+ python -m lidar_slam --result /working/result.json --no-model /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf Lidar SLAM 0.0.16 ===================================================== The recording path: /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: True The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.017628 Adjusted end_distance from 9.223372036854776e+18 to 343.987628 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017628 meters Centerline goodness : 0.269759 with order 1 Centerline is valid? [0, False] SLAMing on 0.077628 meters Centerline goodness : 0.231615 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 0.99998605 -0.00157107 0.00504203 0.03379202] [ 0.00159018 0.99999156 -0.00378824 0.0017611 ] [-0.00503603 0.0037962 0.99998011 -0.00953436] [ 0. 0. 0. 1. ]] SLAMing on 0.137628 meters Centerline goodness : 0.163809 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.01 [[ 9.99996173e-01 6.00394052e-04 2.70066867e-03 5.82787963e-02] [-5.85016391e-04 9.99983634e-01 -5.69121054e-03 3.87206730e-03] [-2.70404144e-03 5.68960882e-03 9.99980158e-01 -1.21677826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.197628 meters Centerline goodness : 0.160743 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.02 [[ 9.99953408e-01 -6.85738312e-03 6.79392216e-03 7.73337215e-02] [ 6.87817408e-03 9.99971719e-01 -3.04160435e-03 5.38757296e-05] [-6.77287257e-03 3.08819242e-03 9.99972295e-01 -1.80586249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25762799999999997 meters Centerline goodness : 0.142647 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:-0.02 [[ 9.99895686e-01 -1.21537731e-02 7.80400574e-03 7.89983221e-02] [ 1.22123611e-02 9.99897268e-01 -7.50417268e-03 -1.91819885e-04] [-7.71200000e-03 7.59869523e-03 9.99941391e-01 -2.01638392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31762799999999997 meters Centerline goodness : 0.124409 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:-0.02 [[ 0.99975097 -0.0155778 0.01597875 0.11289765] [ 0.01568525 0.99985505 -0.00662146 -0.00215308] [-0.01587328 0.00687044 0.99985041 -0.02460662] [ 0. 0. 0. 1. ]] SLAMing on 0.37762799999999996 meters Centerline goodness : 0.160485 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:-0.03 [[ 0.99979903 -0.01199065 0.01606631 0.13736024] [ 0.01210147 0.99990353 -0.0068183 -0.00320029] [-0.01598301 0.00701136 0.99984768 -0.0257212 ] [ 0. 0. 0. 1. ]] SLAMing on 0.43762799999999996 meters Centerline goodness : 0.123161 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:-0.03 [[ 0.99981585 -0.00753766 0.01764785 0.18227038] [ 0.00773242 0.99990967 -0.0109934 -0.00410509] [-0.01756339 0.01112783 0.99978383 -0.03091669] [ 0. 0. 0. 1. ]] SLAMing on 0.49762799999999996 meters Centerline goodness : 0.135185 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.03 [[ 0.99986422 -0.01028921 0.01287152 0.21450453] [ 0.01041167 0.99990083 -0.00948319 -0.00753588] [-0.01277267 0.00961592 0.99987219 -0.02881974] [ 0. 0. 0. 1. ]] SLAMing on 0.557628 meters Centerline goodness : 0.858267 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.01, Z:-0.03 [[ 0.99967758 -0.0202966 0.01525716 0.2626361 ] [ 0.02037489 0.99977994 -0.00499375 -0.01058552] [-0.01515245 0.005303 0.99987113 -0.03114187] [ 0. 0. 0. 1. ]] SLAMing on 0.617628 meters Centerline goodness : 0.851953 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.01, Z:-0.03 [[ 0.9996643 -0.02360096 0.01068986 0.29569963] [ 0.02363953 0.99971443 -0.00349701 -0.01431807] [-0.01060427 0.00374854 0.99993675 -0.02779431] [ 0. 0. 0. 1. ]] SLAMing on 0.6776279999999999 meters Centerline goodness : 0.842097 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.01, Z:-0.03 [[ 0.99960243 -0.02536515 0.01231197 0.34495652] [ 0.02543042 0.99966321 -0.00517345 -0.01491273] [-0.01217659 0.00548449 0.99991082 -0.0277042 ] [ 0. 0. 0. 1. ]] SLAMing on 0.737628 meters Centerline goodness : 0.836821 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.02 [[ 0.99969657 -0.02279668 0.00933158 0.37392798] [ 0.0228117 0.99973864 -0.00150645 -0.01326243] [-0.0092948 0.00171886 0.99995533 -0.02370322] [ 0. 0. 0. 1. ]] SLAMing on 0.797628 meters Centerline goodness : 0.831623 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:-0.03 [[ 0.99977311 -0.0180766 0.01126744 0.42105513] [ 0.01809939 0.99983434 -0.00192393 -0.00330903] [-0.0112308 0.00212742 0.99993467 -0.02507441] [ 0. 0. 0. 1. ]] SLAMing on 0.857628 meters Centerline goodness : 0.830621 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:-0.02 [[ 0.99986361 -0.01464875 0.00762703 0.44299945] [ 0.01466991 0.99988868 -0.0027253 -0.00144757] [-0.00758626 0.00283682 0.9999672 -0.02155238] [ 0. 0. 0. 1. ]] SLAMing on 0.9176279999999999 meters Centerline goodness : 0.825729 with order 3 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.02 [[ 0.99990883 -0.00882298 0.01022212 0.48395812] [ 0.00888756 0.99994073 -0.00628928 0.0060859 ] [-0.01016602 0.00637956 0.99992797 -0.02365619] [ 0. 0. 0. 1. ]] SLAMing on 0.9776279999999999 meters Centerline goodness : 0.830224 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.03 [[ 0.99992137 -0.00379544 0.01195159 0.53470432] [ 0.00387301 0.99997154 -0.00647401 0.01811588] [-0.01192667 0.00651979 0.99990762 -0.02651416] [ 0. 0. 0. 1. ]] SLAMing on 1.037628 meters Centerline goodness : 0.827523 with order 3 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.03 [[ 0.99988053 -0.00323563 0.01511485 0.58476423] [ 0.00334253 0.99996954 -0.00705292 0.02702849] [-0.01509157 0.0071026 0.99986089 -0.02814753] [ 0. 0. 0. 1. ]] SLAMing on 1.097628 meters Centerline goodness : 0.833957 with order 3 Centerline is valid? [False, False] Translation: X:0.60, Y:0.03, Z:-0.03 [[ 0.99986542 -0.00972264 0.01321427 0.59738473] [ 0.00980963 0.99993053 -0.00653487 0.0330695 ] [-0.01314982 0.00666362 0.99989133 -0.02576568] [ 0. 0. 0. 1. ]] SLAMing on 1.1576279999999999 meters Centerline goodness : 0.836299 with order 3 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.03 [[ 9.99703554e-01 -1.84449123e-02 1.58930872e-02 6.46179451e-01] [ 1.84395159e-02 9.99829860e-01 4.86029818e-04 3.33679822e-02] [-1.58993479e-02 -1.92824902e-04 9.99873579e-01 -2.59547008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.217628 meters Centerline goodness : 0.839495 with order 3 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.02 [[ 0.99954129 -0.02720593 0.01330589 0.6628356 ] [ 0.02718165 0.99962851 0.00200239 0.03695146] [-0.01335543 -0.00163979 0.99990947 -0.02319352] [ 0. 0. 0. 1. ]] SLAMing on 1.277628 meters Centerline goodness : 0.848552 with order 3 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.03 [[ 0.99911968 -0.03778734 0.01822048 0.69933117] [ 0.03761467 0.99924497 0.00972812 0.03779823] [-0.01857432 -0.00903419 0.99978667 -0.02548951] [ 0. 0. 0. 1. ]] SLAMing on 1.3376279999999998 meters Centerline goodness : 0.833870 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.04, Z:-0.03 [[ 0.99888655 -0.04232637 0.02083615 0.73345617] [ 0.04181736 0.99883004 0.02428713 0.04164609] [-0.02183976 -0.02338877 0.99948786 -0.02666935] [ 0. 0. 0. 1. ]] SLAMing on 1.3976279999999999 meters Centerline goodness : 0.844329 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.03 [[ 0.99898148 -0.03894051 0.02279538 0.75678154] [ 0.03845554 0.99903241 0.02134037 0.04978929] [-0.02360433 -0.02044203 0.99951236 -0.03125952] [ 0. 0. 0. 1. ]] SLAMing on 1.457628 meters Centerline goodness : 0.859516 with order 3 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.04 [[ 0.99896564 -0.03587836 0.02793541 0.79563062] [ 0.03508241 0.99897854 0.02847972 0.05537637] [-0.02892868 -0.02747022 0.99920394 -0.03537172] [ 0. 0. 