942e-01 2.23851743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44 meters Centerline goodness : 0.996846 with order 1 Centerline is valid? [True, True] Translation: X:243.17, Y:187.76, Z:22.39 [[ 2.72799470e-01 -9.61991171e-01 -1.23869586e-02 2.43174797e+02] [ 9.59753267e-01 2.73012897e-01 -6.58606474e-02 1.87758016e+02] [ 6.67391607e-02 6.07832574e-03 9.97751942e-01 2.23895289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5 meters Centerline goodness : 0.997475 with order 1 Centerline is valid? [True, True] Translation: X:243.18, Y:187.82, Z:22.40 [[ 2.72782078e-01 -9.61996348e-01 -1.23678503e-02 2.43183694e+02] [ 9.59758325e-01 2.72994248e-01 -6.58642355e-02 1.87815140e+02] [ 6.67375060e-02 6.09643577e-03 9.97751943e-01 2.23953554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56 meters Centerline goodness : 0.997057 with order 1 Centerline is valid? [True, True] Translation: X:243.19, Y:187.87, Z:22.40 [[ 2.71433845e-01 -9.62377706e-01 -1.23619803e-02 2.43193221e+02] [ 9.60139944e-01 2.71648752e-01 -6.58653372e-02 1.87871654e+02] [ 6.67454487e-02 6.00885067e-03 9.97751943e-01 2.23989899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62 meters Centerline goodness : 0.996770 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:187.93, Z:22.40 [[ 2.67166388e-01 -9.63571352e-01 -1.23438438e-02 2.43202680e+02] [ 9.61334442e-01 2.67389979e-01 -6.58687360e-02 1.87928939e+02] [ 6.67698472e-02 5.73135013e-03 9.97751943e-01 2.24017859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68 meters Centerline goodness : 0.997077 with order 1 Centerline is valid? [True, True] Translation: X:243.21, Y:187.99, Z:22.41 [[ 2.60632951e-01 -9.65359291e-01 -1.23249490e-02 2.43210531e+02] [ 9.63123810e-01 2.60870409e-01 -6.58722713e-02 1.87985359e+02] [ 6.68056236e-02 5.29803262e-03 9.97751943e-01 2.24056820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74 meters Centerline goodness : 0.997205 with order 1 Centerline is valid? [True, True] Translation: X:243.22, Y:188.04, Z:22.41 [[ 2.55039502e-01 -9.66852186e-01 -1.23168113e-02 2.43219517e+02] [ 9.64618055e-01 2.55289347e-01 -6.58737929e-02 1.88041109e+02] [ 6.68345713e-02 4.91940076e-03 9.97751943e-01 2.24095251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8 meters Centerline goodness : 0.997647 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:188.10, Z:22.41 [[ 2.44108040e-01 -9.69669922e-01 -1.23088198e-02 2.43227073e+02] [ 9.67438688e-01 2.44382551e-01 -6.58752861e-02 1.88098850e+02] [ 6.68853443e-02 4.17265847e-03 9.97751943e-01 2.24126949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86 meters Centerline goodness : 0.997968 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:188.16, Z:22.41 [[ 2.31105347e-01 -9.72851107e-01 -1.22899232e-02 2.43232708e+02] [ 9.70623574e-01 2.31408426e-01 -6.58788114e-02 1.88155360e+02] [ 6.69342663e-02 3.29605637e-03 9.97751943e-01 2.24147957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91999999999996 meters Centerline goodness : 0.998214 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:188.21, Z:22.42 [[ 2.21413250e-01 -9.75102728e-01 -1.22817915e-02 2.43239079e+02] [ 9.72878241e-01 2.21737931e-01 -6.58803273e-02 1.88212676e+02] [ 6.69634259e-02 2.63808968e-03 9.97751943e-01 2.24195123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97999999999996 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:188.27, Z:22.42 [[ 2.07686284e-01 -9.78118616e-01 -1.22629799e-02 2.43240216e+02] [ 9.75898710e-01 2.08040932e-01 -6.58838287e-02 1.88270899e+02] [ 6.69934011e-02 1.71574124e-03 9.97751943e-01 2.24246278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03999999999996 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:243.25, Y:188.33, Z:22.43 [[ 2.03509327e-01 -9.78996450e-01 -1.22435425e-02 2.43247427e+02] [ 9.76777864e-01 2.03872140e-01 -6.58874407e-02 1.88327951e+02] [ 6.69996878e-02 1.44948739e-03 9.97751944e-01 2.24290114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09999999999997 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:243.25, Y:188.39, Z:22.43 [[ 1.92751192e-01 -9.81171521e-01 -1.22239057e-02 2.43246232e+02] [ 9.78956821e-01 1.93137017e-01 -6.58910837e-02 1.88386647e+02] [ 6.70113435e-02 7.33909030e-04 9.97751944e-01 2.24344872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15999999999997 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:188.45, Z:22.44 [[ 1.85099175e-01 -9.82643892e-01 -1.22178778e-02 2.43243033e+02] [ 9.80432193e-01 1.85501843e-01 -6.58922014e-02 1.88445494e+02] [ 6.70150081e-02 2.17791444e-04 9.97751944e-01 2.24389608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21999999999997 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:188.50, Z:22.44 [[ 1.83219344e-01 -9.82996367e-01 -1.21989646e-02 2.43242472e+02] [ 9.80785209e-01 1.83624973e-01 -6.58957027e-02 1.88503353e+02] [ 6.70152709e-02 1.08803328e-04 9.97751944e-01 2.24411082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:188.56, Z:22.44 [[ 1.85800097e-01 -9.82511937e-01 -1.21908936e-02 2.43234017e+02] [ 9.80299623e-01 1.86199377e-01 -6.58971958e-02 1.88564245e+02] [ 6.70147183e-02 2.92976992e-04 9.97751944e-01 2.24440026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:243.22, Y:188.63, Z:22.45 [[ 1.96822009e-01 -9.80363646e-01 -1.21745313e-02 2.43222090e+02] [ 9.78146802e-01 1.97195320e-01 -6.59002186e-02 1.88625862e+02] [ 6.70069392e-02 1.06213452e-03 9.97751944e-01 2.24476192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:243.22, Y:188.69, Z:22.45 [[ 2.07794992e-01 -9.78096833e-01 -1.21583687e-02 2.43217353e+02] [ 9.75875776e-01 2.08142351e-01 -6.59032005e-02 1.88685289e+02] [ 6.69903831e-02 1.82929758e-03 9.97751944e-01 2.24520335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:243.21, Y:188.75, Z:22.46 [[ 2.26315163e-01 -9.73978480e-01 -1.21394688e-02 2.43205358e+02] [ 9.71751058e-01 2.26619044e-01 -6.59066817e-02 1.88745977e+02] [ 6.69427245e-02 3.11913981e-03 9.97751944e-01 2.24566656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52 meters Centerline goodness : 0.998410 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:188.81, Z:22.46 [[ 2.36758004e-01 -9.71492883e-01 -1.21336791e-02 2.43201819e+02] [ 9.69262278e-01 2.37037563e-01 -6.59077476e-02 1.88806146e+02] [ 6.69050454e-02 3.84346926e-03 9.97751944e-01 2.24627161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58 meters Centerline goodness : 0.998515 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:188.87, Z:22.47 [[ 2.45006372e-01 -9.69445740e-01 -1.21175290e-02 2.43195028e+02] [ 9.67212712e-01 2.45265869e-01 -6.59107167e-02 1.88866462e+02] [ 6.68688799e-02 4.42831742e-03 9.97751945e-01 2.24688452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:188.92, Z:22.47 [[ 2.43560468e-01 -9.69810221e-01 -1.21010034e-02 2.43196551e+02] [ 9.67577451e-01 2.43822177e-01 -6.59137507e-02 1.88924917e+02] [ 6.68743221e-02 4.34532595e-03 9.97751945e-01 2.24729298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:188.98, Z:22.48 [[ 2.27941234e-01 -9.73599927e-01 -1.20820582e-02 2.43202375e+02] [ 9.71371482e-01 2.28237517e-01 -6.59172232e-02 1.88982029e+02] [ 6.69345826e-02 3.28908639e-03 9.97751945e-01 2.24778134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:243.21, Y:189.04, Z:22.48 [[ 2.17351109e-01 -9.76018809e-01 -1.20739006e-02 2.43210315e+02] [ 9.73793635e-01 2.17671033e-01 -6.59187173e-02 1.89039145e+02] [ 6.69660464e-02 2.57001877e-03 9.97751945e-01 2.24806604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:243.22, Y:189.10, Z:22.48 [[ 2.07923958e-01 -9.78070707e-01 -1.20548972e-02 2.43220626e+02] [ 9.75848527e-01 2.08264057e-01 -6.59221924e-02 1.89096111e+02] [ 6.69871671e-02 1.94304950e-03 9.97751945e-01 2.24825719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88 meters Centerline goodness : 0.998465 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:189.15, Z:22.48 [[ 2.08366013e-01 -9.77976859e-01 -1.20361201e-02 2.43231954e+02] [ 9.75754333e-01 2.08703843e-01 -6.59256206e-02 1.89152388e+02] [ 6.69857159e-02 1.99236237e-03 9.97751945e-01 2.24848692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94 meters Centerline goodness : 0.998175 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:189.21, Z:22.49 [[ 2.12462421e-01 -9.77095180e-01 -1.20303467e-02 2.43240950e+02] [ 9.74871200e-01 2.12790545e-01 -6.59266741e-02 1.89209573e+02] [ 6.69765795e-02 2.27890230e-03 9.97751945e-01 2.24896329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0 meters Centerline goodness : 0.997768 with order 1 Centerline is valid? [True, True] Translation: X:243.27, Y:189.26, Z:22.48 [[ 2.33764086e-01 -9.72219150e-01 -1.20115172e-02 2.43269046e+02] [ 9.69988372e-01 2.34042259e-01 -6.59301046e-02 1.89264802e+02] [ 6.69097129e-02 3.76105857e-03 9.97751946e-01 2.24785172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06 meters Centerline goodness : 0.998544 with order 1 Centerline is valid? [True, True] Translation: X:243.26, Y:189.32, Z:22.50 [[ 2.23796124e-01 -9.74562024e-01 -1.20065186e-02 2.43263367e+02] [ 9.72334166e-01 2.24096789e-01 -6.59310149e-02 1.89324393e+02] [ 6.69444856e-02 3.08075730e-03 9.97751946e-01 2.24973538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12 meters Centerline goodness : 0.998663 with order 1 Centerline is valid? [True, True] Translation: X:243.27, Y:189.38, Z:22.50 [[ 2.27794821e-01 -9.73635192e-01 -1.20013538e-02 2.43274619e+02] [ 9.71406073e-01 2.28085989e-01 -6.59319550e-02 1.89381167e+02] [ 6.69310123e-02 3.36076998e-03 9.97751946e-01 2.25006634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18 meters Centerline goodness : 0.998021 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:189.44, Z:22.49 [[ 2.44022025e-01 -9.69695660e-01 -1.19824245e-02 2.43304542e+02] [ 9.67461845e-01 2.44274647e-01 -6.59353950e-02 1.89436103e+02] [ 6.68642689e-02 4.49715010e-03 9.97751946e-01 2.24926089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:189.50, Z:22.51 [[ 2.24394590e-01 -9.74424913e-01 -1.19648234e-02 2.43295321e+02] [ 9.72196495e-01 2.24691071e-01 -6.59385889e-02 1.89495609e+02] [ 6.69405927e-02 3.16410329e-03 9.97751946e-01 2.25097839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:243.31, Y:189.55, Z:22.51 [[ 2.16277496e-01 -9.76258825e-01 -1.19478306e-02 2.43306418e+02] [ 9.74032790e-01 2.16591367e-01 -6.59416677e-02 1.89552351e+02] [ 6.69639321e-02 2.62412004e-03 9.97751946e-01 2.25122818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36 meters Centerline goodness : 0.998594 with order 1 Centerline is valid? [True, True] Translation: X:243.32, Y:189.61, Z:22.52 [[ 2.09521358e-01 -9.77731300e-01 -1.19292248e-02 2.43315266e+02] [ 9.75507303e-01 2.09849360e-01 -6.59450335e-02 1.89609871e+02] [ 6.69798635e-02 2.17984707e-03 9.97751946e-01 2.25162095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41999999999996 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:243.32, Y:189.67, Z:22.52 [[ 1.99656888e-01 -9.79793484e-01 -1.19103012e-02 2.43324337e+02] [ 9.77572706e-01 2.00006015e-01 -6.59484511e-02 1.89667342e+02] [ 6.69979946e-02 1.52387709e-03 9.97751946e-01 2.25193538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47999999999996 meters Centerline goodness : 0.998438 with order 1 Centerline is valid? [True, True] Translation: X:243.33, Y:189.72, Z:22.52 [[ 1.95735808e-01 -9.80584565e-01 -1.18913578e-02 2.43333930e+02] [ 9.78364996e-01 1.96092542e-01 -6.59518667e-02 1.89724484e+02] [ 6.70031891e-02 1.27505370e-03 9.97751947e-01 2.25235851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53999999999996 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:243.34, Y:189.78, Z:22.53 [[ 1.91793762e-01 -9.81363439e-01 -1.18723921e-02 2.43343689e+02] [ 9.79145112e-01 1.92158139e-01 -6.59552806e-02 1.89782236e+02] [ 6.70074778e-02 1.02501670e-03 9.97751947e-01 2.25293226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59999999999997 meters Centerline goodness : 0.998385 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:189.84, Z:22.54 [[ 1.90088440e-01 -9.81695381e-01 -1.18559525e-02 2.43353730e+02] [ 9.79477508e-01 1.90455566e-01 -6.59582357e-02 1.89839018e+02] [ 6.70089274e-02 9.25259280e-04 9.97751947e-01 2.25352661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65999999999997 meters Centerline goodness : 0.998267 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:189.89, Z:22.54 [[ 1.89799160e-01 -9.81751578e-01 -1.18371444e-02 2.43365402e+02] [ 9.79533604e-01 1.90165675e-01 -6.59616109e-02 1.89894301e+02] [ 6.70089341e-02 9.24577611e-04 9.97751947e-01 2.25379941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71999999999997 meters Centerline goodness : 0.997075 with order 1 Centerline is valid? [True, True] Translation: X:243.41, Y:189.95, Z:22.53 [[ 2.16159087e-01 -9.76286496e-01 -1.18290609e-02 2.43409683e+02] [ 9.74059385e-01 2.16465217e-01 -6.59630605e-02 1.89946789e+02] [ 6.69594254e-02 2.73630712e-03 9.97751947e-01 2.25272677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78 meters Centerline goodness : 0.997354 with order 1 Centerline is valid? [True, True] Translation: X:243.42, Y:190.00, Z:22.53 [[ 2.14353726e-01 -9.76684681e-01 -1.18115752e-02 2.43423700e+02] [ 9.74457976e-01 2.14662794e-01 -6.59661914e-02 1.90002066e+02] [ 6.69636744e-02 2.63021524e-03 9.97751947e-01 2.25292093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:243.44, Y:190.06, Z:22.53 [[ 2.18336933e-01 -9.75802064e-01 -1.18032273e-02 2.43438878e+02] [ 9.73574040e-01 2.18636350e-01 -6.59676851e-02 1.90059148e+02] [ 6.69520177e-02 2.91186640e-03 9.97751947e-01 2.25317196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9 meters Centerline goodness : 0.997073 with order 1 Centerline is valid? [True, True] Translation: X:243.42, Y:190.12, Z:22.55 [[ 1.91927071e-01 -9.81338412e-01 -1.17864352e-02 2.43419045e+02] [ 9.79119097e-01 1.92285370e-01 -6.59706852e-02 1.90120648e+02] [ 6.70059265e-02 1.12123660e-03 9.97751947e-01 2.25482802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96 meters Centerline goodness : 0.996934 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:190.18, Z:22.55 [[ 1.91972612e-01 -9.81329704e-01 -1.17697884e-02 2.43429679e+02] [ 9.79110192e-01 1.92329690e-01 -6.59736550e-02 1.90176885e+02] [ 6.70055871e-02 1.14121511e-03 9.97751948e-01 2.25543069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02 meters Centerline goodness : 0.996525 with order 1 Centerline is valid? [True, True] Translation: X:243.44, Y:190.23, Z:22.56 [[ 1.98239895e-01 -9.80083088e-01 -1.17509409e-02 2.43440553e+02] [ 9.77861144e-01 1.98581513e-01 -6.59770119e-02 1.90233914e+02] [ 6.69964731e-02 1.58848742e-03 9.97751948e-01 2.25563493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08 meters Centerline goodness : 0.996350 with order 1 Centerline is valid? [True, True] Translation: X:243.45, Y:190.29, Z:22.56 [[ 2.01237073e-01 -9.79472184e-01 -1.17422928e-02 2.43451695e+02] [ 9.77249117e-01 2.01571311e-01 -6.59785510e-02 1.90290604e+02] [ 6.69910648e-02 1.80218517e-03 9.97751948e-01 2.25610302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14 meters Centerline goodness : 0.996980 with order 1 Centerline is valid? [True, True] Translation: X:243.46, Y:190.35, Z:22.57 [[ 2.07270191e-01 -9.78213487e-01 -1.17235599e-02 2.43455825e+02] [ 9.75988222e-01 2.07589458e-01 -6.59818794e-02 1.90349330e+02] [ 6.69780518e-02 2.23402034e-03 9.97751948e-01 2.25655141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2 meters Centerline goodness : 0.996825 with order 1 Centerline is valid? [True, True] Translation: X:243.46, Y:190.41, Z:22.57 [[ 2.10725811e-01 -9.77475102e-01 -1.17071472e-02 2.43462467e+02] [ 9.75248568e-01 2.11036105e-01 -6.59847914e-02 1.90407321e+02] [ 6.69691215e-02 2.48732012e-03 9.97751948e-01 2.25684223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26 meters Centerline goodness : 0.997178 with order 1 Centerline is valid? [True, True] Translation: X:243.50, Y:190.46, Z:22.56 [[ 2.27021871e-01 -9.73819517e-01 -1.16883918e-02 2.43503528e+02] [ 9.71587957e-01 2.27293668e-01 -6.59881135e-02 1.90460282e+02] [ 6.69172103e-02 3.62444429e-03 9.97751948e-01 2.25643590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32 meters Centerline goodness : 0.997138 with order 1 Centerline is valid? [True, True] Translation: X:243.51, Y:190.52, Z:22.57 [[ 2.19491019e-01 -9.75544543e-01 -1.16849387e-02 2.43508578e+02] [ 9.73315119e-01 2.19779817e-01 -6.59887250e-02 1.90517866e+02] [ 6.69430542e-02 3.11080493e-03 9.97751948e-01 2.25719098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38 meters Centerline goodness : 0.997641 with order 1 Centerline is valid? [True, True] Translation: X:243.51, Y:190.57, Z:22.58 [[ 2.02625014e-01 -9.79186907e-01 -1.16663832e-02 2.43514517e+02] [ 9.76962615e-01 2.02950990e-01 -6.59920053e-02 1.90573998e+02] [ 6.69862116e-02 1.97401076e-03 9.97751949e-01 2.25772985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44 meters Centerline goodness : 0.997483 with order 1 Centerline is valid? [True, True] Translation: X:243.52, Y:190.63, Z:22.58 [[ 1.90968077e-01 -9.81527012e-01 -1.16583742e-02 2.43519411e+02] [ 9.79306668e-01 1.91319938e-01 -6.59934202e-02 1.90631868e+02] [ 6.70048040e-02 1.18551298e-03 9.97751949e-01 2.25831952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5 meters Centerline goodness : 0.997371 with order 1 Centerline is valid? [True, True] Translation: X:243.53, Y:190.69, Z:22.58 [[ 1.83251021e-01 -9.82997241e-01 -1.16399228e-02 2.43527318e+02] [ 9.80779524e-01 1.83619076e-01 -6.59966745e-02 1.90689546e+02] [ 6.70118608e-02 6.77760041e-04 9.97751949e-01 2.25842481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56 meters Centerline goodness : 0.997419 with order 1 Centerline is valid? [True, True] Translation: X:243.54, Y:190.75, Z:22.59 [[ 1.67505960e-01 -9.85802563e-01 -1.16215485e-02 2.43536948e+02] [ 9.83590792e-01 1.67908207e-01 -6.59999100e-02 1.90745734e+02] [ 6.70142338e-02 -3.75469801e-04 9.97751949e-01 2.25877309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62 meters Centerline goodness : 0.997850 with order 1 Centerline is valid? [True, True] Translation: X:243.54, Y:190.80, Z:22.59 [[ 1.65440957e-01 -9.86151314e-01 -1.16136358e-02 2.43542719e+02] [ 9.83940292e-01 1.65847306e-01 -6.60013023e-02 1.90803672e+02] [ 6.70133612e-02 -5.07805550e-04 9.97751949e-01 2.25902315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68 meters Centerline goodness : 0.997598 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:190.86, Z:22.60 [[ 1.58636956e-01 -9.87268886e-01 -1.15957812e-02 2.43550676e+02] [ 9.85060493e-01 1.59057349e-01 -6.60044390e-02 1.90860676e+02] [ 6.70085232e-02 -9.51802584e-04 9.97751949e-01 2.25980565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74 meters Centerline goodness : 0.997839 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:190.92, Z:22.60 [[ 1.57738663e-01 -9.87413014e-01 -1.15781611e-02 2.43560862e+02] [ 9.85204779e-01 1.58159887e-01 -6.60075297e-02 1.90918345e+02] [ 6.70078945e-02 -9.94920144e-04 9.97751949e-01 2.25996201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8 meters Centerline goodness : 0.998495 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:190.98, Z:22.61 [[ 1.48771984e-01 -9.88803931e-01 -1.15621008e-02 2.43550072e+02] [ 9.86599395e-01 1.49212157e-01 -6.60103428e-02 1.90978836e+02] [ 6.69964925e-02 -1.58667206e-03 9.97751949e-01 2.26086110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86 meters Centerline goodness : 0.997859 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:191.03, Z:22.61 [[ 1.53244740e-01 -9.88120690e-01 -1.15564409e-02 2.43578970e+02] [ 9.85914111e-01 1.53674555e-01 -6.60113336e-02 1.91033913e+02] [ 6.70030955e-02 -1.27776847e-03 9.97751949e-01 2.26087164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91999999999996 meters Centerline goodness : 0.998603 with order 1 Centerline is valid? [True, True] Translation: X:243.57, Y:191.10, Z:22.61 [[ 1.51460463e-01 -9.88395950e-01 -1.15401093e-02 2.43571366e+02] [ 9.86189937e-01 1.51893172e-01 -6.60141886e-02 1.91095160e+02] [ 6.70010205e-02 -1.38220006e-03 9.97751950e-01 2.26133843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97999999999996 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:191.15, Z:22.61 [[ 1.64615967e-01 -9.86290399e-01 -1.15252779e-02 2.43595616e+02] [ 9.84078636e-01 1.65018252e-01 -6.60167779e-02 1.91151104e+02] [ 6.70135955e-02 -4.74364044e-04 9.97751950e-01 2.26120473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03999999999996 meters Centerline goodness : 0.998145 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:191.21, Z:22.62 [[ 1.60813703e-01 -9.86917669e-01 -1.15094220e-02 2.43590529e+02] [ 9.84707276e-01 1.61223449e-01 -6.60195421e-02 1.91211504e+02] [ 6.70114414e-02 -7.16564516e-04 9.97751950e-01 2.26218254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09999999999997 meters Centerline goodness : 0.998669 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:191.27, Z:22.63 [[ 1.64830556e-01 -9.86254912e-01 -1.14950538e-02 2.43600016e+02] [ 9.84042695e-01 1.65230337e-01 -6.60220438e-02 1.91268973e+02] [ 6.70138966e-02 -4.29173607e-04 9.97751950e-01 2.26280794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15999999999997 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:243.61, Y:191.33, Z:22.63 [[ 1.65940486e-01 -9.86068955e-01 -1.14791411e-02 2.43609199e+02] [ 9.83856099e-01 1.66336711e-01 -6.60248104e-02 1.91325714e+02] [ 6.70144184e-02 -3.37633865e-04 9.97751950e-01 2.26317280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21999999999997 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:243.62, Y:191.38, Z:22.64 [[ 1.66228222e-01 -9.86020555e-01 -1.14735557e-02 2.43620115e+02] [ 9.83807517e-01 1.66623428e-01 -6.60257810e-02 1.91382176e+02] [ 6.70145404e-02 -3.12422177e-04 9.97751950e-01 2.26353356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:243.63, Y:191.44, Z:22.64 [[ 1.64816325e-01 -9.86257751e-01 -1.14554570e-02 2.43629973e+02] [ 9.84045063e-01 1.65213487e-01 -6.60289210e-02 1.91438624e+02] [ 6.70141311e-02 -3.90041789e-04 9.97751950e-01 2.26372408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:191.50, Z:22.64 [[ 1.61245149e-01 -9.86847988e-01 -1.14477066e-02 2.43639648e+02] [ 9.84636657e-01 1.61649800e-01 -6.60302647e-02 1.91495586e+02] [ 6.70123533e-02 -6.24771665e-04 9.97751950e-01 2.26436041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:243.65, Y:191.55, Z:22.65 [[ 1.57657607e-01 -9.87427691e-01 -1.14294920e-02 2.43649168e+02] [ 9.85217618e-01 1.58069074e-01 -6.60334174e-02 1.91553533e+02] [ 6.70098741e-02 -8.49866323e-04 9.97751950e-01 2.26491588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46 meters Centerline goodness : 0.998636 with order 1 Centerline is valid? [True, True] Translation: X:243.66, Y:191.61, Z:22.65 [[ 1.51737335e-01 -9.88354951e-01 -1.14136528e-02 2.43658671e+02] [ 9.86147181e-01 1.52160980e-01 -6.60361550e-02 1.91611750e+02] [ 6.70038734e-02 -1.23539136e-03 9.97751951e-01 2.26542090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:243.67, Y:191.67, Z:22.66 [[ 1.48855833e-01 -9.88793217e-01 -1.13980406e-02 2.43669394e+02] [ 9.86586488e-01 1.49284870e-01 -6.60388496e-02 1.91668260e+02] [ 6.70003216e-02 -1.41488482e-03 9.97751951e-01 2.26579594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:191.72, Z:22.66 [[ 1.48113508e-01 -9.88904896e-01 -1.13796146e-02 2.43678664e+02] [ 9.86698250e-01 1.48542972e-01 -6.60420246e-02 1.91724245e+02] [ 6.69996432e-02 -1.44652982e-03 9.97751951e-01 2.26606938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:243.69, Y:191.78, Z:22.67 [[ 1.49846509e-01 -9.88643874e-01 -1.13716761e-02 2.43688726e+02] [ 9.86436376e-01 1.50271574e-01 -6.60433915e-02 1.91781542e+02] [ 6.70022341e-02 -1.32106333e-03 9.97751951e-01 2.26650025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:243.70, Y:191.84, Z:22.67 [[ 1.53774044e-01 -9.88040806e-01 -1.13537871e-02 2.43698781e+02] [ 9.85831413e-01 1.54189138e-01 -6.60464667e-02 1.91838213e+02] [ 6.70072349e-02 -1.03668768e-03 9.97751951e-01 2.26699165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:243.71, Y:191.90, Z:22.67 [[ 1.56394454e-01 -9.87629628e-01 -1.13354762e-02 2.43709035e+02] [ 9.85418915e-01 1.56802461e-01 -6.60496093e-02 1.91895055e+02] [ 6.70099816e-02 -8.40400105e-04 9.97751951e-01 2.26744879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82 meters Centerline goodness : 0.998629 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:191.95, Z:22.68 [[ 1.59657443e-01 -9.87107611e-01 -1.13166117e-02 2.43719499e+02] [ 9.84895333e-01 1.60056881e-01 -6.60528413e-02 1.91951336e+02] [ 6.70125639e-02 -5.99850329e-04 9.97751951e-01 2.26775048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:243.73, Y:192.01, Z:22.68 [[ 1.61979261e-01 -9.86729416e-01 -1.13039509e-02 2.43729703e+02] [ 9.84516054e-01 1.62372645e-01 -6.60550079e-02 1.92008497e+02] [ 6.70138718e-02 -4.29379767e-04 9.97751951e-01 2.26797903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94 meters Centerline goodness : 0.998584 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:192.07, Z:22.68 [[ 1.63548813e-01 -9.86470687e-01 -1.12857773e-02 2.43740120e+02] [ 9.84256489e-01 1.63937458e-01 -6.60581128e-02 1.92065492e+02] [ 6.70145536e-02 -3.04373618e-04 9.97751952e-01 2.26831315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:243.76, Y:192.12, Z:22.68 [[ 1.71140905e-01 -9.85182131e-01 -1.12676547e-02 2.43756541e+02] [ 9.82964801e-01 1.71511272e-01 -6.60612039e-02 1.92121107e+02] [ 6.70148474e-02 2.30066240e-04 9.97751952e-01 2.26798780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06 meters Centerline goodness : 0.998607 with order 1 Centerline is valid? [True, True] Translation: X:243.76, Y:192.18, Z:22.69 [[ 1.73069286e-01 -9.84845309e-01 -1.12579127e-02 2.43764939e+02] [ 9.82627151e-01 1.73434658e-01 -6.60628641e-02 1.92177697e+02] [ 6.70142140e-02 3.71122024e-04 9.97751952e-01 2.26854022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:243.77, Y:192.24, Z:22.70 [[ 1.69515780e-01 -9.85463375e-01 -1.12399849e-02 2.43769050e+02] [ 9.83246347e-01 1.69887949e-01 -6.60659142e-02 1.92235992e+02] [ 6.70150767e-02 1.47540934e-04 9.97751952e-01 2.26979062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:243.78, Y:192.29, Z:22.70 [[ 1.73682460e-01 -9.84737744e-01 -1.12239986e-02 2.43783686e+02] [ 9.82518988e-01 1.74044175e-01 -6.60686300e-02 1.92293380e+02] [ 6.70137453e-02 4.47170411e-04 9.97751952e-01 2.26958735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:243.79, Y:192.35, Z:22.71 [[ 1.66268349e-01 -9.86016849e-01 -1.12075308e-02 2.43786511e+02] [ 9.83800689e-01 1.66645645e-01 -6.60714234e-02 1.92350704e+02] [ 6.70152229e-02 -4.03900133e-05 9.97751952e-01 2.27063747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:243.80, Y:192.41, Z:22.71 [[ 1.63689361e-01 -9.86448366e-01 -1.11988703e-02 2.43795307e+02] [ 9.84233100e-01 1.64071871e-01 -6.60728913e-02 1.92408248e+02] [ 6.70149152e-02 -2.06869525e-04 9.97751952e-01 2.27094725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:243.80, Y:192.47, Z:22.71 [[ 1.58499040e-01 -9.87295824e-01 -1.11807524e-02 2.43804677e+02] [ 9.85082385e-01 1.58891983e-01 -6.60759571e-02 1.92466311e+02] [ 6.70130484e-02 -5.40986432e-04 9.97751952e-01 2.27113623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41999999999996 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:243.81, Y:192.52, Z:22.71 [[ 1.55354254e-01 -9.87795727e-01 -1.11650296e-02 2.43813884e+02] [ 9.85583360e-01 1.55753191e-01 -6.60786137e-02 1.92522462e+02] [ 6.70111612e-02 -7.38473655e-04 9.97751953e-01 2.27142413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47999999999996 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:192.58, Z:22.72 [[ 1.55010955e-01 -9.87849744e-01 -1.11574197e-02 2.43821647e+02] [ 9.85637424e-01 1.55410153e-01 -6.60798986e-02 1.92580343e+02] [ 6.70109872e-02 -7.54062189e-04 9.97751953e-01 2.27201978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53999999999996 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:243.83, Y:192.64, Z:22.73 [[ 1.56084681e-01 -9.87680833e-01 -1.11420446e-02 2.43829976e+02] [ 9.85467896e-01 1.56480445e-01 -6.60824910e-02 1.92638247e+02] [ 6.70119218e-02 -6.65662745e-04 9.97751953e-01 2.27281826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59999999999997 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:243.84, Y:192.70, Z:22.73 [[ 1.58171716e-01 -9.87348936e-01 -1.11259269e-02 2.43839496e+02] [ 9.85134978e-01 1.58561723e-01 -6.60852045e-02 1.92695427e+02] [ 6.70133025e-02 -5.07729618e-04 9.97751953e-01 2.27344571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65999999999997 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:243.85, Y:192.75, Z:22.74 [[ 1.58947596e-01 -9.87224510e-01 -1.11098620e-02 2.43849301e+02] [ 9.85010058e-01 1.59334788e-01 -6.60879051e-02 1.92750959e+02] [ 6.70137873e-02 -4.38812200e-04 9.97751953e-01 2.27376916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71999999999997 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:192.81, Z:22.74 [[ 1.58782133e-01 -9.87251225e-01 -1.11019665e-02 2.43860292e+02] [ 9.85036745e-01 1.59169168e-01 -6.60892315e-02 1.92807847e+02] [ 6.70137655e-02 -4.42055852e-04 9.97751953e-01 2.27387623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:192.87, Z:22.74 [[ 1.59761832e-01 -9.87093366e-01 -1.10834683e-02 2.43870600e+02] [ 9.84878289e-01 1.60145430e-01 -6.60923336e-02 1.92866258e+02] [ 6.70142708e-02 -3.56835050e-04 9.97751953e-01 2.27402109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:192.92, Z:22.74 [[ 1.65585770e-01 -9.86133208e-01 -1.10747186e-02 2.43887569e+02] [ 9.83915807e-01 1.65955700e-01 -6.60937997e-02 1.92923490e+02] [ 6.70152034e-02 4.76020150e-05 9.97751953e-01 2.27366354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:192.98, Z:22.75 [[ 1.62899342e-01 -9.86580733e-01 -1.10572152e-02 2.43890939e+02] [ 9.84364149e-01 1.63274137e-01 -6.60967278e-02 1.92980411e+02] [ 6.70151154e-02 -1.17212776e-04 9.97751953e-01 2.27482267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:193.04, Z:22.75 [[ 1.70198016e-01 -9.85347946e-01 -1.10481072e-02 2.43904817e+02] [ 9.83128550e-01 1.70555782e-01 -6.60982502e-02 1.93037517e+02] [ 6.70140936e-02 3.88081432e-04 9.97751953e-01 2.27500209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:193.09, Z:22.76 [[ 1.68156654e-01 -9.85698572e-01 -1.10301980e-02 2.43910609e+02] [ 9.83479726e-01 1.68517815e-01 -6.61012387e-02 1.93094803e+02] [ 6.70146814e-02 2.67386995e-04 9.97751954e-01 2.27600020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:193.15, Z:22.76 [[ 1.70765310e-01 -9.85250061e-01 -1.10239142e-02 2.43920914e+02] [ 9.83030200e-01 1.71120175e-01 -6.61022866e-02 1.93150920e+02] [ 6.70136960e-02 4.51136919e-04 9.97751954e-01 2.27626333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:193.21, Z:22.77 [[ 1.73731825e-01 -9.84731386e-01 -1.10159056e-02 2.43930517e+02] [ 9.82510382e-01 1.74079465e-01 -6.61036212e-02 1.93207766e+02] [ 6.70119535e-02 6.61061152e-04 9.97751954e-01 2.27670967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:193.26, Z:22.77 [[ 1.82493240e-01 -9.83145608e-01 -1.09968655e-02 2.43938721e+02] [ 9.80921408e-01 1.82819810e-01 -6.61067885e-02 1.93264619e+02] [ 6.70030437e-02 1.27698120e-03 9.97751954e-01 2.27720698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:193.32, Z:22.78 [[ 1.88745332e-01 -9.81964560e-01 -1.09910222e-02 2.43946980e+02] [ 9.79738272e-01 1.89057350e-01 -6.61077601e-02 1.93321868e+02] [ 6.69934110e-02 1.70920604e-03 9.97751954e-01 2.27769815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:193.38, Z:22.78 [[ 1.99295833e-01 -9.79877938e-01 -1.09725880e-02 2.43955077e+02] [ 9.77648263e-01 1.99582646e-01 -6.61108196e-02 1.93377987e+02] [ 6.69704718e-02 2.44827922e-03 9.97751954e-01 