0. 1. ]] SLAMing on 1.517628 meters Centerline goodness : 0.878743 with order 3 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.04 [[ 0.99896306 -0.03394077 0.03034514 0.81655086] [ 0.0332678 0.99919511 0.02241389 0.0627747 ] [-0.03108146 -0.02138113 0.99928814 -0.04052721] [ 0. 0. 0. 1. ]] SLAMing on 1.577628 meters Centerline goodness : 0.888901 with order 3 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:-0.05 [[ 0.99897555 -0.03146696 0.03252213 0.83918193] [ 0.03090484 0.99936657 0.017645 0.06902398] [-0.03305676 -0.01662184 0.99931525 -0.04552274] [ 0. 0. 0. 1. ]] SLAMing on 1.6376279999999999 meters Centerline goodness : 0.901892 with order 3 Centerline is valid? [False, False] Translation: X:0.85, Y:0.07, Z:-0.05 [[ 0.99894987 -0.02727168 0.03681586 0.85352068] [ 0.02688943 0.99957966 0.01083833 0.07329116] [-0.03709596 -0.00983699 0.99926329 -0.05102916] [ 0. 0. 0. 1. ]] SLAMing on 1.697628 meters Centerline goodness : 0.915515 with order 3 Centerline is valid? [False, False] Translation: X:0.88, Y:0.08, Z:-0.06 [[ 0.99910388 -0.02220596 0.03603246 0.87725312] [ 0.02187734 0.99971563 0.00948887 0.07522769] [-0.03623292 -0.00869207 0.99930557 -0.05536691] [ 0. 0. 0. 1. ]] SLAMing on 1.757628 meters Centerline goodness : 0.917170 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:-0.06 [[ 0.99943305 -0.01764304 0.02867581 0.89303166] [ 0.01750762 0.99983439 0.00496656 0.07606979] [-0.02875868 -0.0044617 0.99957643 -0.05718758] [ 0. 0. 0. 1. ]] SLAMing on 1.8176279999999998 meters Centerline goodness : 0.927173 with order 2 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.06 [[ 0.99969901 -0.01266531 0.0210112 0.91144231] [ 0.01260374 0.99991589 0.00306014 0.07161917] [-0.02104819 -0.0027944 0.99977456 -0.05795019] [ 0. 0. 0. 1. ]] SLAMing on 1.8776279999999999 meters Centerline goodness : 0.935085 with order 2 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.06 [[ 0.99984252 -0.01062445 0.01421471 0.92873541] [ 0.01059622 0.99994174 0.00205956 0.06383171] [-0.01423576 -0.00190861 0.99989684 -0.05758607] [ 0. 0. 0. 1. ]] SLAMing on 1.937628 meters Centerline goodness : 0.939941 with order 2 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.06 [[ 0.9998351 -0.01210515 0.01353619 0.93316838] [ 0.01207475 0.99992439 0.00232546 0.05857438] [-0.01356332 -0.00216163 0.99990568 -0.059436 ] [ 0. 0. 0. 1. ]] SLAMing on 1.997628 meters Centerline goodness : 0.947047 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:-0.06 [[ 0.99978311 -0.01709933 0.01188885 0.94102199] [ 0.01706548 0.99985004 0.00294281 0.04919453] [-0.01193739 -0.00273929 0.99992499 -0.05842056] [ 0. 0. 0. 1. ]] SLAMing on 2.0576280000000002 meters Centerline goodness : 0.951058 with order 1 Centerline is valid? [False, True] Translation: X:0.94, Y:0.04, Z:-0.06 [[ 0.99975704 -0.01876145 0.01157023 0.94477007] [ 0.01872454 0.99981927 0.00329001 0.04404738] [-0.01162987 -0.00307256 0.99992765 -0.05952879] [ 0. 0. 0. 1. ]] SLAMing on 2.1176280000000003 meters Centerline goodness : 0.958464 with order 1 Centerline is valid? [True, True] Translation: X:1.00, Y:0.03, Z:-0.07 [[ 9.99610251e-01 -2.54584816e-02 1.14547728e-02 1.00450625e+00] [ 2.54642999e-02 9.99675666e-01 -3.62353499e-04 3.31278723e-02] [-1.14418326e-02 6.53900041e-04 9.99934326e-01 -6.84435912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1776280000000003 meters Centerline goodness : 0.964047 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:0.02, Z:-0.06 [[ 9.99327588e-01 -3.48304438e-02 1.14547743e-02 1.06451144e+00] [ 3.48368747e-02 9.99392946e-01 -3.62305079e-04 1.98008742e-02] [-1.14352014e-02 7.61109997e-04 9.99934326e-01 -6.46039233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.237628 meters Centerline goodness : 0.968178 with order 1 Centerline is valid? [True, True] Translation: X:1.12, Y:0.01, Z:-0.06 [[ 9.99054034e-01 -4.19502684e-02 1.14547758e-02 1.12270629e+00] [ 4.19571643e-02 9.99119345e-01 -3.62257223e-04 1.01967230e-02] [-1.14294913e-02 8.42524450e-04 9.99934326e-01 -6.21010668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.297628 meters Centerline goodness : 0.972875 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.00, Z:-0.07 [[ 9.98829313e-01 -4.69977675e-02 1.14548060e-02 1.18135061e+00] [ 4.70049824e-02 9.98894590e-01 -3.61301423e-04 -4.21077878e-03] [-1.14251633e-02 8.99311404e-04 9.99934326e-01 -6.61660847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.357628 meters Centerline goodness : 0.975758 with order 1 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.01, Z:-0.06 [[ 9.98996200e-01 -4.33056523e-02 1.14548113e-02 1.23975431e+00] [ 4.33126240e-02 9.99061503e-01 -3.61131559e-04 -6.89363743e-03] [-1.14284220e-02 8.56906991e-04 9.99934326e-01 -6.25806706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.417628 meters Centerline goodness : 0.978615 with order 1 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.02, Z:-0.06 [[ 9.99352830e-01 -3.40985039e-02 1.14548406e-02 1.29701222e+00] [ 3.41048629e-02 9.99418195e-01 -3.60198720e-04 -1.67899928e-02] [-1.14358939e-02 7.50631380e-04 9.99934326e-01 -6.31708199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.477628 meters Centerline goodness : 0.980846 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.02, Z:-0.06 [[ 9.99630627e-01 -2.46453761e-02 1.14548695e-02 1.35607515e+00] [ 2.46511061e-02 9.99696051e-01 -3.59277776e-04 -1.98182936e-02] [-1.14425333e-02 6.41520272e-04 9.99934326e-01 -6.02243592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.537628 meters Centerline goodness : 0.983973 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.02, Z:-0.06 [[ 9.99770803e-01 -1.80866348e-02 1.14549475e-02 1.41561118e+00] [ 1.80919068e-02 9.99836264e-01 -3.56773857e-04 -2.16932070e-02] [-1.14466191e-02 5.63933929e-04 9.99934326e-01 -5.69114527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5976280000000003 meters Centerline goodness : 0.985677 with order 1 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.03, Z:-0.06 [[ 9.99729192e-01 -2.02564964e-02 1.14549586e-02 1.47443154e+00] [ 2.02619064e-02 9.99794643e-01 -3.56418736e-04 -2.57970302e-02] [-1.14453864e-02 5.88421514e-04 9.99934326e-01 -6.01358614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.657628 meters Centerline goodness : 0.988489 with order 1 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.03, Z:-0.06 [[ 9.99624244e-01 -2.49028637e-02 1.14550347e-02 1.53323890e+00] [ 2.49085497e-02 9.99689671e-01 -3.53953512e-04 -3.14478739e-02] [-1.14426655e-02 6.39148814e-04 9.99934326e-01 -5.80338433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.717628 meters Centerline goodness : 0.990633 with order 1 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.04, Z:-0.06 [[ 9.99077998e-01 -4.13755273e-02 1.14551097e-02 1.59158641e+00] [ 4.13822631e-02 9.99143325e-01 -3.51511687e-04 -4.12958654e-02] [-1.14307524e-02 8.25225955e-04 9.99934326e-01 -5.69036965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.777628 meters Centerline goodness : 0.991554 with order 1 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.05, Z:-0.06 [[ 9.98957209e-01 -4.41958706e-02 1.14551309e-02 1.65007254e+00] [ 4.42027828e-02 9.99022518e-01 -3.50816979e-04 -4.59762785e-02] [-1.14284291e-02 8.56799815e-04 9.99934326e-01 -6.09912423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.837628 meters Centerline goodness : 0.993447 with order 1 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.05, Z:-0.04 [[ 9.97952039e-01 -6.29325614e-02 1.14551430e-02 1.71107148e+00] [ 6.29406934e-02 9.98017207e-01 -3.50421687e-04 -4.60878928e-02] [-1.14103769e-02 1.07069868e-03 9.99934326e-01 -3.52533117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.897628 meters Centerline goodness : 0.994896 with order 1 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.05, Z:-0.03 [[ 9.97613545e-01 -6.80881368e-02 1.14551438e-02 1.76939865e+00] [ 6.80966051e-02 9.97678671e-01 -3.50396904e-04 -4.89004140e-02] [-1.14046948e-02 1.12961710e-03 9.99934326e-01 -3.38928811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.957628 meters Centerline goodness : 0.995496 with order 1 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.05, Z:-0.03 [[ 9.97431900e-01 -7.06992432e-02 1.14552272e-02 1.82760174e+00] [ 7.07078507e-02 9.97497007e-01 -3.47650259e-04 -4.75435437e-02] [-1.14019762e-02 1.15673195e-03 9.99934326e-01 -3.49127671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.017628 meters Centerline goodness : 0.995748 with order 1 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.04, Z:-0.04 [[ 9.97454960e-01 -7.03731418e-02 1.14553087e-02 1.88569760e+00] [ 7.03816973e-02 9.97520074e-01 -3.44941631e-04 -4.45734350e-02] [-1.14026258e-02 1.15030781e-03 9.99934326e-01 -3.90300426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0776280000000003 meters Centerline goodness : 0.996111 with order 1 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.04, Z:-0.04 [[ 9.97561832e-01 -6.88415934e-02 1.14553888e-02 1.94433596e+00] [ 6.88500184e-02 9.97626963e-01 -3.42260780e-04 -4.17313052e-02] [-1.14046430e-02 1.13013002e-03 9.99934326e-01 -4.24600007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1376280000000003 meters Centerline goodness : 0.996670 with order 1 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.04, Z:-0.04 [[ 9.97742377e-01 -6.61734157e-02 1.14554676e-02 2.00236709e+00] [ 6.61816363e-02 9.97807534e-01 -3.39603122e-04 -3.64884575e-02] [-1.14078792e-02 1.09697802e-03 9.99934326e-01 -4.39489166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.197628 meters Centerline goodness : 0.997354 with order 1 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.03, Z:-0.04 [[ 9.98207770e-01 -5.87368528e-02 1.14555450e-02 2.06030111e+00] [ 5.87445576e-02 9.98272990e-01 -3.36972210e-04 -2.90273190e-02] [-1.14159685e-02 1.00931920e-03 9.99934326e-01 -4.29409473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.257628 meters Centerline goodness : 0.997702 with order 1 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.03, Z:-0.04 [[ 9.98677868e-01 -5.01127321e-02 1.14555688e-02 2.11840298e+00] [ 5.01198641e-02 9.98743153e-01 -3.36161991e-04 -2.55226395e-02] [-1.14243249e-02 9.09869090e-04 9.99934326e-01 -4.31994609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.317628 meters Centerline goodness : 0.997929 with order 1 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.02, Z:-0.04 [[ 9.99136040e-01 -3.99492389e-02 1.14556437e-02 2.17698506e+00] [ 3.99556769e-02 9.99201397e-01 -3.33589037e-04 -2.21673426e-02] [-1.14331686e-02 7.91018828e-04 9.99934326e-01 -4.37376117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.377628 meters Centerline goodness : 0.997851 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.02, Z:-0.04 [[ 9.99580777e-01 -2.65901626e-02 1.14557175e-02 2.23456921e+00] [ 2.65956972e-02 9.99646217e-01 -3.31033740e-04 -1.70222984e-02] [-1.14428625e-02 6.35567757e-04 9.99934326e-01 -4.48715659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.437628 meters Centerline goodness : 0.998106 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.02, Z:-0.04 [[ 9.99704799e-01 -2.14261383e-02 1.14557684e-02 2.29258068e+00] [ 2.14313146e-02 9.99770269e-01 -3.29264494e-04 -1.73846775e-02] [-1.14460818e-02 5.74679470e-04 9.99934326e-01 -4.39869519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.497628 meters Centerline goodness : 0.998391 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.02, Z:-0.05 [[ 9.99733615e-01 -2.00365307e-02 1.14558577e-02 2.35049852e+00] [ 2.00415801e-02 9.99799094e-01 -3.26127159e-04 -2.03198944e-02] [-1.14470217e-02 5.55633772e-04 9.99934326e-01 -4.51454947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5576280000000002 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.02, Z:-0.05 [[ 9.99668843e-01 -2.30426706e-02 1.14559476e-02 2.40823294e+00] [ 2.30478804e-02 9.99734310e-01 -3.22938655e-04 -2.41363093e-02] [-1.14454625e-02 5.86867022e-04 9.99934326e-01 -4.87792046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.617628 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.03, Z:-0.05 [[ 9.99590343e-01 -2.62279626e-02 1.14560353e-02 2.46645801e+00] [ 2.62333451e-02 9.99655795e-01 -3.19796066e-04 -2.92652197e-02] [-1.14437045e-02 6.20195187e-04 9.99934326e-01 -5.04791776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.677628 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.04, Z:-0.05 [[ 9.99477384e-01 -3.02277360e-02 1.14561210e-02 2.52465732e+00] [ 3.02333450e-02 9.99542818e-01 -3.16695886e-04 -3.51069569e-02] [-1.14413105e-02 6.62887234e-04 9.99934326e-01 -5.17306074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.737628 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.04, Z:-0.05 [[ 9.99103620e-01 -4.07518330e-02 1.14562050e-02 2.58250891e+00] [ 4.07580958e-02 9.99168994e-01 -3.13628121e-04 -4.43178797e-02] [-1.14339039e-02 7.80280091e-04 9.99934326e-01 -5.28511033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.797628 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.05, Z:-0.05 [[ 9.98389299e-01 -5.55658318e-02 1.14562358e-02 2.64059262e+00] [ 5.55730506e-02 9.98454575e-01 -3.12498233e-04 -5.42731490e-02] [-1.14211668e-02 9.48652864e-04 9.99934326e-01 -5.35021700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.857628 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.06, Z:-0.05 [[ 9.97713705e-01 -6.66041775e-02 1.14562560e-02 2.69822195e+00] [ 6.66121093e-02 9.97778898e-01 -3.11756253e-04 -6.26864486e-02] [-1.14100462e-02 1.07416886e-03 9.99934326e-01 -5.28715097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.917628 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.07, Z:-0.05 [[ 9.96978144e-01 -7.68331500e-02 1.14563344e-02 2.75639652e+00] [ 7.68417170e-02 9.97043256e-01 -3.08848972e-04 -7.01857302e-02] [-1.13987311e-02 1.18824008e-03 9.99934326e-01 -5.22826983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.977628 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.08, Z:-0.05 [[ 9.96247384e-01 -8.57898588e-02 1.14564108e-02 2.81450227e+00] [ 8.57989780e-02 9.96312422e-01 -3.05986129e-04 -7.71247790e-02] [-1.13879139e-02 1.28778622e-03 9.99934326e-01 -5.20366900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037628 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.08, Z:-0.05 [[ 9.96133679e-01 -8.71001925e-02 1.14564343e-02 2.87228836e+00] [ 8.71093873e-02 9.96198706e-01 -3.05106774e-04 -8.29013321e-02] [-1.13863101e-02 1.30189010e-03 9.99934326e-01 -4.92374985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.097628 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.08, Z:-0.05 [[ 9.96420364e-01 -8.37568404e-02 1.14564685e-02 2.93042588e+00] [ 8.37658022e-02 9.96485423e-01 -3.03813933e-04 -8.48416032e-02] [-1.13907574e-02 1.26238667e-03 9.99934326e-01 -5.10433036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157628 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.09, Z:-0.05 [[ 9.96870591e-01 -7.82161957e-02 1.14565409e-02 2.98896742e+00] [ 7.82247645e-02 9.96935703e-01 -3.01059510e-04 -8.55188694e-02] [-1.13978870e-02 1.19630259e-03 9.99934326e-01 -5.24487727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217628 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.09, Z:-0.05 [[ 9.97722687e-01 -6.64694407e-02 1.14566120e-02 3.04702060e+00] [ 6.64772109e-02 9.97787899e-01 -2.98330135e-04 -8.65326603e-02] [-1.14114390e-02 