2.27815510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:193.43, Z:22.79 [[ 2.05188912e-01 -9.78660966e-01 -1.09646763e-02 2.43964221e+02] [ 9.76429541e-01 2.05461768e-01 -6.61121318e-02 1.93434572e+02] [ 6.69541846e-02 2.85924249e-03 9.97751954e-01 2.27872013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:193.49, Z:22.79 [[ 2.07783968e-01 -9.78113379e-01 -1.09563302e-02 2.43973628e+02] [ 9.75881170e-01 2.08050342e-01 -6.61135149e-02 1.93491111e+02] [ 6.69459817e-02 3.04525206e-03 9.97751954e-01 2.27901040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:193.55, Z:22.79 [[ 2.06700144e-01 -9.78343201e-01 -1.09375844e-02 2.43984237e+02] [ 9.76111138e-01 2.06967727e-01 -6.61166160e-02 1.93547564e+02] [ 6.69484688e-02 2.99001608e-03 9.97751954e-01 2.27937431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:193.60, Z:22.79 [[ 2.09588529e-01 -9.77728713e-01 -1.09184452e-02 2.44001844e+02] [ 9.75495718e-01 2.09848228e-01 -6.61197765e-02 1.93603378e+02] [ 6.69384204e-02 3.20705018e-03 9.97751955e-01 2.27906913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:193.66, Z:22.80 [[ 2.01248698e-01 -9.79479544e-01 -1.08987849e-02 2.44004503e+02] [ 9.77248679e-01 2.01526092e-01 -6.61230171e-02 1.93660882e+02] [ 6.69625321e-02 2.65634796e-03 9.97751955e-01 2.28018658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:193.72, Z:22.81 [[ 1.97770361e-01 -9.80187855e-01 -1.08928025e-02 2.44015439e+02] [ 9.77957937e-01 1.98055270e-01 -6.61240026e-02 1.93717242e+02] [ 6.69713212e-02 2.42466526e-03 9.97751955e-01 2.28053004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:193.77, Z:22.81 [[ 1.96309210e-01 -9.80481630e-01 -1.08842567e-02 2.44025125e+02] [ 9.78252065e-01 1.96596866e-01 -6.61254092e-02 1.93774088e+02] [ 6.69745598e-02 2.33348024e-03 9.97751955e-01 2.28103426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:193.83, Z:22.82 [[ 1.92124954e-01 -9.81310323e-01 -1.08651724e-02 2.44033448e+02] [ 9.79081834e-01 1.92420834e-01 -6.61285448e-02 1.93831200e+02] [ 6.69833092e-02 2.06705075e-03 9.97751955e-01 2.28160976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:193.89, Z:22.82 [[ 1.89086757e-01 -9.81900338e-01 -1.08593187e-02 2.44042064e+02] [ 9.79672722e-01 1.89389139e-01 -6.61295061e-02 1.93887111e+02] [ 6.69892214e-02 1.86563560e-03 9.97751955e-01 2.28192501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91999999999996 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:193.95, Z:22.82 [[ 1.84705279e-01 -9.82734049e-01 -1.08512180e-02 2.44049450e+02] [ 9.80507728e-01 1.85017048e-01 -6.61308353e-02 1.93945691e+02] [ 6.69966839e-02 1.57501128e-03 9.97751955e-01 2.28204665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97999999999996 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:194.00, Z:22.82 [[ 1.82252214e-01 -9.83192116e-01 -1.08347942e-02 2.44056662e+02] [ 9.80966423e-01 1.82568435e-01 -6.61335261e-02 1.94002817e+02] [ 6.70000529e-02 1.42441231e-03 9.97751955e-01 2.28235185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03999999999996 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:194.06, Z:22.83 [[ 1.77287589e-01 -9.84099651e-01 -1.08161045e-02 2.44064231e+02] [ 9.81875398e-01 1.77613783e-01 -6.61365826e-02 1.94061163e+02] [ 6.70060771e-02 1.10512832e-03 9.97751955e-01 2.28287012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09999999999997 meters Centerline goodness : 0.998713 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:194.12, Z:22.83 [[ 1.71726118e-01 -9.85085534e-01 -1.07995862e-02 2.44072162e+02] [ 9.82862990e-01 1.72063762e-01 -6.61392798e-02 1.94118625e+02] [ 6.70110652e-02 7.43328169e-04 9.97751955e-01 2.28340714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15999999999997 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:194.18, Z:22.84 [[ 1.67022781e-01 -9.85893952e-01 -1.07937864e-02 2.44080919e+02] [ 9.83672984e-01 1.67370639e-01 -6.61402263e-02 1.94175954e+02] [ 6.70138121e-02 4.29368484e-04 9.97751955e-01 2.28384230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21999999999997 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:194.23, Z:22.84 [[ 1.63190227e-01 -9.86535786e-01 -1.07746354e-02 2.44090109e+02] [ 9.84315981e-01 1.63545429e-01 -6.61433460e-02 1.94231977e+02] [ 6.70149202e-02 1.88301759e-04 9.97751956e-01 2.28421509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:194.29, Z:22.85 [[ 1.61136640e-01 -9.86873380e-01 -1.07663935e-02 2.44099274e+02] [ 9.84654229e-01 1.61495910e-01 -6.61446875e-02 1.94288483e+02] [ 6.70151599e-02 5.71578014e-05 9.97751956e-01 2.28463921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34 meters Centerline goodness : 0.998766 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:194.34, Z:22.85 [[ 1.59330869e-01 -9.87166735e-01 -1.07475927e-02 2.44108554e+02] [ 9.84948040e-01 1.59692938e-01 -6.61477423e-02 1.94344212e+02] [ 6.70151655e-02 -4.64431231e-05 9.97751956e-01 2.28500039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4 meters Centerline goodness : 0.998315 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:194.40, Z:22.84 [[ 1.73659720e-01 -9.84747158e-01 -1.07395114e-02 2.44137731e+02] [ 9.82523355e-01 1.73988965e-01 -6.61490543e-02 1.94399366e+02] [ 6.70086497e-02 9.35605488e-04 9.97751956e-01 2.28430185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:194.46, Z:22.86 [[ 1.59767665e-01 -9.87096415e-01 -1.07219976e-02 2.44128641e+02] [ 9.84877281e-01 1.60127037e-01 -6.61518930e-02 1.94458516e+02] [ 6.70151781e-02 9.08164661e-06 9.97751956e-01 2.28591576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:194.52, Z:22.86 [[ 1.63916144e-01 -9.86416105e-01 -1.07128898e-02 2.44137711e+02] [ 9.84195384e-01 1.64265572e-01 -6.61533679e-02 1.94515212e+02] [ 6.70145065e-02 3.00028280e-04 9.97751956e-01 2.28628986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:194.57, Z:22.87 [[ 1.64975596e-01 -9.86239673e-01 -1.06938971e-02 2.44148112e+02] [ 9.84018380e-01 1.65321365e-01 -6.61564380e-02 1.94571918e+02] [ 6.70140335e-02 3.91206474e-04 9.97751956e-01 2.28663068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64 meters Centerline goodness : 0.998670 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:194.63, Z:22.87 [[ 1.63141626e-01 -9.86544909e-01 -1.06748680e-02 2.44158038e+02] [ 9.84324062e-01 1.63490248e-01 -6.61595084e-02 1.94628599e+02] [ 6.70145630e-02 2.85840387e-04 9.97751956e-01 2.28700980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7 meters Centerline goodness : 0.997541 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:194.68, Z:22.87 [[ 1.78624431e-01 -9.83859627e-01 -1.06558687e-02 2.44192145e+02] [ 9.81633396e-01 1.78936833e-01 -6.61625683e-02 1.94681899e+02] [ 6.70014072e-02 1.35809449e-03 9.97751957e-01 2.28663073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76 meters Centerline goodness : 0.997725 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:194.74, Z:22.87 [[ 1.72565931e-01 -9.84940548e-01 -1.06356516e-02 2.44202616e+02] [ 9.82716083e-01 1.72890671e-01 -6.61658181e-02 1.94738063e+02] [ 6.70082021e-02 9.66140118e-04 9.97751957e-01 2.28670702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:194.80, Z:22.88 [[ 1.47857673e-01 -9.88951552e-01 -1.06271850e-02 2.44185631e+02] [ 9.86735816e-01 1.48237426e-01 -6.61671779e-02 1.94798170e+02] [ 6.70114798e-02 -7.02899137e-04 9.97751957e-01 2.28787921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88 meters Centerline goodness : 0.998435 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:194.85, Z:22.88 [[ 1.36846015e-01 -9.90535500e-01 -1.06108626e-02 2.44196881e+02] [ 9.88323928e-01 1.37249306e-01 -6.61697954e-02 1.94854695e+02] [ 6.69998649e-02 -1.43189653e-03 9.97751957e-01 2.28838747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94 meters Centerline goodness : 0.998387 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:194.91, Z:22.89 [[ 1.29866781e-01 -9.91474875e-01 -1.05920036e-02 2.44206607e+02] [ 9.89265960e-01 1.30284379e-01 -6.61728141e-02 1.94911146e+02] [ 6.69886552e-02 -1.88465825e-03 9.97751957e-01 2.28880077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:194.97, Z:22.89 [[ 1.22286662e-01 -9.92438502e-01 -1.05731761e-02 2.44216455e+02] [ 9.90232596e-01 1.22719873e-01 -6.61758222e-02 1.94968102e+02] [ 6.69729727e-02 -2.37748327e-03 9.97751957e-01 2.28905880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06 meters Centerline goodness : 0.998268 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:195.02, Z:22.89 [[ 1.19428257e-01 -9.92786594e-01 -1.05673838e-02 2.44225646e+02] [ 9.90581868e-01 1.19867433e-01 -6.61767472e-02 1.95024872e+02] [ 6.69660726e-02 -2.56448519e-03 9.97751957e-01 2.28937555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12 meters Centerline goodness : 0.998050 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:195.08, Z:22.88 [[ 1.35373632e-01 -9.90738460e-01 -1.05490852e-02 2.44265170e+02] [ 9.88526735e-01 1.35776086e-01 -6.61796640e-02 1.95078869e+02] [ 6.69990519e-02 -1.46907121e-03 9.97751958e-01 2.28845792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18 meters Centerline goodness : 0.997891 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:195.14, Z:22.89 [[ 1.32309748e-01 -9.91152462e-01 -1.05322197e-02 2.44271470e+02] [ 9.88941784e-01 1.32717912e-01 -6.61823480e-02 1.95137222e+02] [ 6.69946113e-02 -1.65918237e-03 9.97751958e-01 2.28935401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24 meters Centerline goodness : 0.998066 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:195.20, Z:22.90 [[ 1.34040513e-01 -9.90920060e-01 -1.05154659e-02 2.44276783e+02] [ 9.88708469e-01 1.34443697e-01 -6.61850098e-02 1.95195375e+02] [ 6.69977920e-02 -1.52525760e-03 9.97751958e-01 2.28982233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3 meters Centerline goodness : 0.997988 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:195.25, Z:22.89 [[ 1.36966508e-01 -9.90520046e-01 -1.04982690e-02 2.44288054e+02] [ 9.88307068e-01 1.37362010e-01 -6.61877375e-02 1.95253090e+02] [ 6.70023441e-02 -1.31001019e-03 9.97751958e-01 2.28940929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36 meters Centerline goodness : 0.997565 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:195.31, Z:22.90 [[ 1.29172416e-01 -9.91566757e-01 -1.04810916e-02 2.44292620e+02] [ 9.89356744e-01 1.29584164e-01 -6.61904575e-02 1.95310711e+02] [ 6.69904408e-02 -1.81955737e-03 9.97751958e-01 2.28958367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41999999999996 meters Centerline goodness : 0.997586 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:195.37, Z:22.90 [[ 1.30743133e-01 -9.91360937e-01 -1.04750395e-02 2.44298732e+02] [ 9.89150200e-01 1.31150975e-01 -6.61914153e-02 1.95369016e+02] [ 6.69933951e-02 -1.70731444e-03 9.97751958e-01 2.29045119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47999999999996 meters Centerline goodness : 0.997729 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:195.43, Z:22.91 [[ 1.28514689e-01 -9.91652453e-01 -1.04587948e-02 2.44308096e+02] [ 9.89442437e-01 1.28926415e-01 -6.61939820e-02 1.95426718e+02] [ 6.69898395e-02 -1.84147641e-03 9.97751958e-01 2.29094565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53999999999996 meters Centerline goodness : 0.997564 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:195.49, Z:22.91 [[ 1.24858249e-01 -9.92119635e-01 -1.04426034e-02 2.44313850e+02] [ 9.89910946e-01 1.25277040e-01 -6.61965362e-02 1.95485350e+02] [ 6.69831018e-02 -2.07206381e-03 9.97751958e-01 2.29144273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59999999999997 meters Centerline goodness : 0.997050 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:195.54, Z:22.92 [[ 1.21830455e-01 -9.92496163e-01 -1.04262186e-02 2.44322166e+02] [ 9.90288553e-01 1.22254892e-01 -6.61991168e-02 1.95543506e+02] [ 6.69770256e-02 -2.25989644e-03 9.97751959e-01 2.29198141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65999999999997 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:195.60, Z:22.92 [[ 1.21001845e-01 -9.92597695e-01 -1.04100188e-02 2.44329947e+02] [ 9.90390232e-01 1.21427046e-01 -6.62016641e-02 1.95601501e+02] [ 6.69756771e-02 -2.29945747e-03 9.97751959e-01 2.29227055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71999999999997 meters Centerline goodness : 0.997489 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:195.66, Z:22.93 [[ 1.16781728e-01 -9.93103215e-01 -1.03938722e-02 2.44338732e+02] [ 9.90897368e-01 1.17215233e-01 -6.62041991e-02 1.95658190e+02] [ 6.69659232e-02 -2.56781981e-03 9.97751959e-01 2.29293682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:195.72, Z:22.93 [[ 1.16401918e-01 -9.93147864e-01 -1.03881887e-02 2.44345771e+02] [ 9.90942108e-01 1.16835889e-01 -6.62050909e-02 1.95715200e+02] [ 6.69651579e-02 -2.58769404e-03 9.97751959e-01 2.29331624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84 meters Centerline goodness : 0.998010 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:195.77, Z:22.93 [[ 1.11876996e-01 -9.93667956e-01 -1.03696918e-02 2.44355757e+02] [ 9.91463953e-01 1.12319779e-01 -6.62079880e-02 1.95772087e+02] [ 6.69534776e-02 -2.87402484e-03 9.97751959e-01 2.29331561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9 meters Centerline goodness : 0.998246 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:195.83, Z:22.94 [[ 1.16673870e-01 -9.93116234e-01 -1.03611650e-02 2.44361269e+02] [ 9.90910007e-01 1.17105437e-01 -6.62093224e-02 1.95830514e+02] [ 6.69669016e-02 -2.54208420e-03 9.97751959e-01 2.29400215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96 meters Centerline goodness : 0.998147 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:195.89, Z:22.94 [[ 1.12700873e-01 -9.93575108e-01 -1.03449591e-02 2.44370379e+02] [ 9.91370410e-01 1.13140183e-01 -6.62118544e-02 1.95887603e+02] [ 6.69568809e-02 -2.79355257e-03 9.97751959e-01 2.29407044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02 meters Centerline goodness : 0.998033 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:195.95, Z:22.95 [[ 1.19620453e-01 -9.92765857e-01 -1.03392572e-02 2.44377213e+02] [ 9.90558079e-01 1.20044012e-01 -6.62127447e-02 1.95945250e+02] [ 6.69749182e-02 -2.32123629e-03 9.97751959e-01 2.29460672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08 meters Centerline goodness : 0.998406 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:196.00, Z:22.95 [[ 1.19423844e-01 -9.92789722e-01 -1.03205499e-02 2.44385804e+02] [ 9.90581789e-01 1.19846594e-01 -6.62156605e-02 1.96001824e+02] [ 6.69751099e-02 -2.31562006e-03 9.97751959e-01 2.29502351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14 meters Centerline goodness : 0.998432 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:196.06, Z:22.96 [[ 1.06896890e-01 -9.94216741e-01 -1.03018051e-02 2.44388334e+02] [ 9.92014059e-01 1.07346199e-01 -6.62185767e-02 1.96059235e+02] [ 6.69414771e-02 -3.14097564e-03 9.97751960e-01 2.29626610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2 meters Centerline goodness : 0.998539 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:196.12, Z:22.97 [[ 1.03543570e-01 -9.94571627e-01 -1.02959857e-02 2.44396704e+02] [ 9.92370393e-01 1.03999919e-01 -6.62194815e-02 1.96115940e+02] [ 6.69307992e-02 -3.36082983e-03 9.97751960e-01 2.29663283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:196.17, Z:22.97 [[ 1.13500451e-01 -9.93484780e-01 -1.02780952e-02 2.44395787e+02] [ 9.91278852e-01 1.13933538e-01 -6.62222582e-02 1.96174231e+02] [ 6.69618254e-02 -2.67220224e-03 9.97751960e-01 2.29672085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:196.23, Z:22.97 [[ 1.18321872e-01 -9.92922156e-01 -1.02725855e-02 2.44404509e+02] [ 9.90714081e-01 1.18743878e-01 -6.62231129e-02 1.96231193e+02] [ 6.69742027e-02 -2.34155241e-03 9.97751960e-01 2.29711234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:196.29, Z:22.98 [[ 1.23308104e-01 -9.92315450e-01 -1.02546983e-02 2.44411633e+02] [ 9.90105062e-01 