1.05925436e-03 9.99934326e-01 -5.42176568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277628 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.09, Z:-0.06 [[ 9.98195725e-01 -5.89409924e-02 1.14566338e-02 3.10551034e+00] [ 5.89482608e-02 9.98260995e-01 -2.97489516e-04 -8.72498932e-02] [-1.14191764e-02 9.72301402e-04 9.99934326e-01 -5.70591836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3376280000000005 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.09, Z:-0.06 [[ 9.98777663e-01 -4.80824676e-02 1.14566939e-02 3.16285894e+00] [ 4.80889992e-02 9.98843011e-01 -2.95159378e-04 -8.83487764e-02] [-1.14292466e-02 8.45739536e-04 9.99934326e-01 -5.90374611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.09, Z:-0.06 [[ 9.99044683e-01 -4.21718377e-02 1.14567400e-02 3.22062866e+00] [ 4.21779620e-02 9.99110071e-01 -2.93357677e-04 -8.98553944e-02] [-1.14341729e-02 7.76299372e-04 9.99934326e-01 -5.67317554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.09, Z:-0.06 [[ 9.99248512e-01 -3.70290718e-02 1.14568170e-02 3.27859392e+00] [ 3.70348248e-02 9.99313933e-01 -2.90316962e-04 -9.37706541e-02] [-1.14382067e-02 7.14400004e-04 9.99934326e-01 -5.68905518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.10, Z:-0.06 [[ 9.99241297e-01 -3.72232553e-02 1.14568930e-02 3.33711043e+00] [ 3.72289863e-02 9.99306720e-01 -2.87289144e-04 -9.65931481e-02] [-1.14382563e-02 7.13599689e-04 9.99934326e-01 -5.58921528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.10, Z:-0.06 [[ 9.99148611e-01 -3.96332152e-02 1.14569584e-02 3.39506700e+00] [ 3.96390740e-02 9.99214023e-01 -2.84656562e-04 -1.00840806e-01] [-1.14366716e-02 7.38557430e-04 9.99934326e-01 -5.50162504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.11, Z:-0.06 [[ 9.99025938e-01 -4.26135380e-02 1.14569813e-02 3.45315378e+00] [ 4.26195813e-02 9.99091333e-01 -2.83730462e-04 -1.06536088e-01] [-1.14344800e-02 7.71745838e-04 9.99934326e-01 -5.73297953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.11, Z:-0.06 [[ 9.98955958e-01 -4.42236512e-02 1.14570036e-02 3.51156677e+00] [ 4.42297895e-02 9.99021344e-01 -2.82826012e-04 -1.09465804e-01] [-1.14332836e-02 7.89271589e-04 9.99934326e-01 -6.09752348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.12, Z:-0.06 [[ 9.98917774e-01 -4.50778999e-02 1.14570652e-02 3.56905305e+00] [ 4.50840655e-02 9.98983157e-01 -2.80310124e-04 -1.16433258e-01] [-1.14327794e-02 7.96537842e-04 9.99934326e-01 -5.93297291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.12, Z:-0.06 [[ 9.98851131e-01 -4.65312027e-02 1.14571434e-02 3.62754503e+00] [ 4.65374265e-02 9.98916509e-01 -2.77077542e-04 -1.21857714e-01] [-1.14318369e-02 8.09945184e-04 9.99934326e-01 -6.14514506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877628 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.13, Z:-0.07 [[ 9.98615397e-01 -5.13421948e-02 1.14572128e-02 3.68514233e+00] [ 5.13487004e-02 9.98680748e-01 -2.74176313e-04 -1.31269791e-01] [-1.14280210e-02 8.62109675e-04 9.99934326e-01 -6.55186134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.14, Z:-0.06 [[ 9.98420440e-01 -5.50032403e-02 1.14572371e-02 3.74395748e+00] [ 5.50099738e-02 9.98485768e-01 -2.73157568e-04 -1.38526638e-01] [-1.14248636e-02 9.02988411e-04 9.99934326e-01 -6.32274211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.15, Z:-0.06 [[ 9.98093947e-01 -6.06399421e-02 1.14573040e-02 3.80220288e+00] [ 6.06470120e-02 9.98159239e-01 -2.70321634e-04 -1.45352551e-01] [-1.14198216e-02 9.64657640e-04 9.99934326e-01 -6.10900258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.15, Z:-0.06 [[ 9.97820756e-01 -6.49805227e-02 1.14573283e-02 3.86084119e+00] [ 6.49878648e-02 9.97886018e-01 -2.69288849e-04 -1.50324866e-01] [-1.14156092e-02 1.01328930e-03 9.99934326e-01 -5.73346876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.15, Z:-0.06 [[ 9.97992337e-01 -6.22898309e-02 1.14573954e-02 3.92019249e+00] [ 6.22969641e-02 9.98057622e-01 -2.66402207e-04 -1.52236242e-01] [-1.14185467e-02 9.79628310e-04 9.99934326e-01 -5.69049347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.15, Z:-0.06 [[ 9.98462962e-01 -5.42258204e-02 1.14574615e-02 3.97810445e+00] [ 5.42323932e-02 9.98528306e-01 -2.63528708e-04 -1.52768784e-01] [-1.14263095e-02 8.84489211e-04 9.99934326e-01 -5.99362452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.15, Z:-0.06 [[ 9.98983326e-01 -4.36009328e-02 1.14574846e-02 4.03631253e+00] [ 4.36067985e-02 9.99048737e-01 -2.62519538e-04 -1.50111308e-01] [-1.14351394e-02 7.61876864e-04 9.99934326e-01 -6.09894338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.15, Z:-0.06 [[ 9.99119944e-01 -4.03492511e-02 1.14575584e-02 4.09507390e+00] [ 4.03548667e-02 9.99185377e-01 -2.59258874e-04 -1.51107433e-01] [-1.14377639e-02 7.21398953e-04 9.99934326e-01 -6.01719291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.15, Z:-0.06 [[ 9.99134931e-01 -3.99764010e-02 1.14576226e-02 4.15327639e+00] [ 3.99819594e-02 9.99200369e-01 -2.56390561e-04 -1.54712140e-01] [-1.14382111e-02 7.14266966e-04 9.99934326e-01 -5.89596303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417628 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.16, Z:-0.06 [[ 9.99112540e-01 -4.05321386e-02 1.14576942e-02 4.21228052e+00] [ 4.05376963e-02 9.99177978e-01 -2.53148287e-04 -1.57714048e-01] [-1.14380151e-02 7.17392157e-04 9.99934326e-01 -6.36255878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.16, Z:-0.06 [[ 9.99152787e-01 -3.95275633e-02 1.14577570e-02 4.26927692e+00] [ 3.95330225e-02 9.99218233e-01 -2.50274714e-04 -1.60364928e-01] [-1.14389069e-02 7.03022442e-04 9.99934326e-01 -6.35790371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.17, Z:-0.06 [[ 9.99199758e-01 -3.83218139e-02 1.14578049e-02 4.32697489e+00] [ 3.83271687e-02 9.99265213e-01 -2.48059303e-04 -1.65592143e-01] [-1.14398798e-02 6.87006019e-04 9.99934326e-01 -6.34744676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.17, Z:-0.06 [[ 9.99322622e-01 -3.49716301e-02 1.14578754e-02 4.38469878e+00] [ 3.49767278e-02 9.99388097e-01 -2.44760673e-04 -1.68076276e-01] [-1.14423046e-02 6.45353866e-04 9.99934326e-01 -6.26418574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.17, Z:-0.06 [[ 9.99505618e-01 -2.92785820e-02 1.14578970e-02 4.44230644e+00] [ 2.92832951e-02 9.99571123e-01 -2.43746852e-04 -1.68894453e-01] [-1.14458464e-02 5.79151325e-04 9.99934326e-01 -6.38553775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.17, Z:-0.07 [[ 9.99629831e-01 -2.46762197e-02 1.14579649e-02 4.50072551e+00] [ 2.46805940e-02 9.99695359e-01 -2.40511641e-04 -1.69934530e-01] [-1.14485394e-02 5.23211991e-04 9.99934326e-01 -6.50475988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.17, Z:-0.07 [[ 9.99715926e-01 -2.08992817e-02 1.14580319e-02 4.55926905e+00] [ 2.09033714e-02 9.99781473e-01 -2.37274448e-04 -1.72608331e-01] [-1.14505692e-02 4.76718541e-04 9.99934326e-01 -6.70688401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.17, Z:-0.07 [[ 9.99788939e-01 -1.70525389e-02 1.14580898e-02 4.61854657e+00] [ 1.70563440e-02 9.99854502e-01 -2.34447852e-04 -1.71890160e-01] [-1.14524247e-02 4.29831490e-04 9.99934326e-01 -6.65789158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.17, Z:-0.07 [[ 9.99760492e-01 -1.86458978e-02 1.14581461e-02 4.67551079e+00] [ 1.86497755e-02 9.99826051e-01 -2.31659401e-04 -1.74212963e-01] [-1.14518335e-02 4.45295770e-04 9.99934326e-01 -6.74359348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.18, Z:-0.07 [[ 9.99702975e-01 -2.15098112e-02 1.14581737e-02 4.73308714e+00] [ 2.15138610e-02 9.99768524e-01 -2.30287609e-04 -1.76486160e-01] [-1.14505680e-02 4.76728765e-04 9.99934326e-01 -6.89929490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.18, Z:-0.07 [[ 9.99686663e-01 -2.22550027e-02 1.14582350e-02 4.79139447e+00] [ 2.22590659e-02 9.99752210e-01 -2.27194118e-04 -1.76452076e-01] [-1.14503396e-02 4.82172539e-04 9.99934326e-01 -6.94264996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.18, Z:-0.07 [[ 9.99742230e-01 -1.96005331e-02 1.14582985e-02 4.84856911e+00] [ 1.96043852e-02 9.99807790e-01 -2.23945676e-04 -1.76856132e-01] [-1.14517067e-02 4.48520847e-04 9.99934326e-01 -6.98587815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.18, Z:-0.07 [[ 9.99748110e-01 -1.92982892e-02 1.14583256e-02 4.90697786e+00] [ 1.93021055e-02 9.99813672e-01 -2.22549452e-04 -1.78117912e-01] [-1.14518958e-02 4.43663204e-04 9.99934326e-01 -7.09014387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197628 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.18, Z:-0.07 [[ 9.99737916e-01 -1.98193063e-02 1.14583871e-02 4.96551180e+00] [ 1.98231200e-02 9.99803479e-01 -2.19340870e-04 -1.78345308e-01] [-1.14517881e-02 4.46424365e-04 9.99934326e-01 -7.32832871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.18, Z:-0.07 [[ 9.99769167e-01 -1.81746345e-02 1.14584491e-02 5.02297080e+00] [ 1.81783027e-02 9.99834738e-01 -2.16053147e-04 -1.79521086e-01] [-1.14526287e-02 4.24298431e-04 9.99934326e-01 -7.10077752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317628 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.18, Z:-0.07 [[ 9.99784935e-01 -1.72854601e-02 1.14584680e-02 5.08139932e+00] [ 1.72890585e-02 9.99850510e-01 -2.15045247e-04 -1.82240943e-01] [-1.14530379e-02 4.13105121e-04 9.99934326e-01 -7.37551020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.18, Z:-0.07 [[ 9.99835551e-01 -1.40560495e-02 1.14585282e-02 5.13923298e+00] [ 1.40593987e-02 9.99901139e-01 -2.11786741e-04 -1.82245275e-01] [-1.14544185e-02 3.72851929e-04 9.99934326e-01 -7.32474606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437628 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.18, Z:-0.08 [[ 9.99890083e-01 -9.40863120e-03 1.14585875e-02 5.19835973e+00] [ 9.41163819e-03 9.99955688e-01 -2.08525783e-04 -1.80855124e-01] [-1.14561178e-02 3.16346943e-04 9.99934326e-01 -7.78401252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.19, Z:-0.08 [[ 9.99897096e-01 -8.63118636e-03 1.14586383e-02 5.25854962e+00] [ 8.63410994e-03 9.99962704e-01 -2.05695874e-04 -1.85016659e-01] [-1.14564356e-02 3.04609850e-04 9.99934326e-01 -7.91087453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557628 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.19, Z:-0.08 [[ 9.99871509e-01 -1.12100432e-02 1.14586348e-02 5.32021752e+00] [ 1.12131382e-02 9.99937110e-01 -2.05894844e-04 -1.87430756e-01] [-1.14556060e-02 3.34355644e-04 9.99934326e-01 -8.13092273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.19, Z:-0.08 [[ 9.99863836e-01 -1.18747462e-02 1.14586276e-02 5.38115273e+00] [ 1.18778894e-02 9.99929434e-01 -2.06290260e-04 -1.89709096e-01] [-1.14553694e-02 3.42366483e-04 9.99934326e-01 -7.77731321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.19, Z:-0.07 [[ 9.99831949e-01 -1.43098927e-02 1.14586276e-02 5.44117982e+00] [ 1.43131957e-02 9.99897540e-01 -2.06290260e-04 -1.92760402e-01] [-1.14545016e-02 3.70265173e-04 9.99934326e-01 -7.41258000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.19, Z:-0.08 [[ 9.99847681e-01 -1.31649248e-02 1.14586277e-02 5.49942988e+00] [ 1.31681526e-02 9.99913275e-01 -2.06287502e-04 -1.93989838e-01] [-1.14549182e-02 3.57145038e-04 9.99934326e-01 -7.50614459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.19, Z:-0.08 [[ 9.99893896e-01 -8.99426926e-03 1.14586384e-02 5.55924117e+00] [ 8.99721662e-03 9.99959503e-01 -2.05692613e-04 -1.94044626e-01] [-1.14563243e-02 3.08766640e-04 9.99934326e-01 -7.71339251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.19, Z:-0.08 [[ 9.99931667e-01 -2.31536832e-03 1.14586455e-02 5.62067810e+00] [ 2.31787285e-03 9.99997293e-01 -2.05295528e-04 -1.94435243e-01] [-1.14581391e-02 2.31841183e-04 9.99934326e-01 -8.06118447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.20, Z:-0.08 [[ 9.99933741e-01 1.10190114e-03 1.14586385e-02 5.68301521e+00] [-1.09961641e-03 9.99999374e-01 -2.05687292e-04 -1.95730988e-01] [-1.14588579e-02 1.93073556e-04 9.99934326e-01 -8.19307468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.20, Z:-0.08 [[ 9.99924691e-01 4.39450169e-03 1.14586244e-02 5.74515003e+00] [-4.39242412e-03 9.99990332e-01 -2.06470260e-04 -1.96557402e-01] [-1.14594209e-02 1.56123573e-04 9.99934326e-01 -8.23713922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.20, Z:-0.08 [[ 9.99925076e-01 4.30602323e-03 1.14586104e-02 5.80792718e+00] [-4.30393102e-03 9.99990717e-01 -2.07241537e-04 -1.99001727e-01] [-1.14593964e-02 1.57908941e-04 9.99934326e-01 -8.17009239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.20, Z:-0.08 [[ 9.99924580e-01 4.42001214e-03 1.14585510e-02 5.86962729e+00] [-4.41789034e-03 9.99990219e-01 -2.10476654e-04 -1.99994744e-01] [-1.14593692e-02 1.59838158e-04 9.99934326e-01 -8.04494136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.20, Z:-0.08 [[ 9.99907483e-01 7.32997638e-03 1.14584954e-02 5.93244008e+00] [-7.32801143e-03 9.99973127e-01 -2.13459944e-04 -2.00167401e-01] [-1.14597521e-02 1.29472210e-04 9.99934327e-01 -7.95296062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2176279999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.20, Z:-0.08 [[ 9.99889344e-01 9.48696784e-03 1.14584726e-02 5.99503826e+00] [-9.48513057e-03 9.99954992e-01 -2.14676846e-04 -2.00294973e-01] [-1.14599935e-02 1.05967982e-04 9.99934327e-01 -7.91759061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.20, Z:-0.08 [[ 9.99893901e-01 8.99398946e-03 1.14584103e-02 6.05744487e+00] [-8.99208228e-03 9.99959547e-01 -2.17953292e-04 -2.01644121e-01] [-1.14599070e-02 1.14895199e-04 9.99934327e-01 -8.15024892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.21, Z:-0.08 [[ 9.99925637e-01 4.17442995e-03 1.14583468e-02 6.12008310e+00] [-4.17216874e-03 9.99991272e-01 -2.21238691e-04 -2.05048339e-01] [-1.14591704e-02 1.73416082e-04 9.99934327e-01 -8.35037437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.21, Z:-0.09 [[ 9.99932207e-01 2.07097727e-03 1.14582830e-02 6.18232776e+00] [-2.06854066e-03 9.99997835e-01 -2.24498116e-04 -2.06076472e-01] [-1.14587231e-02 2.00780972e-04 9.99934327e-01 -8.56509053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457628 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.21, Z:-0.09 [[ 9.99933247e-01 -1.48664969e-03 1.14582235e-02 6.24458547e+00] [ 1.48935413e-03 9.99998865e-01 -2.27496543e-04 -2.05885215e-01] [-1.14578722e-02 2.44546709e-04 9.99934327e-01 -9.11888704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.21, Z:-0.09 [[ 9.99932454e-01 -1.94856335e-03 1.14581668e-02 6.30698662e+00] [ 1.95133039e-03 9.99998070e-01 -2.30315933e-04 -2.05500260e-01] [-1.14576959e-02 2.52659046e-04 9.99934327e-01 -8.88862637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.21, Z:-0.09 [[ 9.99897317e-01 -8.60618795e-03 1.14581503e-02 6.36782636e+00] [ 8.60940114e-03 9.99962912e-01 -2.31131878e-04 -2.07278885e-01] [-1.14557362e-02 3.29755957e-04 9.99934327e-01 -8.69362072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.21, Z:-0.09 [[ 9.99836108e-01 -1.40167245e-02 1.14580974e-02 6.42915438e+00] [ 1.40203224e-02 9.99901683e-01 -2.33727333e-04 -2.07754584e-01] [-1.14536948e-02 3.94335246e-04 9.99934327e-01 -8.52684553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.21, Z:-0.08 [[ 9.99717131e-01 -2.08415640e-02 1.14580893e-02 6.48843292e+00] [ 2.08456139e-02 9.99782679e-01 -2.34122692e-04 -2.07924265e-01] [-1.14507197e-02 4.72907371e-04 9.99934327e-01 -8.40127549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7576279999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.21, Z:-0.09 [[ 9.99583155e-01 -2.64995842e-02 1.14581054e-02 6.54683526e+00] [ 2.65039960e-02 9.99648680e-01 -2.33333031e-04 -2.06926681e-01] [-1.14478967e-02 5.36921347e-04 9.99934327e-01 -8.59064656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.21, Z:-0.09 [[ 9.99401786e-01 -3.26309616e-02 1.14581713e-02 6.60541325e+00] [ 3.26357377e-02 9.99467286e-01 -2.30051532e-04 -2.08005295e-01] [-1.14445605e-02 6.03859785e-04 9.99934327e-01 -8.68804905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.21, Z:-0.09 [[ 9.99190501e-01 -3.85623099e-02 1.14582316e-02 6.66322675e+00] [ 3.85674399e-02 9.99255974e-01 -2.27007124e-04 -2.08783162e-01] [-1.14409524e-02 6.68738020e-04 9.99934327e-01 -8.73214147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.21, Z:-0.09 [[ 9.99007617e-01 -4.30405547e-02 1.14582955e-02 6.72162094e+00] [ 4.30459407e-02 9.99073069e-01 -2.23734539e-04 -2.08173323e-01] [-1.14380448e-02 7.16745617e-04 9.99934327e-01 -8.58715675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.21, Z:-0.09 [[ 9.99052540e-01 -4.19848513e-02 1.14583582e-02 6.77970317e+00] [ 4.19901310e-02 9.99118001e-01 -2.20475271e-04 -2.05560495e-01] [-1.14389953e-02 7.01404341e-04 9.99934327e-01 -8.70393133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.20, Z:-0.09 [[ 9.99188691e-01 -3.86091167e-02 1.14584192e-02 6.83773634e+00] [ 3.86141384e-02 9.99254172e-01 -2.17259656e-04 -2.03904599e-01] [-1.14414850e-02 6.59540375e-04 9.99934327e-01 -8.52136669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.20, Z:-0.09 [[ 9.99317062e-01 -3.51299522e-02 1.14584798e-02 6.89584242e+00] [ 3.51347088e-02 9.99382563e-01 -2.14011968e-04 -2.01957745e-01] [-1.14438867e-02 6.16456163e-04 9.99934327e-01 -8.73344845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.20, Z:-0.09 [[ 9.99513978e-01 -2.89915422e-02 1.14585396e-02 6.95386338e+00] [ 2.89958592e-02 9.99579509e-01 -2.10763458e-04 -1.98589032e-01] [-1.14476110e-02 5.42911222e-04 9.99934327e-01 -8.90326935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.20, Z:-0.09 [[ 9.99618195e-01 -2.51428706e-02 1.14585984e-02 7.01220710e+00] [ 2.51468980e-02 9.99683745e-01 -2.07512949e-04 -1.98058432e-01] [-1.14497571e-02 4.95581926e-04 9.99934327e-01 -8.97602388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.20, Z:-0.09 [[ 9.99751081e-01 -1.91435474e-02 1.14586564e-02 7.07074584e+00] [ 1.91471442e-02 9.99816656e-01 -2.04260002e-04 -1.97801482e-01] [-1.14526453e-02 4.23609705e-04 9.99934327e-01 -9.07725644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.20, Z:-0.09 [[ 9.99869510e-01 -1.13868865e-02 1.14587128e-02 7.12915873e+00] [ 1.13899376e-02 9.99935112e-01 -2.01046244e-04 -1.97885250e-01] [-1.14556800e-02 3.31534034e-04 9.99934327e-01 -9.26452779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.20, Z:-0.09 [[ 9.99916327e-01 -6.00304079e-03 1.14587681e-02 7.18991747e+00] [ 6.00570201e-03 9.99981946e-01 -1.97846894e-04 -1.98808532e-01] [-1.14573735e-02 2.66648285e-04 9.99934327e-01 -9.42332186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.20, Z:-0.10 [[ 9.99928012e-01 -3.55907777e-03 1.14587681e-02 7.25072150e+00] [ 3.56157860e-03 9.99993638e-01 -1.97846894e-04 -2.00187132e-01] [-1.14579910e-02 2.38643954e-04 9.99934327e-01 -9.57430067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.20, Z:-0.10 [[ 9.99932986e-01 1.64914232e-03 1.14587577e-02 7.31292056e+00] [-1.64697650e-03 9.99998624e-01 -1.98444546e-04 -2.03542183e-01] [-1.14590692e-02 1.79558943e-04 9.99934327e-01 -9.50251895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.21, Z:-0.10 [[ 9.99922920e-01 4.78028700e-03 1.14587434e-02 7.37516813e+00] [-4.77831731e-03 9.99988564e-01 -1.99265429e-04 -2.07822616e-01] [-1.14595649e-02 1.44496558e-04 9.99934327e-01 -9.53450869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.21, Z:-0.09 [[ 9.99911681e-01 6.73262124e-03 1.14587257e-02 7.43828180e+00] [-6.73076808e-03 9.99977328e-01 -2.00281743e-04 -2.11318999e-01] [-1.14598143e-02 1.23138029e-04 9.99934327e-01 -9.48527027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.22, Z:-0.10 [[ 9.99903135e-01 7.90054025e-03 1.14587042e-02 7.50085496e+00] [-7.89874979e-03 9.99968784e-01 -2.01501969e-04 -2.16402146e-01] [-1.14599385e-02 1.10973013e-04 9.99934327e-01 -9.64350840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.22, Z:-0.10 [[ 9.99908245e-01 7.22506762e-03 1.14586467e-02 7.56346008e+00] [-7.22319595e-03 9.99973891e-01 -2.04718972e-04 -2.20909405e-01] [-1.14598267e-02 1.21932137e-04 9.99934327e-01 -9.83537031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.23, Z:-0.10 [[ 9.99916830e-01 5.91901341e-03 1.14585887e-02 7.62652929e+00] [-5.91701936e-03 9.99982473e-01 -2.07916100e-04 -2.27656541e-01] [-1.14596185e-02 1.40098117e-04 9.99934327e-01 -9.89312800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.23, Z:-0.10 [[ 9.99925296e-01 4.25495755e-03 1.14585301e-02 7.68952424e+00] [-4.25281783e-03 9.99990934e-01 -2.11095494e-04 -2.34948125e-01] [-1.14593245e-02 1.62348683e-04 9.99934327e-01 -9.67323926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.24, Z:-0.10 [[ 9.99902355e-01 7.99900590e-03 1.14584692e-02 7.75176691e+00] [-7.99707465e-03 9.99968000e-01 -2.14352541e-04 -2.36779885e-01] [-1.14598172e-02 1.22697377e-04 9.99934327e-01 -9.61647507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.24, Z:-0.10 [[ 9.99865869e-01 1.17025124e-02 1.14584541e-02 7.81493987e+00] [-1.17008151e-02 9.99931520e-01 -2.15157228e-04 -2.37316651e-01] [-1.14601873e-02 8.10551155e-05 9.99934327e-01 -9.70442061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.24, Z:-0.10 [[ 9.99855618e-01 1.25478063e-02 1.14584310e-02 7.87770113e+00] [-1.25461505e-02 9.99921271e-01 -2.16380742e-04 -2.39322591e-01] [-1.14602440e-02 7.25903015e-05 9.99934327e-01 -9.88005383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.24, Z:-0.10 [[ 9.99877907e-01 1.06243641e-02 1.14583686e-02 7.93980788e+00] [-1.06225447e-02 9.99943555e-01 -2.19635771e-04 -2.40352541e-01] [-1.14600553e-02 9.78919222e-05 9.99934327e-01 -1.01196676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.24, Z:-0.10 [[ 9.99916802e-01 5.92412479e-03 1.14583127e-02 8.00185639e+00] [-5.92196384e-03 9.99982440e-01 -2.22512495e-04 -2.41651683e-01] [-1.14594297e-02 1.54638269e-04 9.99934327e-01 -1.00490252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.24, Z:-0.10 [[ 9.99926340e-01 4.00294045e-03 1.14582530e-02 8.06456482e+00] [-4.00061861e-03 9.99991972e-01 -2.25548764e-04 -2.42084178e-01] [-1.14590639e-02 1.79692050e-04 9.99934327e-01 -1.00336360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.24, Z:-0.10 [[ 9.99932117e-01 2.11477029e-03 1.14581893e-02 8.12725302e+00] [-2.11228798e-03 9.99997743e-01 -2.28738062e-04 -2.42318438e-01] [-1.14586472e-02 2.04519539e-04 9.99934327e-01 -1.00914729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.24, Z:-0.10 [[ 9.99934039e-01 7.93489028e-04 1.14581228e-02 8.18936242e+00] [-7.90882373e-04 9.99999660e-01 -2.32023397e-04 -2.42930003e-01] [-1.14583030e-02 2.22946065e-04 9.99934327e-01 -1.02431898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.24, Z:-0.10 [[ 9.99934274e-01 -4.00417900e-04 1.14580606e-02 8.25260193e+00] [ 4.03137617e-04 9.99999891e-01 -2.35054094e-04 -2.44595799e-01] [-1.14579652e-02 2.39657820e-04 9.99934327e-01 -1.02595550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.25, Z:-0.10 [[ 9.99933790e-01 -1.06309039e-03 1.14579928e-02 8.31505496e+00] [ 1.06589091e-03 9.99999404e-01 -2.38312626e-04 -2.46230064e-01] [-1.14577327e-02 2.50509818e-04 9.99934327e-01 -1.02177160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.25, Z:-0.10 [[ 9.99934347e-01 -1.34623042e-04 1.14579240e-02 8.37697865e+00] [ 1.37400044e-04 9.99999961e-01 -2.41578382e-04 -2.47644580e-01] [-1.14578910e-02 2.43136841e-04 9.99934327e-01 -1.03211825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.25, Z:-0.10 [[ 9.99934356e-01 3.36578223e-05 1.14579026e-02 8.44018967e+00] [-3.08802761e-05 9.99999970e-01 -2.42589974e-04 -2.49953911e-01] [-1.14579104e-02 2.42220226e-04 9.99934327e-01 -1.03559839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.25, Z:-0.10 [[ 9.99933859e-01 -9.97495477e-04 1.14578769e-02 8.50259846e+00] [ 1.00035451e-03 9.99999470e-01 -2.43797021e-04 -2.51642178e-01] [-1.14576276e-02 2.55242834e-04 9.99934327e-01 -1.04250632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.25, Z:-0.11 [[ 9.99925958e-01 -4.09835363e-03 1.14578082e-02 8.56539188e+00] [ 4.10145257e-03 9.99991559e-01 -2.46981205e-04 -2.52762020e-01] [-1.14566993e-02 2.93956576e-04 9.99934327e-01 -1.05870049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.25, Z:-0.11 [[ 9.99926023e-01 -4.08268975e-03 1.14577396e-02 8.62770608e+00] [ 4.08582369e-03 9.99991622e-01 -2.50127039e-04 -2.51537229e-01] [-1.14566224e-02 2.96922839e-04 9.99934327e-01 -1.06649258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.25, Z:-0.11 [[ 9.99906140e-01 -7.51209539e-03 1.14577225e-02 8.68894697e+00] [ 7.51546321e-03 9.99971727e-01 -2.50905959e-04 -2.52956860e-01] [-1.14555137e-02 3.36992502e-04 9.99934327e-01 -1.08678455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.25, Z:-0.11 [[ 9.99860284e-01 -1.21709952e-02 1.14576891e-02 8.74988634e+00] [ 1.21746859e-02 9.99925854e-01 -2.52422929e-04 -2.53237006e-01] [-1.14537673e-02 3.91881428e-04 9.99934327e-01 -1.07292987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.25, Z:-0.11 [[ 9.99805897e-01 -1.60277714e-02 1.14576802e-02 8.80952086e+00] [ 1.60317197e-02 9.99871452e-01 -2.52827335e-04 -2.52520750e-01] [-1.14521550e-02 4.36464577e-04 9.99934327e-01 -1.06720179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.25, Z:-0.11 [[ 9.99785167e-01 -1.72725598e-02 1.14576891e-02 8.86738030e+00] [ 1.72765851e-02 9.99850717e-01 -2.52422786e-04 -2.52588653e-01] [-1.14516187e-02 4.50318298e-04 9.99934327e-01 -1.07644725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.25, Z:-0.11 [[ 9.99786738e-01 -1.71813196e-02 1.14577597e-02 8.92542433e+00] [ 1.71853018e-02 9.99852291e-01 -2.49177717e-04 -2.52676200e-01] [-1.14517860e-02 4.46029634e-04 9.99934327e-01 -1.08795450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.25, Z:-0.11 [[ 9.99836768e-01 -1.39698205e-02 1.14578297e-02 8.98336878e+00] [ 1.39735547e-02 9.99902335e-01 -2.45916163e-04 -2.52262190e-01] [-1.14532752e-02 4.05982631e-04 9.99934327e-01 -1.10810887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.25, Z:-0.11 [[ 9.99881184e-01 -1.03119333e-02 1.14578604e-02 9.04259582e+00] [ 1.03154111e-02 9.99946765e-01 -2.44474992e-04 -2.52476492e-01] [-1.14547294e-02 3.62638485e-04 9.99934327e-01 -1.10964796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.25, Z:-0.11 [[ 9.99919675e-01 -5.41845052e-03 1.14579179e-02 9.10323343e+00] [ 5.42157618e-03 9.99985274e-01 -2.41751106e-04 -2.53794576e-01] [-1.14564392e-02 3.03851662e-04 9.99934327e-01 -1.08411394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.25, Z:-0.11 [[ 9.99932246e-01 -2.05422428e-03 1.14579179e-02 9.16487746e+00] [ 2.05712921e-03 9.99997855e-01 -2.41751106e-04 -2.54255322e-01] [-1.14573967e-02 2.65305144e-04 9.99934327e-01 -1.09485512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.26, Z:-0.11 [[ 9.99934261e-01 -4.35377251e-04 1.14579006e-02 9.22726848e+00] [ 4.38185290e-04 9.99999875e-01 -2.42565246e-04 -2.55692669e-01] [-1.14577936e-02 2.47569984e-04 9.99934327e-01 -1.10515010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.26, Z:-0.11 [[ 9.99915163e-01 6.19550027e-03 1.14578834e-02 9.28907676e+00] [-6.19311810e-03 9.99980793e-01 -2.43376420e-04 -2.57905045e-01] [-1.14591712e-02 1.72395748e-04 9.99934327e-01 -1.11637110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.26, Z:-0.11 [[ 9.99895785e-01 8.78272304e-03 1.14578661e-02 9.35211537e+00] [-8.78050138e-03 9.99961421e-01 -2.44189116e-04 -2.60431148e-01] [-1.14595687e-02 1.43557859e-04 9.99934327e-01 -1.12909033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.26, Z:-0.11 [[ 9.99892405e-01 9.15949482e-03 1.14578388e-02 9.41361175e+00] [-9.15728332e-03 9.99958041e-01 -2.45461134e-04 -2.63264017e-01] [-1.14596064e-02 1.40512047e-04 9.99934327e-01 -1.13797593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.27, Z:-0.12 [[ 9.99894868e-01 8.88658906e-03 1.14577715e-02 9.47559972e+00] [-8.88432407e-03 9.99960503e-01 -2.48566317e-04 -2.66982419e-01] [-1.14595278e-02 1.46745630e-04 9.99934327e-01 -1.19814168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.27, Z:-0.12 [[ 9.99818148e-01 1.52443453e-02 1.14577482e-02 9.53851963e+00] [-1.52424854e-02 9.99883795e-01 -2.49636101e-04 -2.67751459e-01] [-1.14602223e-02 7.49461445e-05 9.99934327e-01 -1.21802138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757628 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.27, Z:-0.12 [[ 9.99761261e-01 1.86048696e-02 1.14577189e-02 9.60129928e+00] [-1.86032151e-02 9.99826914e-01 -2.50974306e-04 -2.70537873e-01] [-1.14604050e-02 3.77639801e-05 9.99934327e-01 -1.22561693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.27, Z:-0.12 [[ 9.99764289e-01 1.84415070e-02 1.14576461e-02 9.66256095e+00] [-1.84398041e-02 9.99829940e-01 -2.54254191e-04 -2.72777312e-01] [-1.14603864e-02 4.29175110e-05 9.99934327e-01 -1.19575505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.28, Z:-0.12 [[ 9.99742065e-01 1.96093590e-02 1.14576114e-02 9.72513071e+00] [-1.96077150e-02 9.99807718e-01 -2.55809384e-04 -2.75310514e-01] [-1.14604245e-02 3.10858232e-05 9.99934327e-01 -1.17720202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.28, Z:-0.12 [[ 9.99758324e-01 1.87621439e-02 1.14575388e-02 9.78845623e+00] [-1.87604075e-02 9.99823975e-01 -2.59019047e-04 -2.75173653e-01] [-1.14603817e-02 4.40083518e-05 9.99934327e-01 -1.19844540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.28, Z:-0.12 [[ 9.99744352e-01 1.94924689e-02 1.14574614e-02 9.85018007e+00] [-1.94907418e-02 9.99810003e-01 -2.62398815e-04 -2.77147501e-01] [-1.14603993e-02 3.90173122e-05 9.99934327e-01 -1.18475170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.28, Z:-0.12 [[ 9.99793167e-01 1.68033049e-02 1.14573893e-02 9.91251545e+00] [-1.68013655e-02 9.99858812e-01 -2.65508186e-04 -2.77901394e-01] [-1.14602331e-02 7.29534843e-05 9.99934327e-01 -1.20248314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.28, Z:-0.12 [[ 9.99847826e-01 1.31549962e-02 1.14573431e-02 9.97503252e+00] [-1.31527946e-02 9.99913462e-01 -2.67487535e-04 -2.78766970e-01] [-1.14598704e-02 1.16750750e-04 9.99934327e-01 -1.22024065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.28, Z:-0.12 [[ 9.99928220e-01 3.50511772e-03 1.14572658e-02 1.00383593e+01] [-3.50224534e-03 9.99993830e-01 -2.70757554e-04 -2.81196935e-01] [-1.14581442e-02 2.30611963e-04 9.99934327e-01 -1.21977124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.28, Z:-0.12 [[ 9.99921335e-01 -5.10459502e-03 1.14571890e-02 1.01013391e+01] [ 5.10806902e-03 9.99986916e-01 -2.73972996e-04 -2.81416341e-01] [-1.14556405e-02 3.32475556e-04 9.99934327e-01 -1.21399350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.28, Z:-0.12 [[ 9.99724287e-01 -2.04959686e-02 1.14571091e-02 1.01632003e+01] [ 2.05004894e-02 9.99789804e-01 -2.77272418e-04 -2.80870367e-01] [-1.14490179e-02 5.12072315e-04 9.99934327e-01 -1.21840202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.28, Z:-0.12 [[ 9.99536291e-01 -2.82123886e-02 1.14570347e-02 1.02209483e+01] [ 