1.23717820e-01 -6.62258827e-02 1.96288338e+02] [ 6.69856555e-02 -1.98704063e-03 9.97751960e-01 2.29763423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:196.35, Z:22.98 [[ 1.29239688e-01 -9.91560542e-01 -1.02368935e-02 2.44420459e+02] [ 9.89347531e-01 1.29634991e-01 -6.62286347e-02 1.96346400e+02] [ 6.69967606e-02 -1.56847726e-03 9.97751960e-01 2.29816025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:196.40, Z:22.99 [[ 1.35235533e-01 -9.90760756e-01 -1.02213360e-02 2.44430175e+02] [ 9.88545215e-01 1.35616402e-01 -6.62310357e-02 1.96403708e+02] [ 6.70052918e-02 -1.14746340e-03 9.97751960e-01 2.29862089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:196.46, Z:22.99 [[ 1.38336968e-01 -9.90332668e-01 -1.02024549e-02 2.44439683e+02] [ 9.88115733e-01 1.38709635e-01 -6.62339441e-02 1.96459999e+02] [ 6.70088174e-02 -9.18603223e-04 9.97751960e-01 2.29886547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:196.52, Z:22.99 [[ 1.46214515e-01 -9.89200380e-01 -1.01943448e-02 2.44448775e+02] [ 9.86980462e-01 1.46568984e-01 -6.62351924e-02 1.96516919e+02] [ 6.70140522e-02 -3.77072570e-04 9.97751960e-01 2.29920385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:196.57, Z:23.00 [[ 1.49874969e-01 -9.88652595e-01 -1.01754321e-02 2.44457169e+02] [ 9.86431184e-01 1.50219950e-01 -6.62380977e-02 1.96572913e+02] [ 6.70150201e-02 -1.09930735e-04 9.97751961e-01 2.29954539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74 meters Centerline goodness : 0.998690 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:196.63, Z:23.00 [[ 1.54749698e-01 -9.87901390e-01 -1.01673215e-02 2.44467319e+02] [ 9.85678223e-01 1.55083175e-01 -6.62393426e-02 1.96630079e+02] [ 6.70147192e-02 2.28810902e-04 9.97751961e-01 2.29993039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:196.69, Z:23.00 [[ 1.63596914e-01 -9.86475059e-01 -1.01492351e-02 2.44483261e+02] [ 9.84248822e-01 1.63909240e-01 -6.62421137e-02 1.96686869e+02] [ 6.70097465e-02 8.47632697e-04 9.97751961e-01 2.29969366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:196.74, Z:23.01 [[ 1.61831493e-01 -9.86766407e-01 -1.01304135e-02 2.44485248e+02] [ 9.84540553e-01 1.62146538e-01 -6.62449920e-02 1.96744414e+02] [ 6.70109443e-02 7.46723061e-04 9.97751961e-01 2.30102826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91999999999996 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:196.80, Z:23.01 [[ 1.63860767e-01 -9.86431519e-01 -1.01246435e-02 2.44493859e+02] [ 9.84204967e-01 1.64170845e-01 -6.62458739e-02 1.96802023e+02] [ 6.70091893e-02 8.90375269e-04 9.97751961e-01 2.30133296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97999999999996 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:196.86, Z:23.01 [[ 1.65237634e-01 -9.86201998e-01 -1.01065640e-02 2.44504176e+02] [ 9.83974850e-01 1.65543390e-01 -6.62486320e-02 1.96859234e+02] [ 6.70076081e-02 1.00216241e-03 9.97751961e-01 2.30146617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03999999999996 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:196.92, Z:23.02 [[ 1.64650510e-01 -9.86300381e-01 -1.00880167e-02 2.44514179e+02] [ 9.84073243e-01 1.64956346e-01 -6.62514562e-02 1.96915138e+02] [ 6.70079189e-02 9.80988735e-04 9.97751961e-01 2.30179125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09999999999997 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:196.97, Z:23.02 [[ 1.62572012e-01 -9.86645191e-01 -1.00800466e-02 2.44524093e+02] [ 9.84418629e-01 1.62882005e-01 -6.62526688e-02 1.96971977e+02] [ 6.70097353e-02 8.47843976e-04 9.97751961e-01 2.30215205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15999999999997 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:197.03, Z:23.02 [[ 1.63613147e-01 -9.86473266e-01 -1.00614735e-02 2.44535618e+02] [ 9.84246206e-01 1.63919543e-01 -6.62554893e-02 1.97029070e+02] [ 6.70085411e-02 9.37302029e-04 9.97751962e-01 2.30218808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21999999999997 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:197.09, Z:23.03 [[ 1.60867433e-01 -9.86924924e-01 -1.00430561e-02 2.44540438e+02] [ 9.84698552e-01 1.61178789e-01 -6.62582809e-02 1.97086910e+02] [ 6.70106765e-02 7.69416784e-04 9.97751962e-01 2.30297482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:197.14, Z:23.04 [[ 1.60547216e-01 -9.86977250e-01 -1.00248980e-02 2.44547707e+02] [ 9.84750809e-01 1.60858075e-01 -6.62610281e-02 1.97144462e+02] [ 6.70107132e-02 7.65997109e-04 9.97751962e-01 2.30350002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34 meters Centerline goodness : 0.998535 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:197.20, Z:23.04 [[ 1.58360384e-01 -9.87330668e-01 -1.00069921e-02 2.44555779e+02] [ 9.85104751e-01 1.58674973e-01 -6.62637323e-02 1.97201902e+02] [ 6.70120743e-02 6.35614594e-04 9.97751962e-01 2.30395835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:197.26, Z:23.04 [[ 1.56533736e-01 -9.87622100e-01 -9.98885629e-03 2.44564295e+02] [ 9.85396595e-01 1.56851226e-01 -6.62664660e-02 1.97258412e+02] [ 6.70129907e-02 5.29952535e-04 9.97751962e-01 2.30434142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:244.57, Y:197.32, Z:23.05 [[ 1.50865299e-01 -9.88503940e-01 -9.98105428e-03 2.44573862e+02] [ 9.86280215e-01 1.51195027e-01 -6.62676412e-02 1.97315017e+02] [ 6.70149102e-02 1.53371120e-04 9.97751962e-01 2.30473594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:244.58, Y:197.37, Z:23.05 [[ 1.46455658e-01 -9.89167071e-01 -9.96220458e-03 2.44583062e+02] [ 9.86944646e-01 1.46794037e-01 -6.62704748e-02 1.97371979e+02] [ 6.70149637e-02 -1.26458482e-04 9.97751962e-01 2.30508793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:244.59, Y:197.43, Z:23.05 [[ 1.41926349e-01 -9.89827277e-01 -9.94346034e-03 2.44592632e+02] [ 9.87606228e-01 1.42273642e-01 -6.62732871e-02 1.97427955e+02] [ 6.70137997e-02 -4.14297683e-04 9.97751963e-01 2.30545090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64 meters Centerline goodness : 0.998750 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:197.48, Z:23.06 [[ 1.37386094e-01 -9.90467742e-01 -9.93545218e-03 2.44602799e+02] [ 9.88248223e-01 1.37743032e-01 -6.62744877e-02 1.97484907e+02] [ 6.70112814e-02 -7.13499963e-04 9.97751963e-01 2.30578478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:244.61, Y:197.54, Z:23.06 [[ 1.31809351e-01 -9.91225480e-01 -9.91679814e-03 2.44612441e+02] [ 9.89007797e-01 1.32177528e-01 -6.62772788e-02 1.97540746e+02] [ 6.70065054e-02 -1.07182561e-03 9.97751963e-01 2.30615016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:244.62, Y:197.60, Z:23.06 [[ 1.31284721e-01 -9.91295182e-01 -9.90880728e-03 2.44624548e+02] [ 9.89077606e-01 1.31653539e-01 -6.62784734e-02 1.97597943e+02] [ 6.70060609e-02 -1.09922846e-03 9.97751963e-01 2.30604791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:244.63, Y:197.65, Z:23.06 [[ 1.29080274e-01 -9.91584834e-01 -9.88939007e-03 2.44633031e+02] [ 9.89367865e-01 1.29452724e-01 -6.62813706e-02 1.97654715e+02] [ 6.70038103e-02 -1.22862726e-03 9.97751963e-01 2.30633600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:244.64, Y:197.71, Z:23.06 [[ 1.29010323e-01 -9.91594139e-01 -9.86917152e-03 2.44640934e+02] [ 9.89376970e-01 1.29381577e-01 -6.62843810e-02 1.97712188e+02] [ 6.70040926e-02 -1.21296164e-03 9.97751963e-01 2.30645096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:244.64, Y:197.77, Z:23.08 [[ 1.21963456e-01 -9.92485617e-01 -9.85981882e-03 2.44644878e+02] [ 9.90271032e-01 1.22349827e-01 -6.62857721e-02 1.97768962e+02] [ 6.69940226e-02 -1.67945109e-03 9.97751963e-01 2.30773716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:244.65, Y:197.83, Z:23.08 [[ 1.19634924e-01 -9.92769048e-01 -9.85400369e-03 2.44653176e+02] [ 9.90555307e-01 1.20026100e-01 -6.62866366e-02 1.97825138e+02] [ 6.69900588e-02 -1.83073893e-03 9.97751963e-01 2.30814459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:197.88, Z:23.09 [[ 1.18381275e-01 -9.92919398e-01 -9.84599391e-03 2.44662541e+02] [ 9.90706057e-01 1.18774712e-01 -6.62878263e-02 1.97882329e+02] [ 6.69879237e-02 -1.90724843e-03 9.97751963e-01 2.30864997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:244.68, Y:197.94, Z:23.08 [[ 1.21304159e-01 -9.92566729e-01 -9.82796472e-03 2.44676309e+02] [ 9.90352030e-01 1.21689875e-01 -6.62904993e-02 1.97939000e+02] [ 6.69937078e-02 -1.69183153e-03 9.97751964e-01 2.30847394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:244.68, Y:198.00, Z:23.09 [[ 1.16290435e-01 -9.93166829e-01 -9.80740931e-03 2.44678993e+02] [ 9.90953861e-01 1.16685958e-01 -6.62935402e-02 1.97995377e+02] [ 6.69849321e-02 -2.00938552e-03 9.97751964e-01 2.30947266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:244.69, Y:198.05, Z:23.10 [[ 1.15904908e-01 -9.93211982e-01 -9.79857317e-03 2.44687167e+02] [ 9.90999062e-01 1.16300701e-01 -6.62948463e-02 1.98052459e+02] [ 6.69844165e-02 -2.02647876e-03 9.97751964e-01 2.30977523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:244.69, Y:198.11, Z:23.10 [[ 1.16234823e-01 -9.93173614e-01 -9.77951863e-03 2.44693861e+02] [ 9.90960336e-01 1.16628611e-01 -6.62976570e-02 1.98108962e+02] [ 6.69856552e-02 -1.98501864e-03 9.97751964e-01 2.31018911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:244.70, Y:198.17, Z:23.11 [[ 1.15685880e-01 -9.93237785e-01 -9.77132844e-03 2.44701848e+02] [ 9.91024628e-01 1.16080345e-01 -6.62988641e-02 1.98166005e+02] [ 6.69847961e-02 -2.01378467e-03 9.97751964e-01 2.31092489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41999999999996 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:244.71, Y:198.22, Z:23.11 [[ 1.15556378e-01 -9.93253049e-01 -9.75211003e-03 2.44710249e+02] [ 9.91039716e-01 1.15949850e-01 -6.63016909e-02 1.98223471e+02] [ 6.69851123e-02 -2.00314508e-03 9.97751964e-01 2.31144180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47999999999996 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:198.28, Z:23.12 [[ 1.15625958e-01 -9.93245116e-01 -9.73540283e-03 2.44719741e+02] [ 9.91031557e-01 1.16018160e-01 -6.63041440e-02 1.98280346e+02] [ 6.69857507e-02 -1.98161125e-03 9.97751964e-01 2.31180092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53999999999996 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:244.73, Y:198.34, Z:23.12 [[ 1.14581064e-01 -9.93366386e-01 -9.71616607e-03 2.44729262e+02] [ 9.91153013e-01 1.14974311e-01 -6.63069628e-02 1.98335984e+02] [ 6.69842175e-02 -2.03268495e-03 9.97751965e-01 2.31209120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59999999999997 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:244.74, Y:198.39, Z:23.12 [[ 1.11978780e-01 -9.93663177e-01 -9.70790378e-03 2.44739236e+02] [ 9.91450742e-01 1.12377273e-01 -6.63081725e-02 1.98393012e+02] [ 6.69789371e-02 -2.19980013e-03 9.97751965e-01 2.31240860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65999999999997 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:244.75, Y:198.45, Z:23.13 [[ 1.08133796e-01 -9.94089136e-01 -9.68879309e-03 2.44750157e+02] [ 9.91878025e-01 1.08539572e-01 -6.63109648e-02 1.98449436e+02] [ 6.69706271e-02 -2.43964459e-03 9.97751965e-01 2.31271199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71999999999997 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:244.76, Y:198.51, Z:23.13 [[ 1.06020453e-01 -9.94316929e-01 -9.66998207e-03 2.44759932e+02] [ 9.92106454e-01 1.06429676e-01 -6.63137079e-02 1.98505982e+02] [ 6.69660154e-02 -2.56304225e-03 9.97751965e-01 2.31309151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:244.77, Y:198.56, Z:23.13 [[ 1.03766773e-01 -9.94554832e-01 -9.65109370e-03 2.44768866e+02] [ 9.92345055e-01 1.04179747e-01 -6.63164567e-02 1.98562637e+02] [ 6.69608009e-02 -2.69577040e-03 9.97751965e-01 2.31349569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:244.78, Y:198.62, Z:23.14 [[ 1.03234397e-01 -9.94610417e-01 -9.63211096e-03 2.44777623e+02] [ 9.92400625e-01 1.03647289e-01 -6.63192137e-02 1.98619938e+02] [ 6.69601230e-02 -2.71248893e-03 9.97751965e-01 2.31378101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:244.78, Y:198.68, Z:23.14 [[ 1.03687081e-01 -9.94563510e-01 -9.61321632e-03 2.44784674e+02] [ 9.92353297e-01 1.04097710e-01 -6.63219525e-02 1.98677313e+02] [ 6.69621077e-02 -2.66297724e-03 9.97751966e-01 2.31409502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:244.79, Y:198.73, Z:23.15 [[ 1.05947967e-01 -9.94325385e-01 -9.59461256e-03 2.44790748e+02] [ 9.92114017e-01 1.06352331e-01 -6.63246437e-02 1.98733792e+02] [ 6.69686864e-02 -2.49198847e-03 9.97751966e-01 2.31451619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:244.80, Y:198.79, Z:23.15 [[ 1.10890978e-01 -9.93786339e-01 -9.58660872e-03 2.44795364e+02] [ 9.91572893e-01 1.11283807e-01 -6.63258006e-02 1.98791161e+02] [ 6.69805089e-02 -2.15088844e-03 9.97751966e-01 2.31505433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:244.81, Y:198.85, Z:23.14 [[ 1.10282714e-01 -9.93854208e-01 -9.56743064e-03 2.44811694e+02] [ 9.91640776e-01 1.10675619e-01 -6.63285669e-02 1.98849039e+02] [ 6.69798067e-02 -2.17256001e-03 9.97751966e-01 2.31402303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:244.82, Y:198.91, Z:23.15 [[ 1.12418268e-01 -9.93615075e-01 -9.55074337e-03 2.44816767e+02] [ 9.91400608e-01 1.12805303e-01 -6.63309697e-02 1.98907249e+02] [ 6.69848259e-02 -2.01180006e-03 9.97751966e-01 2.31510620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:244.82, Y:198.97, Z:23.17 [[ 1.15419423e-01 -9.93271088e-01 -9.53424763e-03 2.44816837e+02] [ 9.91055274e-01 1.15798665e-01 -6.63333407e-02 1.98965413e+02] [ 6.69910426e-02 -1.79281050e-03 9.97751966e-01 2.31664314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:244.83, Y:199.02, Z:23.17 [[ 1.17746793e-01 -9.92998043e-01 -9.51727241e-03 2.44826870e+02] [ 9.90781156e-01 1.18119709e-01 -6.63357761e-02 1.99022807e+02] [ 6.69954733e-02 -1.61870924e-03 9.97751966e-01 2.31684360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:199.08, Z:23.17 [[ 1.12986379e-01 -9.93551139e-01 -9.49805306e-03 2.44840178e+02] [ 9.91335843e-01 1.13368632e-01 -6.63385279e-02 1.99078422e+02] [ 6.69875012e-02 -1.92041039e-03 9.97751967e-01 2.31677018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:244.85, Y:199.14, Z:23.17 [[ 1.07158463e-01 -9.94196664e-01 -9.48980577e-03 2.44848649e+02] [ 9.91983550e-01 1.07553150e-01 -6.63397076e-02 1.99136895e+02] [ 6.69753746e-02 -2.30487012e-03 9.97751967e-01 2.31718613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:244.86, Y:199.19, Z:23.18 [[ 1.04836562e-01 -9.94444334e-01 -9.47432071e-03 2.44857681e+02] [ 9.92231961e-01 1.05235384e-01 -6.63419191e-02 1.99193804e+02] [ 6.69703793e-02 -2.44566513e-03 9.97751967e-01 2.31766933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:244.87, Y:199.25, Z:23.18 [[ 1.02763752e-01 -9.94660850e-01 -9.45545462e-03 2.44867097e+02] [ 9.92449084e-01 1.03165928e-01 -6.63446079e-02 1.99250407e+02] [ 6.69658648e-02 -2.56623646e-03 9.97751967e-01 2.31806690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:244.88, Y:199.31, Z:23.19 [[ 9.72381193e-02 -9.95216407e-01 -9.43670546e-03 2.44879688e+02] [ 9.93006676e-01 9.76513255e-02 -6.63472746e-02 1.99307846e+02] [ 6.69514031e-02 -2.91922731e-03 9.97751967e-01 2.31870008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:244.89, Y:199.36, Z:23.19 [[ 9.49515884e-02 -9.95437322e-01 -9.41982854e-03 2.44888277e+02] [ 9.93228334e-01 9.53687473e-02 -6.63496707e-02 1.99363837e+02] [ 6.69452958e-02 -3.05603398e-03 9.97751967e-01 2.31920477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:244.90, Y:199.42, Z:23.20 [[ 9.18461454e-02 -9.95728733e-01 -9.41149742e-03 2.44896356e+02] [ 9.93520950e-01 9.22696388e-02 -6.63508524e-02 1.99420752e+02] [ 6.69358457e-02 -3.25644983e-03 9.97751967e-01 2.31960412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:244.91, Y:199.48, Z:23.20 [[ 8.81536342e-02 -9.96062611e-01 -9.39209337e-03 2.44905223e+02] [ 9.93856162e-01 8.85840215e-02 -6.63535990e-02 1.99477039e+02] [ 6.69243285e-02 -3.48507898e-03 9.97751967e-01 2.31986023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:244.91, Y:199.53, Z:23.20 [[ 8.51186995e-02 -9.96326629e-01 -9.38374599e-03 2.44913330e+02] [ 9.94121392e-01 8.55552526e-02 -6.63547795e-02 1.99534225e+02] [ 6.69138625e-02 -3.68055009e-03 9.97751967e-01 2.32018756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:244.92, Y:199.59, Z:23.20 [[ 8.47867123e-02 -9.96355113e-01 -9.36498259e-03 2.44920518e+02] [ 9.94149774e-01 8.52227544e-02 -6.63574276e-02 1.99591830e+02] [ 6.69136718e-02 -3.68396720e-03 9.97751968e-01 2.32047187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91999999999996 meters Centerline goodness : 0.998568 with order 1 Centerline is valid? [True, True] Translation: X:244.95, Y:199.65, Z:23.20 [[ 9.64093889e-02 -9.95297883e-01 -9.34636433e-03 2.44946745e+02] [ 9.93087376e-01 9.68184239e-02 -6.63600498e-02 1.99645850e+02] [ 6.69529173e-02 -2.88402458e-03 9.97751968e-01 2.32034138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97999999999996 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:244.95, Y:199.70, Z:23.21 [[ 9.93263439e-02 -9.95011113e-01 -9.33609575e-03 2.44953151e+02] [ 9.92799293e-01 9.97282140e-02 -6.63614945e-02 1.99703435e+02] [ 6.69614966e-02 -2.67742464e-03 9.97751968e-01 2.32074182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03999999999996 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:244.96, Y:199.76, Z:23.21 [[ 9.86747033e-02 -9.95076133e-01 -9.31620499e-03 2.44960546e+02] [ 9.92864336e-01 9.90766975e-02 -6.63642867e-02 1.99760819e+02] [ 6.69605367e-02 -2.70125138e-03 9.97751968e-01 2.32131251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09999999999997 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:244.97, Y:199.82, Z:23.21 [[ 1.04673025e-01 -9.94463239e-01 -9.29645441e-03 2.44972762e+02] [ 9.92248827e-01 1.05060358e-01 -6.63670533e-02 1.99819360e+02] [ 6.69762837e-02 -2.27755578e-03 9.97751968e-01 2.32070967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15999999999997 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:244.96, Y:199.88, Z:23.22 [[ 8.83205358e-02 -9.96048889e-01 -9.27866061e-03 2.44956013e+02] [ 9.93840913e-01 8.87430159e-02 -6.63695410e-02 1.99878416e+02] [ 6.69307239e-02 -3.35971911e-03 9.97751968e-01 2.32200996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21999999999997 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:244.99, Y:199.93, Z:23.21 [[ 1.06862616e-01 -9.94230687e-01 -9.25863735e-03 2.44986533e+02] [ 9.92014994e-01 1.07242550e-01 -6.63723341e-02 1.99933118e+02] [ 6.69823313e-02 -2.09198584e-03 9.97751969e-01 2.32134344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28 meters Centerline goodness : 0.998157 with order 1 Centerline is valid? [True, True] Translation: X:244.99, Y:199.99, Z:23.22 [[ 1.06117052e-01 -9.94310727e-01 -9.23852653e-03 2.44994086e+02] [ 9.92095089e-01 1.06497306e-01 -6.63751333e-02 1.99990166e+02] [ 6.69813852e-02 -2.12196335e-03 9.97751969e-01 2.32176616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34 meters Centerline goodness : 0.997884 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:200.05, Z:23.22 [[ 1.12304964e-01 -9.93630896e-01 -9.23245430e-03 2.45005698e+02] [ 9.91412867e-01 1.12671013e-01 -6.63759779e-02 2.00046769e+02] [ 6.69934524e-02 -1.69882217e-03 9.97751969e-01 2.32206496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:200.11, Z:23.23 [[ 1.17743318e-01 -9.93001199e-01 -9.22656278e-03 2.45006792e+02] [ 9.90781137e-01 1.18096824e-01 -6.63767969e-02 2.00105790e+02] [ 6.70018666e-02 -1.32608007e-03 9.97751969e-01 2.32300970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46 meters Centerline goodness : 0.997557 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:200.16, Z:23.23 [[ 1.31948218e-01 -9.91213820e-01 -9.21040925e-03 2.45014625e+02] [ 9.88988767e-01 1.32268822e-01 -6.63790383e-02 2.00163605e+02] [ 6.70140700e-02 -3.50395473e-04 9.97751969e-01 2.32347345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52 meters Centerline goodness : 0.997047 with order 1 Centerline is valid? [True, True] Translation: X:245.02, Y:200.22, Z:23.24 [[ 1.38398267e-01 -9.90333976e-01 -9.19428010e-03 2.45023315e+02] [ 9.88106736e-01 1.38703298e-01 -6.63812723e-02 2.00221029e+02] [ 6.70149063e-02 1.02122966e-04 9.97751969e-01 2.32389909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58 meters Centerline goodness : 0.997007 with order 1 Centerline is valid? [True, True] Translation: X:245.03, Y:200.28, Z:23.25 [[ 1.48649286e-01 -9.88847288e-01 -9.18862078e-03 2.45026853e+02] [ 9.86616960e-01 1.48930849e-01 -6.63820556e-02 2.00279031e+02] [ 6.70101848e-02 8.01996074e-04 9.97751969e-01 2.32464078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64 meters Centerline goodness : 0.997702 with order 1 Centerline is valid? [True, True] Translation: X:245.04, Y:200.34, Z:23.25 [[ 1.58189351e-01 -9.87366121e-01 -9.17998104e-03 2.45035925e+02] [ 9.85133111e-01 1.58448787e-01 -6.63832504e-02 2.00336746e+02] [ 6.69991293e-02 1.45762000e-03 9.97751969e-01 2.32474488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7 meters Centerline goodness : 0.997678 with order 1 Centerline is valid? [True, True] Translation: X:245.04, Y:200.39, Z:23.25 [[ 1.74088620e-01 -9.84687371e-01 -9.16159680e-03 2.45042851e+02] [ 9.82450344e-01 1.74310780e-01 -6.63857875e-02 2.00393389e+02] [ 6.69662117e-02 2.55619618e-03 9.97751969e-01 2.32491193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76 meters Centerline goodness : 0.997862 with order 1 Centerline is valid? [True, True] Translation: X:245.05, Y:200.45, Z:23.26 [[ 1.80495365e-01 -9.83533239e-01 -9.15370051e-03 2.45047815e+02] [ 9.81294765e-01 1.80702426e-01 -6.63868763e-02 2.00450923e+02] [ 6.69477954e-02 3.00004508e-03 9.97751969e-01 2.32568226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82 meters Centerline goodness : 0.998100 with order 1 Centerline is valid? [True, True] Translation: X:245.06, Y:200.51, Z:23.26 [[ 1.87806715e-01 -9.82163523e-01 -9.13518867e-03 2.45056757e+02] [ 9.79923465e-01 1.87995871e-01 -6.63894236e-02 2.00508971e+02] [ 6.69226479e-02 3.51659381e-03 9.97751970e-01 2.32590946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88 meters Centerline goodness : 0.998404 with order 1 Centerline is valid? [True, True] Translation: X:245.06, Y:200.57, Z:23.26 [[ 1.90187107e-01 -9.81705508e-01 -9.11915253e-03 2.45063055e+02] [ 9.79464910e-01 1.90369751e-01 -6.63916262e-02 2.00565921e+02] [ 6.69130359e-02 3.69494141e-03 9.97751970e-01 2.32608658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:245.06, Y:200.63, Z:23.26 [[ 1.82523783e-01 -9.83159211e-01 -9.11238363e-03 2.45055456e+02] [ 9.80920064e-01 1.82723442e-01 -6.63925552e-02 2.00625395e+02] [ 6.69394983e-02 3.17970040e-03 9.97751970e-01 2.32619238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0 meters Centerline goodness : 0.998454 with order 1 Centerline is valid? [True, True] Translation: X:245.08, Y:200.68, Z:23.26 [[ 1.90508188e-01 -9.81643484e-01 -9.09397698e-03 2.45078057e+02] [ 9.79402689e-01 1.90688402e-01 -6.63950764e-02 2.00681165e+02] [ 6.69104100e-02 3.74214019e-03 9.97751970e-01 2.32621710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:245.07, Y:200.74, Z:23.27 [[ 1.81258338e-01 -9.83393638e-01 -9.07560927e-03 2.45070502e+02] [ 9.81154529e-01 1.81458402e-01 -6.63975870e-02 2.00739856e+02] [ 6.69418102e-02 3.13054115e-03 9.97751970e-01 2.32690175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:245.08, Y:200.80, Z:23.28 [[ 1.76368957e-01 -9.84282454e-01 -9.05767076e-03 2.45076790e+02] [ 9.82044253e-01 1.76578938e-01 -6.64000340e-02 2.00797415e+02] [ 6.69557823e-02 2.81587124e-03 9.97751970e-01 2.32751129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:245.08, Y:200.85, Z:23.28 [[ 1.74610709e-01 -9.84596051e-01 -9.03968529e-03 2.45083524e+02] [ 9.82358113e-01 1.74823476e-01 -6.64024824e-02 2.00854459e+02] [ 6.69599712e-02 2.71437638e-03 9.97751970e-01 2.32804274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:200.91, Z:23.28 [[ 1.71485119e-01 -9.85145406e-01 -9.02121818e-03 2.45091245e+02] [ 9.82908033e-01 1.71703745e-01 -6.64049912e-02 2.00910812e+02] [ 6.69675490e-02 2.52044003e-03 9.97751971e-01 2.32833355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3 meters Centerline goodness : 0.998612 with order 1 Centerline is valid? [True, True] Translation: X:245.10, Y:200.97, Z:23.29 [[ 1.69604062e-01 -9.85471067e-01 -9.01326414e-03 2.45099895e+02] [ 9.83234062e-01 1.69826423e-01 -6.64060708e-02 2.00967622e+02] [ 6.69719519e-02 2.40059103e-03 9.97751971e-01 2.32870111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:245.11, Y:201.03, Z:23.29 [[ 1.68748664e-01 -9.85618070e-01 -8.99489339e-03 2.45107368e+02] [ 9.83381136e-01 1.68971730e-01 -6.64085591e-02 2.01025246e+02] [ 6.69733586e-02 2.36094715e-03 9.97751971e-01 2.32904553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41999999999996 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:245.12, Y:201.08, Z:23.30 [[ 1.67383257e-01 -9.85851035e-01 -8.97679311e-03 2.45115161e+02] [ 9.83614288e-01 1.67608204e-01 -6.64110058e-02 2.01082074e+02] [ 6.69759429e-02 2.28638848e-03 9.97751971e-01 2.32956231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47999999999996 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:245.12, Y:201.14, Z:23.30 [[ 1.68799293e-01 -9.85609738e-01 -8.95788179e-03 2.45123365e+02] [ 9.83372545e-01 1.69019754e-01 -6.64135565e-02 2.01138393e+02] [ 6.69719070e-02 2.40162637e-03 9.97751971e-01 2.32986283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53999999999996 meters Centerline goodness : 0.998690 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:201.20, Z:23.30 [[ 1.70632932e-01 -9.85294061e-01 -8.94515192e-03 2.45130795e+02] [ 9.83056380e-01 1.70848372e-01 -6.64152711e-02 2.01195456e+02] [ 6.69668368e-02 2.53904374e-03 9.97751971e-01 2.33026644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59999999999997 meters Centerline goodness : 0.998641 with order 1 Centerline is valid? [True, True] Translation: X:245.14, Y:201.25, Z:23.31 [[ 1.74109571e-01 -9.84685822e-01 -8.92683135e-03 2.45139022e+02] [ 9.82447281e-01 1.74315879e-01 -6.64177334e-02 2.01253056e+02] [ 6.69566889e-02 2.79382189e-03 9.97751971e-01 2.33061719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65999999999997 meters Centerline goodness : 0.998649 with order 1 Centerline is valid? [True, True] Translation: X:245.15, Y:201.31, Z:23.31 [[ 1.81667512e-01 -9.83319664e-01 -8.90802950e-03 2.45146518e+02] [ 9.81079497e-01 1.81855354e-01 -6.64202551e-02 2.01308894e+02] [ 6.69323158e-02 3.32691741e-03 9.97751972e-01 2.33106579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71999999999997 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:245.15, Y:201.37, Z:23.32 [[ 1.86637314e-01 -9.82388571e-01 -8.89996849e-03 2.45154269e+02] [ 9.80147440e-01 1.86813282e-01 -6.64213352e-02 2.01365863e+02] [ 6.69141929e-02 3.67341826e-03 9.97751972e-01 2.33156526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78 meters Centerline goodness : 0.998436 with order 1 Centerline is valid? [True, True] Translation: X:245.16, Y:201.42, Z:23.32 [[ 1.91379476e-01 -9.81475938e-01 -8.88137295e-03 2.45161830e+02] [ 9.79233892e-01 1.91543365e-01 -6.64238216e-02 2.01423322e+02] [ 6.68945507e-02 4.01521477e-03 9.97751972e-01 2.33205330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:245.18, Y:201.48, Z:23.32 [[ 1.97767882e-01 -9.80208810e-01 -8.86300617e-03 2.45175765e+02] [ 9.77965662e-01 1.97915926e-01 -6.64262722e-02 2.01480514e+02] [ 6.68657473e-02 4.46926745e-03 9.97751972e-01 2.33190300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:245.18, Y:201.54, Z:23.33 [[ 1.92120445e-01 -9.81331497e-01 -8.84459911e-03 2.45177029e+02] [ 9.79089150e-01 1.92280161e-01 -6.64287230e-02 2.01537790e+02] [ 6.68892392e-02 4.10266480e-03 9.97751972e-01 2.33278747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:245.18, Y:201.59, Z:23.33 [[ 1.88533374e-01 -9.82027026e-01 -8.83673143e-03 2.45184443e+02] [ 9.79785238e-01 1.88700752e-01 -6.64297696e-02 2.01594961e+02] [ 6.69033269e-02 3.86612957e-03 9.97751972e-01 2.33321301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:245.19, Y:201.65, Z:23.34 [[ 1.83468435e-01 -9.82986052e-01 -8.81783101e-03 2.45190957e+02] [ 9.80745056e-01 1.83646094e-01 -6.64322783e-02 2.01652660e+02] [ 6.69213633e-02 3.54018196e-03 9.97751972e-01 2.33369495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:245.20, Y:201.71, Z:23.34 [[ 1.74573657e-01 -9.84604800e-01 -8.79919637e-03 2.45196328e+02] [ 9.82365391e-01 1.74770315e-01 -6.64347465e-02 2.01708955e+02] [ 6.69498086e-02 2.95373063e-03 9.97751972e-01 2.33419574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14 meters Centerline goodness : 0.998618 with order 1 Centerline is valid? [True, True] Translation: X:245.20, Y:201.77, Z:23.35 [[ 1.68514156e-01 -9.85660030e-01 -8.79118329e-03 2.45202359e+02] [ 9.83421822e-01 1.68724045e-01 -6.64358068e-02 2.01766713e+02] [ 6.69664033e-02 2.54993240e-03 9.97751973e-01 2.33455914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:245.21, Y:201.82, Z:23.35 [[ 1.60992449e-01 -9.86916649e-01 -8.77266685e-03 2.45209194e+02] [ 9.84679981e-01 1.61218156e-01 -6.64382518e-02 2.01823350e+02] [ 6.69833300e-02 2.05778746e-03 9.97751973e-01 2.33497888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:245.22, Y:201.88, Z:23.35 [[ 1.56769564e-01 -9.87596316e-01 -8.76470243e-03 2.45215542e+02] [ 9.85360578e-01 1.57004301e-01 -6.64393025e-02 2.01880519e+02] [ 6.69913063e-02 1.77926826e-03 9.97751973e-01 2.33537403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:245.22, Y:201.94, Z:23.36 [[ 1.51993208e-01 -9.88342836e-01 -8.74659810e-03 2.45222791e+02] [ 9.86108126e-01 1.52237534e-01 -6.64416858e-02 2.01937753e+02] [ 6.69987247e-02 1.47359352e-03 9.97751973e-01 2.33571123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:245.23, Y:201.99, Z:23.36 [[ 1.48164540e-01 -9.88924211e-01 -8.72782619e-03 2.45230828e+02] [ 9.86690321e-01 1.48416258e-01 -6.64441516e-02 2.01994582e+02] [ 6.70035815e-02 1.23300553e-03 9.97751973e-01 2.33592699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:245.24, Y:202.05, Z:23.36 [[ 1.47660341e-01 -9.88999784e-01 -8.70925812e-03 2.45237938e+02] [ 9.86765882e-01 1.47911950e-01 -6.64465854e-02 2.02051982e+02] [ 6.70038619e-02 1.21752665e-03 9.97751973e-01 2.33622072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:245.24, Y:202.11, Z:23.37 [[ 1.47412974e-01 -9.89036851e-01 -8.69033669e-03 2.45244453e+02] [ 9.86802870e-01 1.47663871e-01 -6.64490600e-02 2.02109427e+02] [ 6.70038178e-02 1.21980437e-03 9.97751973e-01 2.33673857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:245.25, Y:202.17, Z:23.37 [[ 1.43947009e-01 -9.89547406e-01 -8.67123313e-03 2.45252067e+02] [ 9.87314169e-01 1.44204449e-01 -6.64515528e-02 2.02167037e+02] [ 6.70073921e-02 1.00427094e-03 9.97751974e-01 2.33712417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:245.26, Y:202.22, Z:23.37 [[ 1.39702915e-01 -9.90155665e-01 -8.65189533e-03 2.45259039e+02] [ 9.87923397e-01 1.39968630e-01 -6.64540705e-02 2.02224700e+02] [ 6.70108682e-02 7.36417493e-04 9.97751974e-01 2.33730463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:245.27, Y:202.28, Z:23.38 [[ 1.37254892e-01 -9.90498027e-01 -8.64595730e-03 2.45265977e+02] [ 9.88266375e-01 1.37525726e-01 -6.64548430e-02 2.02281456e+02] [ 6.70124325e-02 5.76743421e-04 9.97751974e-01 2.33784035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:245.27, Y:202.34, Z:23.38 [[ 1.36259163e-01 -9.90635547e-01 -8.64022176e-03 2.45271420e+02] [ 9.88404121e-01 1.36531856e-01 -6.64555887e-02 2.02338813e+02] [ 6.70129340e-02 5.15152122e-04 9.97751974e-01 2.33849162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:202.40, Z:23.39 [[ 1.34289618e-01 -9.90904623e-01 -8.62128835e-03 2.45277634e+02] [ 9.88673587e-01 1.34565476e-01 -6.64580449e-02 2.02396469e+02] [ 6.70137117e-02 4.00985357e-04 9.97751974e-01 2.33898723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:202.45, Z:23.39 [[ 1.32202972e-01 -9.91185342e-01 -8.60191196e-03 2.45284393e+02] [ 9.88954728e-01 1.32482228e-01 -6.64605527e-02 2.02454201e+02] [ 6.70143261e-02 2.79381092e-04 9.97751974e-01 2.33937706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91999999999996 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:245.29, Y:202.51, Z:23.40 [[ 1.30509086e-01 -9.91409964e-01 -8.58264191e-03 2.45291883e+02] [ 9.89179668e-01 1.30790861e-01 -6.64630412e-02 2.02511712e+02] [ 6.70146524e-02 1.84255913e-04 9.97751974e-01 2.33979705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97999999999996 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:245.30, Y:202.57, Z:23.40 [[ 1.29166489e-01 -9.91585948e-01 -8.56304127e-03 2.45298843e+02] [ 9.89355868e-01 1.29449970e-01 -6.64655664e-02 2.02567642e+02] [ 6.70148071e-02 1.13228722e-04 9.97751975e-01 2.34017496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03999999999996 meters Centerline goodness : 0.998544 with order 1 Centerline is valid? [True, True] Translation: X:245.31, Y:202.63, Z:23.41 [[ 1.29522921e-01 -9.91539526e-01 -8.55463817e-03 2.45305584e+02] [ 9.89309273e-01 1.29805037e-01 -6.64666480e-02 2.02625185e+02] [ 6.70147437e-02 1.45771534e-04 9.97751975e-01 2.34059878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09999999999997 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:245.31, Y:202.68, Z:23.41 [[ 1.31728791e-01 -9.91249046e-01 -8.53542915e-03 2.45312994e+02] [ 9.89018012e-01 1.32004656e-01 -6.64691146e-02 2.02682840e+02] [ 6.70141629e-02 3.14202941e-04 9.97751975e-01 2.34100560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15999999999997 meters Centerline goodness : 0.998733 with order 1 Centerline is valid? [True, True] Translation: X:245.33, Y:202.74, Z:23.40 [[ 1.41393341e-01 -9.89916862e-01 -8.51644035e-03 2.45329057e+02] [ 9.87683098e-01 1.41646151e-01 -6.64715475e-02 2.02739389e+02] [ 6.70076267e-02 9.87089989e-04 9.97751975e-01 2.34044050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21999999999997 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:245.33, Y:202.80, Z:23.42 [[ 1.38168287e-01 -9.90372326e-01 -8.49588410e-03 2.45327012e+02] [ 9.88139237e-01 1.38426993e-01 -6.64741748e-02 2.02796175e+02] [ 6.70102428e-02 7.89506454e-04 9.97751975e-01 2.34185377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:245.33, Y:202.85, Z:23.42 [[ 1.39495699e-01 -9.90186305e-01 -8.48710134e-03 2.45334669e+02] [ 9.87952804e-01 1.39750822e-01 -6.64752961e-02 2.02853098e+02] [ 6.70090072e-02 8.88162347e-04 9.97751975e-01 2.34233814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:245.35, Y:202.91, Z:23.42 [[ 1.51317783e-01 -9.88448899e-01 -8.46773472e-03 2.45351574e+02] [ 9.86212376e-01 1.51544897e-01 -6.64777630e-02 2.02909389e+02] [ 6.69931136e-02 1.70828295e-03 9.97751975e-01 2.34185981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:245.35, Y:202.97, Z:23.43 [[ 1.50473338e-01 -9.88577978e-01 -8.44724798e-03 2.45349927e+02] [ 9.86341510e-01 1.50700986e-01 -6.64803661e-02 2.02966764e+02] [ 6.69940345e-02 1.67165129e-03 9.97751976e-01 2.34308213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:245.36, Y:203.02, Z:23.44 [[ 1.53858314e-01 -9.88056865e-01 -8.44100676e-03 2.45356192e+02] [ 9.85819589e-01 1.54077880e-01 -6.64811586e-02 2.03023638e+02] [ 6.69877375e-02 1.90736912e-03 9.97751976e-01 2.34355658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:245.36, Y:203.08, Z:23.44 [[ 1.53220136e-01 -9.88156194e-01 -8.42174538e-03 2.45363258e+02] [ 9.85918933e-01 1.53439853e-01 -6.64835985e-02 2.03080498e+02] [ 6.69884110e-02 1.88346779e-03 9.97751976e-01 2.34390474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:245.38, Y:203.14, Z:23.43 [[ 1.57588219e-01 -9.87469071e-01 -8.41350664e-03 2.45380178e+02] [ 9.85230808e-01 1.57797486e-01 -6.64846411e-02 2.03137667e+02] [ 6.69791570e-02 2.18795020e-03 9.97751976e-01 2.34302099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:245.39, Y:203.19, Z:23.43 [[ 1.51149452e-01 -9.88475282e-01 -8.39409061e-03 2.45387431e+02] [ 9.86238300e-01 1.51371997e-01 -6.64870924e-02 2.03194474e+02] [ 6.69914776e-02 1.77091391e-03 9.97751976e-01 2.34334536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:245.38, Y:203.25, Z:23.45 [[ 1.39595927e-01 -9.90173023e-01 -8.38815212e-03 2.45384493e+02] [ 9.87938749e-01 1.39844181e-01 -6.64878416e-02 2.03251908e+02] [ 6.70075014e-02 9.94451352e-04 9.97751976e-01 2.34500002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:245.39, Y:203.31, Z:23.45 [[ 1.32921490e-01 -9.91091122e-01 -8.38249561e-03 2.45389934e+02] [ 9.88858526e-01 1.33184413e-01 -6.64885547e-02 2.03308951e+02] [ 6.70126340e-02 5.48655544e-04 9.97751976e-01 2.34549197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:203.37, Z:23.46 [[ 1.27200666e-01 -9.91841743e-01 -8.36350600e-03 2.45396695e+02] [ 9.89610544e-01 1.27475193e-01 -6.64909433e-02 2.03365578e+02] [ 6.70146327e-02 1.81078562e-04 9.97751976e-01 2.34582284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:245.41, Y:203.42, Z:23.46 [[ 1.16093620e-01 -9.93203131e-01 -8.35532158e-03 2.45405461e+02] [ 9.90975071e-01 1.16392550e-01 -6.64919718e-02 2.03422699e+02] [ 6.70125318e-02 -5.60621723e-04 9.97751976e-01 2.34612671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:245.41, Y:203.48, Z:23.47 [[ 1.09439265e-01 -9.93958528e-01 -8.33620572e-03 2.45412365e+02] [ 9.91732340e-01 1.09751832e-01 -6.64943683e-02 2.03480332e+02] [ 6.70075583e-02 -9.90190024e-04 9.97751977e-01 2.34657341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:245.42, Y:203.54, Z:23.47 [[ 1.03552617e-01 -9.94589203e-01 -8.31701029e-03 2.45416930e+02] [ 9.92364718e-01 1.03877075e-01 -6.64967692e-02 2.03536675e+02] [ 6.70009154e-02 -1.36759312e-03 9.97751977e-01 2.34702593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:245.43, Y:203.59, Z:23.47 [[ 9.91920184e-02 -9.95033622e-01 -8.30874334e-03 2.45427440e+02] [ 9.92810497e-01 9.95256724e-02 -6.64978021e-02 2.03593964e+02] [ 6.69944821e-02 -1.65295640e-03 9.97751977e-01 2.34726859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:245.45, Y:203.65, Z:23.46 [[ 1.10826526e-01 -9.93805191e-01 -8.28993494e-03 2.45450386e+02] [ 9.91578142e-01 1.11132890e-01 -6.65001468e-02 2.03651406e+02] [ 6.70094755e-02 -8.50138041e-04 9.97751977e-01 2.34610427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:245.44, Y:203.71, Z:23.48 [[ 9.88382703e-02 -9.95069128e-01 -8.27203596e-03 2.45441491e+02] [ 9.92845755e-01 9.91702630e-02 -6.65023732e-02 2.03709568e+02] [ 6.69947985e-02 -1.63987625e-03 9.97751977e-01 2.34794762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:245.45, Y:203.77, Z:23.48 [[ 1.00772446e-01 -9.94875163e-01 -8.26582822e-03 2.45448674e+02] [ 9.92651088e-01 1.01099701e-01 -6.65031448e-02 2.03766597e+02] [ 6.69979998e-02 -1.50339879e-03 9.97751977e-01 2.34843043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:245.46, Y:203.82, Z:23.49 [[ 1.00879259e-01 -9.94864495e-01 -8.24691637e-03 2.45455854e+02] [ 9.92640199e-01 1.01205012e-01 -6.65054899e-02 2.03823796e+02] [ 6.69985799e-02 -1.47719614e-03 9.97751977e-01 2.34894631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36 meters Centerline goodness : 0.998583 with order 1 Centerline is valid? [True, True] Translation: X:245.48, Y:203.88, Z:23.48 [[ 1.09621228e-01 -9.93939378e-01 -8.22791720e-03 2.45480119e+02] [ 9.91712131e-01 1.09926143e-01 -6.65078404e-02 2.03881271e+02] [ 6.70092247e-02 -8.69054183e-04 9.97751977e-01 2.34795185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41999999999996 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:245.47, Y:203.94, Z:23.50 [[ 9.35774500e-02 -9.95578139e-01 -8.21157579e-03 2.45470984e+02] [ 9.93355932e-01 9.39171544e-02 -6.65098580e-02 2.03939334e+02] [ 6.69869685e-02 -1.93319461e-03 9.97751978e-01 2.34955381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47999999999996 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:245.48, Y:204.00, Z:23.50 [[ 8.92684158e-02 -9.95973830e-01 -8.20241881e-03 2.45479563e+02] [ 9.93753018e-01 8.96171223e-02 -6.65109872e-02 2.03996924e+02] [ 6.69782799e-02 -2.21384798e-03 9.97751978e-01 2.34992114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53999999999996 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:245.49, Y:204.05, Z:23.50 [[ 8.49417906e-02 -9.96352310e-01 -8.18332843e-03 2.45488514e+02] [ 9.94132828e-01 8.52988668e-02 -6.65133360e-02 2.04053982e+02] [ 6.69687446e-02 -2.48555358e-03 9.97751978e-01 2.35027913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59999999999997 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:245.50, Y:204.11, Z:23.51 [[ 8.20798136e-02 -9.96592317e-01 -8.16437861e-03 2.45496370e+02] [ 9.94373664e-01 8.24420001e-02 -6.65156620e-02 2.04110721e+02] [ 6.69620854e-02 -2.65884993e-03 9.97751978e-01 2.35077038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65999999999997 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:245.50, Y:204.17, Z:23.51 [[ 8.20773553e-02 -9.96592677e-01 -8.14512895e-03 2.45502177e+02] [ 9.94373816e-01 8.24382646e-02 -6.65180191e-02 2.04167560e+02] [ 6.69628411e-02 -2.63967987e-03 9.97751978e-01 2.35135578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71999999999997 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:245.51, Y:204.23, Z:23.52 [[ 8.53143740e-02 -9.96320856e-01 -8.13691156e-03 2.45508014e+02] [ 9.94100747e-01 8.56675254e-02 -6.65190243e-02 2.04225085e+02] [ 6.69713603e-02 -2.41388094e-03 9.97751978e-01 2.35179313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:245.51, Y:204.28, Z:23.52 [[ 9.03493160e-02 -9.95877050e-01 -8.11806245e-03 2.45514722e+02] [ 9.93654991e-01 9.06899833e-02 -6.65213246e-02 2.04282239e+02] [ 6.69832874e-02 -2.05639710e-03 9.97751978e-01 2.35208066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:245.52, Y:204.34, Z:23.52 [[ 9.77633302e-02 -9.95176737e-01 -8.09896433e-03 2.45521960e+02] [ 9.92952017e-01 9.80861640e-02 -6.65236497e-02 2.04339087e+02] [ 6.69971850e-02 -1.53830943e-03 9.97751979e-01 2.35243590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:245.53, Y:204.40, Z:23.53 [[ 1.04923803e-01 -9.94447440e-01 -8.07984898e-03 2.45529428e+02] [ 9.92220279e-01 1.05229337e-01 -6.65259714e-02 2.04396458e+02] [ 6.70068191e-02 -1.03683207e-03 9.97751979e-01 2.35300857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:245.54, Y:204.45, Z:23.54 [[ 1.20138385e-01 -9.92724430e-01 -8.06064445e-03 2.45537078e+02] [ 9.90492696e-01 1.20408495e-01 -6.65282982e-02 2.04452288e+02] [ 6.70148370e-02 8.59288686e-06 9.97751979e-01 2.35374250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [True, True] Translation: X:245.55, Y:204.51, Z:23.54 [[ 1.27301831e-01 -9.91831338e-01 -8.05242155e-03 2.45548737e+02] [ 9.89597649e-01 1.27555271e-01 -6.65292935e-02 2.04509460e+02] [ 6.70129670e-02 5.00643480e-04 9.97751979e-01 2.35381921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08 meters Centerline goodness : 0.998393 with order 1 Centerline is valid? [True, True] Translation: X:245.56, Y:204.57, Z:23.54 [[ 1.36022191e-01 -9.90673211e-01 -8.03443287e-03 2.45557745e+02] [ 9.88437253e-01 1.36254763e-01 -6.65314659e-02 2.04566766e+02] [ 6.70056707e-02 1.10822302e-03 9.97751979e-01 2.35414912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14 meters Centerline goodness : 0.997857 with order 1 Centerline is valid? [True, True] Translation: X:245.57, Y:204.62, Z:23.55 [[ 1.52206506e-01 -9.88316212e-01 -8.01533663e-03 2.45574300e+02] [ 9.86076637e-01 1.52401193e-01 -6.65337664e-02 2.04623023e+02] [ 6.69779468e-02 2.22313592e-03 9.97751979e-01 2.35456196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:245.57, Y:204.68, Z:23.55 [[ 1.57879874e-01 -9.87425954e-01 -7.99573537e-03 2.45572369e+02] [ 9.85185192e-01 1.58060377e-01 -6.65361219e-02 2.04681695e+02] [ 6.69633026e-02 2.62743444e-03 9.97751980e-01 2.35475981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26 meters Centerline goodness : 0.997339 with order 1 Centerline is valid? [True, True] Translation: X:245.59, Y:204.74, Z:23.56 [[ 1.70309617e-01 -9.85358315e-01 -7.97659723e-03 2.45585766e+02] [ 9.83115369e-01 1.70460583e-01 -6.65384162e-02 2.04738535e+02] [ 6.69238771e-02 3.49021687e-03 9.97751980e-01 2.35565617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:245.58, Y:204.80, Z:23.56 [[ 1.85415949e-01 -9.82627888e-01 -7.95982668e-03 2.45583971e+02] [ 9.80382831e-01 1.85531334e-01 -6.65404224e-02 2.04797504e+02] [ 6.68612720e-02 4.53397814e-03 9.97751980e-01 2.35581722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38 meters Centerline goodness : 0.998473 with order 1 Centerline is valid? [True, True] Translation: X:245.59, Y:204.85, Z:23.57 [[ 1.88398931e-01 -9.82060374e-01 -7.95388343e-03 2.45592690e+02] [ 9.79814958e-01 1.88507098e-01 -6.65411328e-02 2.04854535e+02] [ 6.68467733e-02 4.74294433e-03 9.97751980e-01 2.35721639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44 meters Centerline goodness : 0.998414 with order 1 Centerline is valid? [True, True] Translation: X:245.60, Y:204.91, Z:23.57 [[ 1.98331995e-01 -9.80102759e-01 -7.93737653e-03 2.45600667e+02] [ 9.77856321e-01 1.98416310e-01 -6.65431018e-02 2.04912573e+02] [ 6.67939826e-02 5.43601234e-03 9.97751980e-01 2.35655560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5 meters Centerline goodness : 0.998341 with order 1 Centerline is valid? [True, True] Translation: X:245.61, Y:204.97, Z:23.57 [[ 2.00869129e-01 -9.79585976e-01 -7.93153102e-03 2.45610272e+02] [ 9.77339313e-01 2.00947232e-01 -6.65437985e-02 2.04969388e+02] [ 6.67791910e-02 5.61479777e-03 9.97751980e-01 2.35692666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56 meters Centerline goodness : 0.998298 with order 1 Centerline is valid? [True, True] Translation: X:245.62, Y:205.03, Z:23.58 [[ 2.01049656e-01 -9.79548986e-01 -7.92589448e-03 2.45620971e+02] [ 9.77302296e-01 2.01126966e-01 -6.65444699e-02 2.05025837e+02] [ 6.67776791e-02 5.63274793e-03 9.97751980e-01 2.35759756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:245.64, Y:205.08, Z:23.58 [[ 2.02651182e-01 -9.79219061e-01 -7.90747905e-03 2.45636302e+02] [ 9.76972207e-01 2.02723576e-01 -6.65466581e-02 2.05082936e+02] [ 6.67667885e-02 5.76037169e-03 9.97751980e-01 2.35786604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:245.65, Y:205.14, Z:23.58 [[ 1.98568607e-01 -9.80055224e-01 -7.89084716e-03 2.45645500e+02] [ 9.77808651e-01 1.98649242e-01 -6.65486302e-02 2.05140209e+02] [ 6.67888435e-02 5.49873019e-03 9.97751980e-01 2.35828366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74 meters Centerline goodness : 0.998752 with order 1 Centerline is valid? [True, True] Translation: X:245.66, Y:205.20, Z:23.59 [[ 1.94116005e-01 -9.80946995e-01 -7.87207963e-03 2.45655844e+02] [ 9.78700761e-01 1.94205576e-01 -6.65508502e-02 2.05197280e+02] [ 6.68116582e-02 5.21417487e-03 9.97751981e-01 2.35866516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:245.66, Y:205.26, Z:23.59 [[ 1.88401692e-01 -9.82060656e-01 -7.85311227e-03 2.45662477e+02] [ 9.79814923e-01 1.88503059e-01 -6.65530883e-02 2.05255638e+02] [ 6.68395052e-02 4.84411782e-03 9.97751981e-01 2.35931872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:245.67, Y:205.31, Z:23.60 [[ 1.85563165e-01 -9.82601089e-01 -7.83660979e-03 2.45671886e+02] [ 9.80355605e-01 1.85669909e-01 -6.65550314e-02 2.05312882e+02] [ 6.68520689e-02 4.66749792e-03 9.97751981e-01 2.35964477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91999999999996 meters Centerline goodness : 0.997938 with order 1 Centerline is valid? [True, True] Translation: X:245.68, Y:205.37, Z:23.60 [[ 1.82555231e-01 -9.83164517e-01 -7.81789536e-03 2.45680626e+02] [ 9.80919308e-01 1.82667586e-01 -6.65572296e-02 2.05370453e+02] [ 6.68647826e-02 4.48164595e-03 9.97751981e-01 2.36006936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97999999999996 meters Centerline goodness : 0.997566 with order 1 Centerline is valid? [True, True] Translation: X:245.69, Y:205.43, Z:23.60 [[ 1.82574338e-01 -9.83161098e-01 -7.80165497e-03 2.45693435e+02] [ 9.80915832e-01 1.82685554e-01 -6.65591332e-02 2.05428834e+02] [ 6.68636002e-02 4.49922281e-03 9.97751981e-01 2.35959194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03999999999996 meters Centerline goodness : 0.997945 with order 1 Centerline is valid? [True, True] Translation: X:245.70, Y:205.49, Z:23.60 [[ 1.77131329e-01 -9.84156432e-01 -7.78523600e-03 2.45701410e+02] [ 9.81911755e-01 1.77253861e-01 -6.65610537e-02 2.05485814e+02] [ 6.68864522e-02 4.14563312e-03 9.97751981e-01 2.35992428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09999999999997 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:245.70, Y:205.54, Z:23.61 [[ 1.67985203e-01 -9.85758931e-01 -7.76545781e-03 2.45701681e+02] [ 9.83515404e-01 1.68127242e-01 -6.65633611e-02 2.05543265e+02] [ 6.69210126e-02 3.54421236e-03 9.97751982e-01 2.36134504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15999999999997 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:205.60, Z:23.62 [[ 1.65398741e-01 -9.86196252e-01 -7.75938532e-03 2.45705347e+02] [ 9.83953079e-01 1.65546256e-01 -6.65640689e-02 2.05599498e+02] [ 6.69297725e-02 3.37474215e-03 9.97751982e-01 2.36170626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21999999999997 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:205.66, Z:23.62 [[ 1.62378533e-01 -9.86698143e-01 -7.74503389e-03 2.45709392e+02] [ 9.84455366e-01 1.62531949e-01 -6.65657388e-02 2.05656903e+02] [ 6.69391063e-02 3.18420685e-03 9.97751982e-01 2.36200658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:205.71, Z:23.62 [[ 1.56890558e-01 -9.87585767e-01 -7.72691440e-03 2.45710149e+02] [ 9.85343788e-01 1.57055221e-01 -6.65678420e-02 2.05714657e+02] [ 6.69550056e-02 2.83019878e-03 9.97751982e-01 2.36239397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:205.77, Z:23.63 [[ 1.53314097e-01 -9.88147445e-01 -7.70808158e-03 2.45711464e+02] [ 9.85905979e-01 1.53485609e-01 -6.65700227e-02 2.05772719e+02] [ 6.69640774e-02 2.60667919e-03 9.97751982e-01 2.36279266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:205.83, Z:23.63 [[ 1.48448785e-01 -9.88890204e-01 -7.68912979e-03 2.45709314e+02] [ 9.86649506e-01 1.48630052e-01 -6.65722116e-02 2.05831276e+02] [ 6.69754437e-02 2.29608782e-03 9.97751982e-01 2.36314277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:205.89, Z:23.63 [[ 1.45274732e-01 -9.89361621e-01 -7.67039674e-03 2.45709310e+02] [ 9.87121411e-01 1.45461929e-01 -6.65743700e-02 2.05888384e+02] [ 6.69818773e-02 2.09996089e-03 9.97751982e-01 2.36346886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:205.95, Z:23.64 [[ 1.40932655e-01 -9.89989533e-01 -7.66232114e-03 2.45709413e+02] [ 9.87750118e-01 1.41129136e-01 -6.65752994e-02 2.05946716e+02] [ 6.69902263e-02 1.81417506e-03 9.97751982e-01 2.36380459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:206.01, Z:23.64 [[ 1.23219528e-01 -9.92350003e-01 -7.64331629e-03 2.45714352e+02] [ 9.90114322e-01 1.23454721e-01 -6.65774812e-02 2.06005551e+02] [ 6.70117672e-02 6.35888900e-04 9.97751983e-01 2.36424942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:245.72, Y:206.06, Z:23.65 [[ 1.12040599e-01 -9.93674361e-01 -7.62680409e-03 2.45719912e+02] [ 9.91441341e-01 1.12299838e-01 -6.65793728e-02 2.06063305e+02] [ 6.70147045e-02 -1.01936064e-04 9.97751983e-01 2.36455048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:245.73, Y:206.12, Z:23.65 [[ 9.82949438e-02 -9.95128246e-01 -7.60771067e-03 2.45726945e+02] [ 9.92898858e-01 9.85837464e-02 -6.65815544e-02 2.06120969e+02] [ 6.70071821e-02 -1.00905708e-03 9.97751983e-01 2.36482812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:245.73, Y:206.18, Z:23.65 [[ 9.18419825e-02 -9.95744679e-01 -7.58843225e-03 2.45734294e+02] [ 9.93517035e-01 9.21439424e-02 -6.65837515e-02 2.06178627e+02] [ 6.69996444e-02 -1.42405296e-03 9.97751983e-01 2.36512003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:245.74, Y:206.24, Z:23.65 [[ 9.21435507e-02 -9.95716964e-01 -7.56931624e-03 2.45740958e+02] [ 9.93489055e-01 9.24435582e-02 -6.65859246e-02 2.06236064e+02] [ 6.70004692e-02 -1.38456932e-03 9.97751983e-01 2.36540730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:245.75, Y:206.29, Z:23.66 [[ 9.46388300e-02 -9.95483040e-01 -7.55045757e-03 2.45746855e+02] [ 9.93254221e-01 9.49319917e-02 -6.65880630e-02 2.06294151e+02] [ 6.70040674e-02 -1.19770747e-03 9.97751983e-01 2.36593571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:245.75, Y:206.35, Z:23.66 [[ 9.68697676e-02 -9.95268551e-01 -7.53393152e-03 2.45753094e+02] [ 9.93038938e-01 9.71568277e-02 -6.65899328e-02 2.06351684e+02] [ 6.70068388e-02 -1.03093604e-03 9.97751984e-01 2.36639718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:245.76, Y:206.41, Z:23.67 [[ 9.85794042e-02 -9.95100812e-01 -7.51504154e-03 2.45760387e+02] [ 9.92870549e-01 9.88613697e-02 -6.65920646e-02 2.06409086e+02] [ 6.70087648e-02 -8.96857372e-04 9.97751984e-01 2.36663051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:245.77, Y:206.47, Z:23.67 [[ 1.00558526e-01 -9.94902908e-01 -7.49573834e-03 2.45767987e+02] [ 9.92671929e-01 1.00834763e-01 -6.65942373e-02 2.06466178e+02] [ 6.70106314e-02 -7.44190710e-04 9.97751984e-01 2.36694408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:245.77, Y:206.52, Z:23.67 [[ 1.02422430e-01 -9.94712897e-01 -7.47653089e-03 2.45773196e+02] [ 9.92481248e-01 1.02693200e-01 -6.65963937e-02 2.06523907e+02] [ 6.70120806e-02 -5.99352263e-04 9.97751984e-01 2.36741837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:245.78, Y:206.58, Z:23.67 [[ 1.06528333e-01 -9.94281702e-01 -7.45731577e-03 2.45779368e+02] [ 9.92048803e-01 1.06788601e-01 -6.65985453e-02 2.06580211e+02] [ 6.70140713e-02 -3.03389142e-04 9.97751984e-01 2.36741567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:245.79, Y:206.64, Z:23.68 [[ 1.06944761e-01 -9.94237059e-01 -7.44903964e-03 2.45785313e+02] [ 9.92003988e-01 1.07203540e-01 -6.65994710e-02 2.06637780e+02] [ 6.70142256e-02 -2.67012496e-04 9.97751984e-01 2.36823468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:245.79, Y:206.70, Z:23.69 [[ 1.07732631e-01 -9.94152121e-01 -7.43235292e-03 2.45791716e+02] [ 9.91918717e-01 1.07988521e-01 -6.66013331e-02 2.06695209e+02] [ 6.70144654e-02 -1.97153148e-04 9.97751984e-01 2.36874787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:245.80, Y:206.75, Z:23.69 [[ 1.06583055e-01 -9.94276166e-01 -7.41334067e-03 2.45797395e+02] [ 9.92042913e-01 1.06840254e-01 -6.66034493e-02 2.06751410e+02] [ 6.70142654e-02 -2.55552977e-04 9.97751985e-01 2.36913686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41999999999996 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:245.81, Y:206.81, Z:23.69 [[ 1.03732319e-01 -9.94577684e-01 -7.40513141e-03 2.45805188e+02] [ 9.92345112e-01 1.03995370e-01 -6.66043620e-02 2.06807678e+02] [ 6.70133115e-02 -4.39421004e-04 9.97751985e-01 2.36930914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47999999999996 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:245.81, Y:206.87, Z:23.70 [[ 1.02623706e-01 -9.94692745e-01 -7.39717747e-03 2.45811542e+02] [ 9.92460404e-01 1.02888712e-01 -6.66052454e-02 2.06865369e+02] [ 6.70128404e-02 -5.06128651e-04 9.97751985e-01 2.36964410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53999999999996 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:245.82, Y:206.92, Z:23.70 [[ 1.01422840e-01 -9.94816044e-01 -7.37874081e-03 2.45816657e+02] [ 9.92583878e-01 1.01689307e-01 -6.66072878e-02 2.06922245e+02] [ 6.70123376e-02 -5.68518842e-04 9.97751985e-01 2.37000964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59999999999997 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:245.82, Y:206.98, Z:23.70 [[ 1.01323063e-01 -9.94826270e-01 -7.37080715e-03 2.45822749e+02] [ 9.92594067e-01 1.01589222e-01 -6.66081657e-02 2.06979176e+02] [ 6.70123477e-02 -5.67276105e-04 9.97751985e-01 2.37037329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65999999999997 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:245.83, Y:207.04, Z:23.71 [[ 1.01563110e-01 -9.94801935e-01 -7.35158380e-03 2.45829818e+02] [ 9.92569515e-01 1.01827443e-01 -6.66102874e-02 2.07036250e+02] [ 6.70126357e-02 -5.31810035e-04 9.97751985e-01 2.37072459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71999999999997 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:245.84, Y:207.09, Z:23.71 [[ 1.02208979e-01 -9.94735827e-01 -7.34569295e-03 2.45835982e+02] [ 9.92503189e-01 1.02471469e-01 -6.66109370e-02 2.07093460e+02] [ 6.70130094e-02 -4.82387808e-04 9.97751985e-01 2.37117057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:245.84, Y:207.15, Z:23.71 [[ 1.06078517e-01 -9.94330766e-01 -7.32642066e-03 2.45842468e+02] [ 9.92096978e-01 1.06331027e-01 -6.66130567e-02 2.07150162e+02] [ 6.70144375e-02 -2.02305519e-04 9.97751985e-01 2.37141001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:245.85, Y:207.21, Z:23.72 [[ 1.08443103e-01 -9.94075720e-01 -7.31815047e-03 2.45850100e+02] [ 9.91841277e-01 1.08689745e-01 -6.66139652e-02 2.07207547e+02] [ 6.70147334e-02 -3.46185997e-05 9.97751985e-01 2.37175203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:245.86, Y:207.27, Z:23.72 [[ 1.13639438e-01 -9.93495246e-01 -7.29890383e-03 2.45857410e+02] [ 9.91259409e-01 1.13873103e-01 -6.66160740e-02 2.07265220e+02] [ 6.70139017e-02 3.35106147e-04 9.97751986e-01 2.37210745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:245.86, Y:207.32, Z:23.73 [[ 1.18817155e-01 -9.92889466e-01 -7.27961057e-03 2.45862530e+02] [ 9.90652312e-01 1.19037866e-01 -6.66181823e-02 2.07322554e+02] [ 6.70110407e-02 7.03819827e-04 9.97751986e-01 2.37253741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:245.87, Y:207.38, Z:23.73 [[ 1.27613858e-01 -9.91797352e-01 -7.26050126e-03 2.45868641e+02] [ 9.89558216e-01 1.27813447e-01 -6.66202649e-02 2.07380057e+02] [ 6.70017920e-02 1.31698035e-03 9.97751986e-01 2.37310739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:245.88, Y:207.44, Z:23.74 [[ 1.32836746e-01 -9.91111402e-01 -7.25172220e-03 2.45875149e+02] [ 9.88871196e-01 1.33023947e-01 -6.66212205e-02 2.07436795e+02] [ 6.69937040e-02 1.67872697e-03 9.97751986e-01 2.37355938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:245.88, Y:207.49, Z:23.74 [[ 1.37050498e-01 -9.90537574e-01 -7.24402898e-03 2.45881990e+02] [ 9.88296551e-01 1.37227654e-01 -6.66220570e-02 2.07494497e+02] [ 6.69857318e-02 1.97133726e-03 9.97751986e-01 2.37397859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:245.89, Y:207.55, Z:23.74 [[ 1.37163817e-01 -9.90522026e-01 -7.22517621e-03 2.45888708e+02] [ 9.88280884e-01 1.37339449e-01 -6.66241016e-02 2.07551843e+02] [ 6.69849418e-02 1.99791255e-03 9.97751986e-01 2.37430929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26 meters Centerline goodness : 0.998696 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:207.61, Z:23.74 [[ 1.34396416e-01 -9.90901449e-01 -7.20572946e-03 2.45898072e+02] [ 9.88660700e-01 1.34577001e-01 -6.66262048e-02 2.07609450e+02] [ 6.69897283e-02 1.83030160e-03 9.97751986e-01 2.37441792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:207.67, Z:23.75 [[ 1.33219191e-01 -9.91060543e-01 -7.18654883e-03 2.45904860e+02] [ 9.88819906e-01 1.33401149e-01 -6.66282736e-02 2.07666454e+02] [ 6.69913469e-02 1.76996218e-03 9.97751987e-01 2.37473393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:245.91, Y:207.72, Z:23.75 [[ 1.33517713e-01 -9.91020509e-01 -7.16734610e-03 2.45911713e+02] [ 9.88779713e-01 1.33697706e-01 -6.66303392e-02 2.07723968e+02] [ 6.69902904e-02 1.80940409e-03 9.97751987e-01 2.37522603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:245.92, Y:207.78, Z:23.76 [[ 1.33665398e-01 -9.91000740e-01 -7.14812121e-03 2.45917276e+02] [ 9.88759814e-01 1.33843765e-01 -6.66324016e-02 2.07780221e+02] [ 6.69894908e-02 1.83867148e-03 9.97751987e-01 2.37574615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:245.92, Y:207.84, Z:23.76 [[ 1.34113953e-01 -9.90940195e-01 -7.13987861e-03 2.45922906e+02] [ 9.88699145e-01 1.34290752e-01 -6.66332848e-02 2.07837813e+02] [ 6.69884199e-02 1.87726136e-03 9.97751987e-01 2.37626951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:245.93, Y:207.90, Z:23.76 [[ 1.38391577e-01 -9.90351990e-01 -7.12087836e-03 2.45934882e+02] [ 9.88110103e-01 1.38557421e-01 -6.66353153e-02 2.07895071e+02] [ 6.69790677e-02 2.18555453e-03 9.97751987e-01 2.37599124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:245.94, Y:207.95, Z:23.76 [[ 1.39575136e-01 -9.90185941e-01 -7.11218296e-03 2.45941270e+02] [ 9.87943815e-01 1.39737715e-01 -6.66362434e-02 2.07952664e+02] [ 6.69761116e-02 2.27432553e-03 9.97751987e-01 2.37618750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68 meters Centerline goodness : 0.998713 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:208.01, Z:23.76 [[ 1.42096375e-01 -9.89827415e-01 -7.09292019e-03 2.45946070e+02] [ 9.87584792e-01 1.42251949e-01 -6.66382937e-02 2.08010107e+02] [ 6.69693917e-02 2.46419985e-03 9.97751987e-01 2.37649036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74 meters Centerline goodness : 0.996120 with order 1 Centerline is valid? [True, True] Translation: X:245.94, Y:208.07, Z:23.77 [[ 1.41285726e-01 -9.89943514e-01 -7.08401989e-03 2.45944836e+02] [ 9.87700977e-01 1.41442538e-01 -6.66392398e-02 2.08068110e+02] [ 6.69710650e-02 2.41828002e-03 9.97751987e-01 2.37744321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:208.13, Z:23.78 [[ 1.42459631e-01 -9.89775436e-01 -7.05979038e-03 2.45950208e+02] [ 9.87532604e-01 1.42612154e-01 -6.66418066e-02 2.08125580e+02] [ 6.69672351e-02 2.52199400e-03 9.97751988e-01 2.37795081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:208.18, Z:23.78 [[ 1.41925007e-01 -9.89852414e-01 -7.03500976e-03 2.45954240e+02] [ 9.87609551e-01 1.42077076e-01 -6.66444225e-02 2.08182204e+02] [ 6.69676561e-02 2.51066730e-03 9.97751988e-01 2.37847540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91999999999996 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:245.97, Y:208.24, Z:23.77 [[ 1.50157298e-01 -9.88637192e-01 -7.02061443e-03 2.45971653e+02] [ 9.86393084e-01 1.50289729e-01 -6.66459389e-02 2.08241092e+02] [ 6.69437802e-02 3.08228862e-03 9.97751988e-01 2.37726503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97999999999996 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:245.98, Y:208.30, Z:23.77 [[ 1.49881665e-01 -9.88679119e-01 -7.00613063e-03 2.45978028e+02] [ 9.86434991e-01 1.50013748e-01 -6.66474615e-02 2.08299071e+02] [ 6.69439695e-02 3.07814013e-03 9.97751988e-01 2.37749815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03999999999996 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:245.97, Y:208.36, Z:23.79 [[ 1.34683321e-01 -9.90864047e-01 -6.98876464e-03 2.45971718e+02] [ 9.88622126e-01 1.34848678e-01 -6.66492825e-02 2.08357413e+02] [ 6.69828035e-02 2.06729936e-03 9.97751988e-01 2.37926933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09999999999997 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:245.98, Y:208.42, Z:23.80 [[ 1.29408237e-01 -9.91566796e-01 -6.98554399e-03 2.45977007e+02] [ 9.89325769e-01 1.29585307e-01 -6.66496201e-02 2.08415033e+02] [ 6.69927741e-02 1.71403113e-03 9.97751988e-01 2.37968909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15999999999997 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:245.98, Y:208.47, Z:23.80 [[ 1.23377315e-01 -9.92335380e-01 -6.96652274e-03 2.45981629e+02] [ 9.90095362e-01 1.23566729e-01 -6.66516082e-02 2.08472089e+02] [ 6.70015794e-02 1.32577459e-03 9.97751989e-01 2.38010295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21999999999997 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:245.99, Y:208.53, Z:23.80 [[ 1.18552869e-01 -9.92923438e-01 -6.94723384e-03 2.45986569e+02] [ 9.90684252e-01 1.18751874e-01 -6.66536187e-02 2.08529772e+02] [ 6.70069372e-02 1.01946258e-03 9.97751989e-01 2.38046133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:246.00, Y:208.59, Z:23.79 [[ 1.18772965e-01 -9.92897270e-01 -6.92774643e-03 2.46001215e+02] [ 9.90657925e-01 1.18970166e-01 -6.66556441e-02 2.08589393e+02] [ 6.70064022e-02 1.05386160e-03 9.97751989e-01 2.37909804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:246.00, Y:208.65, Z:23.80 [[ 1.11610482e-01 -9.93727891e-01 -6.92669376e-03 2.46003830e+02] [ 9.91490019e-01 1.11823754e-01 -6.66557535e-02 2.08649206e+02] [ 6.70122502e-02 5.71733066e-04 9.97751989e-01 2.38048141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:246.01, Y:208.71, Z:23.81 [[ 1.03973557e-01 -9.94555950e-01 -6.92550975e-03 2.46008718e+02] [ 9.92319774e-01 1.04203934e-01 -6.66558765e-02 2.08706464e+02] [ 6.70146639e-02 5.81283088e-05 9.97751989e-01 2.38080109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:246.01, Y:208.77, Z:23.82 [[ 8.95470011e-02 -9.95958563e-01 -6.91921324e-03 2.46007601e+02] [ 9.93725912e-01 8.98093450e-02 -6.66565301e-02 2.08765417e+02] [ 6.70085519e-02 -9.06909112e-04 9.97751989e-01 2.38151547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:246.02, Y:208.82, Z:23.81 [[ 9.42728333e-02 -9.95522469e-01 -6.90261423e-03 2.46023620e+02] [ 9.93288474e-01 9.45234666e-02 -6.66582490e-02 2.08822973e+02] [ 6.70122436e-02 -5.72225161e-04 9.97751989e-01 2.38130775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:246.03, Y:208.88, Z:23.81 [[ 9.40147423e-02 -9.95546998e-01 -6.88498286e-03 2.46032601e+02] [ 9.93312935e-01 9.42647743e-02 -6.66600700e-02 2.08880041e+02] [ 6.70122440e-02 -5.71913230e-04 9.97751989e-01 2.38147509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:246.03, Y:208.94, Z:23.83 [[ 8.57830447e-02 -9.96290094e-01 -6.87885960e-03 2.46027412e+02] [ 9.94058125e-01 8.60511237e-02 -6.66607019e-02 2.08938129e+02] [ 6.70053305e-02 -1.11962831e-03 9.97751989e-01 2.38267522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:246.05, Y:209.00, Z:23.82 [[ 9.37766097e-02 -9.95569548e-01 -6.87182819e-03 2.46047453e+02] [ 9.93335447e-01 9.40262954e-02 -6.66614268e-02 2.08995560e+02] [ 6.70122191e-02 -5.74747931e-04 9.97751989e-01 2.38190995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:246.04, Y:209.05, Z:23.83 [[ 8.12435446e-02 -9.96670624e-01 -6.86681930e-03 2.46041750e+02] [ 9.94439799e-01 8.15209837e-02 -6.66619427e-02 2.09053956e+02] [ 6.69997899e-02 -1.41278589e-03 9.97751989e-01 2.38331971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82 meters Centerline goodness : 0.996300 with order 1 Centerline is valid? [True, True] Translation: X:246.05, Y:209.11, Z:23.83 [[ 7.66880390e-02 -9.97031524e-01 -6.86187565e-03 2.46049028e+02] [ 9.94801947e-01 7.69753395e-02 -6.66624516e-02 2.09112007e+02] [ 6.69927609e-02 -1.71399457e-03 9.97751989e-01 2.38321837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:246.07, Y:209.17, Z:23.83 [[ 7.95797121e-02 -9.96805031e-01 -6.84098684e-03 2.46065281e+02] [ 9.94574456e-01 7.98591480e-02 -6.66645952e-02 2.09168086e+02] [ 6.69979193e-02 -1.49872147e-03 9.97751990e-01 2.38304305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:246.06, Y:209.23, Z:23.84 [[ 7.18202458e-02 -9.97394292e-01 -6.81756448e-03 2.46060471e+02] [ 9.95165751e-01 7.21154672e-02 -6.66669904e-02 2.09226232e+02] [ 6.69849275e-02 -1.99656704e-03 9.97751990e-01 2.38423200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:246.07, Y:209.28, Z:23.84 [[ 7.59933479e-02 -9.97085056e-01 -6.81193708e-03 2.46073541e+02] [ 9.94855251e-01 7.62788651e-02 -6.66675654e-02 2.09283120e+02] [ 6.69928400e-02 -1.71059988e-03 9.97751990e-01 2.38440963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:246.07, Y:209.34, Z:23.85 [[ 7.40816040e-02 -9.97228955e-01 -6.80637406e-03 2.46074902e+02] [ 9.94999654e-01 7.43710240e-02 -6.66681334e-02 2.09341890e+02] [ 6.69895900e-02 -1.83345757e-03 9.97751990e-01 2.38473640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:246.08, Y:209.40, Z:23.85 [[ 7.39891422e-02 -9.97235935e-01 -6.78950912e-03 2.46077195e+02] [ 9.95006514e-01 7.42776423e-02 -6.66698509e-02 2.09399716e+02] [ 6.69898798e-02 -1.82276072e-03 9.97751990e-01 2.38505733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:246.08, Y:209.46, Z:23.86 [[ 7.19828571e-02 -9.97382821e-01 -6.78067622e-03 2.46082559e+02] [ 9.95153907e-01 7.22752516e-02 -6.66707492e-02 2.09457642e+02] [ 6.69863350e-02 -1.94866542e-03 9.97751990e-01 2.38570723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:246.09, Y:209.52, Z:23.86 [[ 7.01244103e-02 -9.97515321e-01 -6.76396790e-03 2.46088111e+02] [ 9.95286808e-01 7.04198415e-02 -6.66724443e-02 2.09515254e+02] [ 6.69831022e-02 -2.05672219e-03 9.97751990e-01 2.38607145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:246.09, Y:209.57, Z:23.87 [[ 6.57338724e-02 -9.97814394e-01 -6.74486222e-03 2.46093700e+02] [ 9.95587029e-01 6.60378329e-02 -6.66743771e-02 2.09573052e+02] [ 6.69740692e-02 -2.33233234e-03 9.97751990e-01 2.38655806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:246.10, Y:209.63, Z:23.87 [[ 6.32802671e-02 -9.97973133e-01 -6.72556187e-03 2.46098883e+02] [ 9.95746344e-01 6.35884156e-02 -6.66763239e-02 2.09630362e+02] [ 6.69688477e-02 -2.47765806e-03 9.97751991e-01 2.38701119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41999999999996 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:246.11, Y:209.69, Z:23.88 [[ 6.55803476e-02 -9.97824756e-01 -6.70633565e-03 2.46106628e+02] [ 9.95597088e-01 6.58820795e-02 -6.66782576e-02 2.09688109e+02] [ 6.69750435e-02 -2.30402493e-03 9.97751991e-01 2.38786922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47999999999996 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:246.11, Y:209.75, Z:23.88 [[ 6.50146102e-02 -9.97861893e-01 -6.68902719e-03 2.46109552e+02] [ 9.95634240e-01 6.53164499e-02 -6.66799939e-02 2.09747397e+02] [ 6.69743285e-02 -2.32465069e-03 9.97751991e-01 2.38769424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53999999999996 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:246.11, Y:209.80, Z:23.88 [[ 6.57870146e-02 -9.97811382e-01 -6.67197934e-03 2.46114664e+02] [ 9.95583343e-01 6.60859918e-02 -6.66816997e-02 2.09803545e+02] [ 6.69766833e-02 -2.25572154e-03 9.97751991e-01 2.38813054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59999999999997 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:246.12, Y:209.86, Z:23.89 [[ 6.94009176e-02 -9.97566594e-01 -6.66354894e-03 2.46123395e+02] [ 9.95337414e-01 6.96912593e-02 -6.66825421e-02 2.09861615e+02] [ 6.69846676e-02 -2.00464996e-03 9.97751991e-01 2.38886555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65999999999997 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:246.12, Y:209.92, Z:23.89 [[ 7.03108719e-02 -9.97502981e-01 -6.64705161e-03 2.46124404e+02] [ 9.95273395e-01 7.05980781e-02 -6.66841866e-02 2.09920677e+02] [ 6.69869440e-02 -1.92701032e-03 9.97751991e-01 2.38890777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71999999999997 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:246.13, Y:209.98, Z:23.89 [[ 7.13660940e-02 -9.97428152e-01 -6.63035140e-03 2.46130399e+02] [ 9.95198121e-01 7.16498257e-02 -6.66858471e-02 2.09977118e+02] [ 6.69894047e-02 -1.83940483e-03 9.97751991e-01 2.38926698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:210.03, Z:23.91 [[ 6.93665103e-02 -9.97569294e-01 -6.61741319e-03 2.46137029e+02] [ 9.95339725e-01 6.96538476e-02 -6.66871309e-02 2.10034691e+02] [ 6.69859624e-02 -1.96072067e-03 9.97751991e-01 2.39072243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:210.09, Z:23.90 [[ 6.62584580e-02 -9.97780671e-01 -6.59916992e-03 2.46143492e+02] [ 9.95551847e-01 6.65515216e-02 -6.66889362e-02 2.10092149e+02] [ 6.69801163e-02 -2.15110973e-03 9.97751992e-01 2.39022730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:246.15, Y:210.15, Z:23.91 [[ 6.58427282e-02 -9.97808241e-01 -6.59158811e-03 2.46150609e+02] [ 9.95579473e-01 6.61362142e-02 -6.66896856e-02 2.10150084e+02] [ 6.69794606e-02 -2.17141898e-03 9.97751992e-01 2.39146325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:246.16, Y:210.21, Z:23.92 [[ 6.50153522e-02 -9.97862606e-01 -6.57449414e-03 2.46157448e+02] [ 9.95633931e-01 6.53095449e-02 -6.66913707e-02 2.10208628e+02] [ 6.69782022e-02 -2.20982648e-03 9.97751992e-01 2.39180632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:246.16, Y:210.27, Z:23.92 [[ 6.48613147e-02 -9.97872740e-01 -6.55782240e-03 2.46163703e+02] [ 9.95643964e-01 6.51547385e-02 -6.66930101e-02 2.10266994e+02] [ 6.69784099e-02 -2.20345997e-03 9.97751992e-01 2.39212584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:246.17, Y:210.32, Z:23.93 [[ 6.38703383e-02 -9.97936773e-01 -6.54041169e-03 2.46169994e+02] [ 9.95708136e-01 6.41648129e-02 -6.66947174e-02 2.10323539e+02] [ 6.69767754e-02 -2.25252696e-03 9.97751992e-01 2.39251951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:246.18, Y:210.38, Z:23.93 [[ 6.22445450e-02 -9.98039586e-01 -6.52696214e-03 2.46175206e+02] [ 9.95811312e-01 6.25417522e-02 -6.66960336e-02 2.10381221e+02] [ 6.69734895e-02 -2.34815846e-03 9.97751992e-01 2.39304523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:246.18, Y:210.44, Z:23.93 [[ 6.16428386e-02 -9.98077051e-01 -6.50852918e-03 2.46182088e+02] [ 9.95848792e-01 6.19401589e-02 -6.66978324e-02 2.10439028e+02] [ 6.69727152e-02 -2.37006720e-03 9.97751992e-01 2.39299491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:246.19, Y:210.50, Z:23.93 [[ 6.32377107e-02 -9.97977396e-01 -6.48913201e-03 2.46187709e+02] [ 9.95748495e-01 6.35301748e-02 -6.66997195e-02 2.10496546e+02] [ 6.69770681e-02 -2.24360586e-03 9.97751993e-01 2.39306953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:246.19, Y:210.55, Z:23.94 [[ 6.09669148e-02 -9.98118824e-01 -6.46898043e-03 2.46188207e+02] [ 9.95890415e-01 6.12631046e-02 -6.67016739e-02 2.10553766e+02] [ 6.69725062e-02 -2.37580033e-03 9.97751993e-01 2.39392526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:210.61, Z:23.94 [[ 6.18684877e-02 -9.98063386e-01 -6.46278056e-03 2.46195034e+02] [ 9.95834656e-01 6.21622506e-02 -6.67022746e-02 2.10611796e+02] [ 6.69748390e-02 -2.30909200e-03 9.97751993e-01 2.39382753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:210.67, Z:23.94 [[ 5.92207523e-02 -9.98224108e-01 -6.44456030e-03 2.46197921e+02] [ 9.95996002e-01 5.95192104e-02 -6.67040350e-02 2.10668757e+02] [ 6.69691510e-02 -2.46849316e-03 9.97751993e-01 2.39404052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:210.73, Z:23.94 [[ 5.67650183e-02 -9.98366824e-01 -6.43563062e-03 2.46200914e+02] [ 9.96139377e-01 5.70683607e-02 -6.67048965e-02 2.10726190e+02] [ 6.69632266e-02 -2.62428041e-03 9.97751993e-01 2.39439242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:210.79, Z:23.95 [[ 4.92696757e-02 -9.98764909e-01 -6.41531273e-03 2.46198021e+02] [ 9.96539607e-01 4.95883747e-02 -6.67068505e-02 2.10785093e+02] [ 6.69425864e-02 -3.10648834e-03 9.97751993e-01 2.39505903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:210.84, Z:23.95 [[ 6.13072903e-02 -9.98098455e-01 -6.39448973e-03 2.46204614e+02] [ 9.95869292e-01 6.15977477e-02 -6.67088466e-02 2.10843968e+02] [ 6.69758829e-02 -2.27833734e-03 9.97751993e-01 2.39476055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68 meters Centerline goodness : 0.997064 with order 1 Centerline is valid? [True, True] Translation: X:246.23, Y:210.90, Z:23.93 [[ 7.65416025e-02 -9.97046018e-01 -6.37354138e-03 2.46233061e+02] [ 9.94812519e-01 7.67965844e-02 -6.67108480e-02 2.10901513e+02] [ 6.70032515e-02 -1.23432354e-03 9.97751994e-01 2.39293278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74 meters Centerline goodness : 0.996113 with order 1 Centerline is valid? [True, True] Translation: X:246.22, Y:210.96, Z:23.94 [[ 6.51452036e-02 -9.97855469e-01 -6.36908507e-03 2.46223408e+02] [ 9.95624992e-01 6.54253894e-02 -6.67112734e-02 2.10961833e+02] [ 6.69849089e-02 -1.99530078e-03 9.97751994e-01 2.39397940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8 meters Centerline goodness : 0.994763 with order 1 Centerline is valid? [True, True] Translation: X:246.19, Y:211.03, Z:23.93 [[ 2.84458123e-02 -9.99575143e-01 -6.35363563e-03 2.46185156e+02] [ 9.97356297e-01 2.88067172e-02 -6.67127448e-02 2.11025069e+02] [ 6.68674288e-02 -4.43914029e-03 9.97751994e-01 2.39268973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86 meters Centerline goodness : 0.986364 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:211.08, Z:23.97 [[ 4.07710333e-02 -9.99148357e-01 -6.34693791e-03 2.46202562e+02] [ 9.96925161e-01 4.11041007e-02 -6.67133820e-02 2.11078692e+02] [ 6.69174512e-02 -3.60744857e-03 9.97751994e-01 2.39688870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91999999999996 meters Centerline goodness : 0.162754 with order 1 Centerline is valid? [True, False] Translation: X:247.13, Y:210.96, Z:24.57 [[ 9.40504309e-01 -3.33848412e-01 6.32209027e-02 2.47133590e+02] [ 3.05157764e-01 7.48087243e-01 -5.89274314e-01 2.10959359e+02] [ 1.49433543e-01 5.73507381e-01 8.05455710e-01 2.45719410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97999999999996 meters Centerline goodness : 0.153641 with order 1 Centerline is valid? [False, False] Translation: X:247.12, Y:210.95, Z:24.53 [[ 9.40507174e-01 -3.38657274e-01 2.75228333e-02 2.47115741e+02] [ 3.03406916e-01 8.00620900e-01 -5.16672447e-01 2.10948948e+02] [ 1.52939527e-01 4.94284761e-01 8.55740659e-01 2.45265534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03999999999996 meters Centerline goodness : 0.213464 with order 1 Centerline is valid? [False, False] Translation: X:247.13, Y:210.95, Z:24.50 [[ 9.44789503e-01 -3.27674254e-01 1.54226661e-03 2.47126543e+02] [ 2.92430425e-01 8.41028060e-01 -4.55144206e-01 2.10945089e+02] [ 1.47841949e-01 4.30466474e-01 8.90416404e-01 2.44964077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09999999999997 meters Centerline goodness : 0.211225 with order 1 Centerline is valid? [False, False] Translation: X:247.14, Y:210.94, Z:24.47 [[ 9.48249139e-01 -3.16879794e-01 -2.02673722e-02 2.47142996e+02] [ 2.81984038e-01 8.69730797e-01 -4.05034990e-01 2.10940603e+02] [ 1.45974562e-01 3.78359005e-01 9.14076524e-01 2.44677955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15999999999997 meters Centerline goodness : 0.219573 with order 1 Centerline is valid? [False, False] Translation: X:247.18, Y:210.94, Z:24.45 [[ 9.50997551e-01 -3.06644385e-01 -3.96595464e-02 2.47181220e+02] [ 2.70393156e-01 8.86987981e-01 -3.74352591e-01 2.10942834e+02] [ 1.49970661e-01 3.45284728e-01 9.26437941e-01 2.44509715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21999999999997 meters Centerline goodness : 0.230758 with order 1 Centerline is valid? [False, False] Translation: X:247.21, Y:210.94, Z:24.43 [[ 9.52463458e-01 -2.99336813e-01 -5.66642217e-02 2.47207832e+02] [ 2.63206767e-01 9.02189291e-01 -3.41726032e-01 2.10939439e+02] [ 1.53413035e-01 3.10567151e-01 9.38089807e-01 2.44335352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28 meters Centerline goodness : 0.232863 with order 1 Centerline is valid? [False, False] Translation: X:247.23, Y:210.93, Z:24.41 [[ 9.53651312e-01 -2.92142953e-01 -7.21226055e-02 2.47228456e+02] [ 2.58020030e-01 9.17207203e-01 -3.03573072e-01 2.10933079e+02] [ 1.54838107e-01 2.70893782e-01 9.50074586e-01 2.44139231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34 meters Centerline goodness : 0.201913 with order 1 Centerline is valid? [False, False] Translation: X:247.26, Y:210.93, Z:24.40 [[ 9.54889498e-01 -2.84832300e-01 -8.40036186e-02 2.47258230e+02] [ 2.52337105e-01 9.27395817e-01 -2.76157536e-01 2.10934994e+02] [ 1.56563191e-01 2.42502701e-01 9.57434284e-01 2.44036399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3484.96 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%| | 0/12380 [00:00