2.82174498e-02 9.99601769e-01 -2.80315141e-04 -2.81689911e-01] [-1.14445638e-02 6.03473457e-04 9.99934327e-01 -1.22745511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.28, Z:-0.13 [[ 9.99352420e-01 -3.41097583e-02 1.14570643e-02 1.02786447e+01] [ 3.41151919e-02 9.99417868e-01 -2.79097037e-04 -2.81353748e-01] [-1.14408749e-02 6.69776248e-04 9.99934327e-01 -1.25666545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.28, Z:-0.13 [[ 9.99332417e-01 -3.46908274e-02 1.14571430e-02 1.03363432e+01] [ 3.46962618e-02 9.99397865e-01 -2.75831240e-04 -2.77920701e-01] [-1.14406754e-02 6.73167131e-04 9.99934327e-01 -1.28074702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.28, Z:-0.13 [[ 9.99385715e-01 -3.31198670e-02 1.14572197e-02 1.03949072e+01] [ 3.31251616e-02 9.99451174e-01 -2.72606529e-04 -2.76639395e-01] [-1.14419030e-02 6.51961324e-04 9.99934327e-01 -1.29063853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.28, Z:-0.13 [[ 9.99543696e-01 -2.79487043e-02 1.14572944e-02 1.04525399e+01] [ 2.79536238e-02 9.99609185e-01 -2.69430313e-04 -2.77168361e-01] [-1.14452865e-02 5.89580268e-04 9.99934327e-01 -1.28437068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.28, Z:-0.13 [[ 9.99659727e-01 -2.34341330e-02 1.14573690e-02 1.05106746e+01] [ 2.34387200e-02 9.99725240e-01 -2.66219296e-04 -2.75987343e-01] [-1.14479823e-02 5.34674773e-04 9.99934327e-01 -1.29076104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.27, Z:-0.13 [[ 9.99826681e-01 -1.46742995e-02 1.14574440e-02 1.05690443e+01] [ 1.46782748e-02 9.99892234e-01 -2.62948962e-04 -2.73119583e-01] [-1.14523507e-02 4.31078901e-04 9.99934327e-01 -1.30551269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.27, Z:-0.13 [[ 9.99877683e-01 -1.06463393e-02 1.14575171e-02 1.06284481e+01] [ 1.06500136e-02 9.99943253e-01 -2.59724167e-04 -2.73699676e-01] [-1.14541019e-02 3.81715112e-04 9.99934327e-01 -1.31886434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.28, Z:-0.13 [[ 9.99910182e-01 -6.95360845e-03 1.14575801e-02 1.06891772e+01] [ 6.95700845e-03 9.99975767e-01 -2.56917216e-04 -2.75105528e-01] [-1.14555159e-02 3.36604621e-04 9.99934327e-01 -1.32231974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.28, Z:-0.13 [[ 9.99915554e-01 -6.13259876e-03 1.14575801e-02 1.07505041e+01] [ 6.13594491e-03 9.99981142e-01 -2.56917216e-04 -2.75439039e-01] [-1.14557884e-02 3.27198600e-04 9.99934327e-01 -1.32055308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.28, Z:-0.13 [[ 9.99884557e-01 -9.97981836e-03 1.14575667e-02 1.08119687e+01] [ 9.98342369e-03 9.99950131e-01 -2.57514806e-04 -2.78501065e-01] [-1.14544253e-02 3.71870820e-04 9.99934327e-01 -1.31834038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.28, Z:-0.13 [[ 9.99789548e-01 -1.70172252e-02 1.14575092e-02 1.08726716e+01] [ 1.70213209e-02 9.99855093e-01 -2.60048378e-04 -2.82815069e-01] [-1.14514236e-02 4.55015591e-04 9.99934327e-01 -1.33683302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.29, Z:-0.14 [[ 9.99703816e-01 -2.14710602e-02 1.14575092e-02 1.09307190e+01] [ 2.14754480e-02 9.99769342e-01 -2.60048378e-04 -2.87125928e-01] [-1.14492829e-02 5.06026497e-04 9.99934327e-01 -1.36253976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.29, Z:-0.14 [[ 9.99584721e-01 -2.64406948e-02 1.14575783e-02 1.09886093e+01] [ 2.64453730e-02 9.99650227e-01 -2.56966981e-04 -2.88902425e-01] [-1.14467763e-02 5.59860199e-04 9.99934327e-01 -1.37044208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.29, Z:-0.14 [[ 9.99700027e-01 -2.16466821e-02 1.14576532e-02 1.10464607e+01] [ 2.16510073e-02 9.99765557e-01 -2.53579956e-04 -2.94810151e-01] [-1.14494779e-02 5.01573622e-04 9.99934327e-01 -1.40884990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.30, Z:-0.14 [[ 9.99783401e-01 -1.73745047e-02 1.14576760e-02 1.11043033e+01] [ 1.73785381e-02 9.99848950e-01 -2.52548017e-04 -2.97515018e-01] [-1.14515574e-02 4.51610974e-04 9.99934327e-01 -1.42724419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.30, Z:-0.14 [[ 9.99866260e-01 -1.16697296e-02 1.14576979e-02 1.11626088e+01] [ 1.16733774e-02 9.99931832e-01 -2.51547324e-04 -3.01392838e-01] [-1.14539814e-02 3.85263715e-04 9.99934327e-01 -1.40003571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.30, Z:-0.14 [[ 9.99910769e-01 -6.86832632e-03 1.14577678e-02 1.12219234e+01] [ 6.87162233e-03 9.99976359e-01 -2.48322458e-04 -3.04854393e-01] [-1.14557914e-02 3.27033754e-04 9.99934327e-01 -1.40154124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.31, Z:-0.14 [[ 9.99933362e-01 1.41074135e-03 1.14577766e-02 1.12822220e+01] [-1.40799314e-03 9.99998978e-01 -2.47918787e-04 -3.08072135e-01] [-1.14581146e-02 2.31769796e-04 9.99934327e-01 -1.39545145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497628 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.31, Z:-0.14 [[ 9.99910151e-01 6.95766734e-03 1.14577723e-02 1.13447488e+01] [-6.95528089e-03 9.99975781e-01 -2.48117479e-04 -3.11618890e-01] [-1.14592211e-02 1.68403162e-04 9.99934327e-01 -1.41743752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.32, Z:-0.14 [[ 9.99756394e-01 1.88645892e-02 1.14577553e-02 1.14077431e+01] [-1.88629755e-02 9.99822047e-01 -2.48899761e-04 -3.15358808e-01] [-1.14604117e-02 3.27117708e-05 9.99934327e-01 -1.38382534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.32, Z:-0.14 [[ 9.99513385e-01 2.90122898e-02 1.14577283e-02 1.14695831e+01] [-2.90113284e-02 9.99579052e-01 -2.50135616e-04 -3.16355109e-01] [-1.14601622e-02 -8.23900219e-05 9.99934327e-01 -1.41826368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.32, Z:-0.14 [[ 9.99373469e-01 3.34871885e-02 1.14576837e-02 1.15327486e+01] [-3.34864980e-02 9.99439138e-01 -2.52160453e-04 -3.17861296e-01] [-1.14597017e-02 -1.31675237e-04 9.99934327e-01 -1.43268383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.32, Z:-0.15 [[ 9.99337130e-01 3.45546441e-02 1.14576107e-02 1.15946467e+01] [-3.45539862e-02 9.99402800e-01 -2.55435032e-04 -3.17864328e-01] [-1.14595947e-02 -1.40640410e-04 9.99934327e-01 -1.45073279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.32, Z:-0.15 [[ 9.99486945e-01 2.99093889e-02 1.14575469e-02 1.16552948e+01] [-2.99083933e-02 9.99552611e-01 -2.58266305e-04 -3.18461061e-01] [-1.14601455e-02 -8.45430189e-05 9.99934327e-01 -1.48088177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.32, Z:-0.15 [[ 9.99538585e-01 2.81308274e-02 1.14575110e-02 1.17186027e+01] [-2.81296968e-02 9.99604248e-01 -2.59851484e-04 -3.20533380e-01] [-1.14602865e-02 -6.25647246e-05 9.99934327e-01 -1.46531078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.32, Z:-0.15 [[ 9.99670074e-01 2.29884833e-02 1.14574359e-02 1.17793915e+01] [-2.29869774e-02 9.99735730e-01 -2.63119545e-04 -3.21774702e-01] [-1.14604568e-02 -3.39085368e-07 9.99934327e-01 -1.45613981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.32, Z:-0.15 [[ 9.99766671e-01 1.83121015e-02 1.14573753e-02 1.18423431e+01] [-1.83102586e-02 9.99832318e-01 -2.65734102e-04 -3.22936124e-01] [-1.14603202e-02 5.58845951e-05 9.99934327e-01 -1.47262481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.32, Z:-0.15 [[ 9.99824509e-01 1.48216851e-02 1.14573010e-02 1.19048782e+01] [-1.48195768e-02 9.99890148e-01 -2.68899805e-04 -3.23379056e-01] [-1.14600279e-02 9.90602638e-05 9.99934327e-01 -1.47496060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.33, Z:-0.15 [[ 9.99889651e-01 9.45606345e-03 1.14572254e-02 1.19673522e+01] [-9.45356644e-03 9.99955277e-01 -2.72081153e-04 -3.25890943e-01] [-1.14592858e-02 1.63739487e-04 9.99934327e-01 -1.48035258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.32, Z:-0.15 [[ 9.99933946e-01 9.15464746e-04 1.14571495e-02 1.20289694e+01] [-9.12371101e-04 9.99999546e-01 -2.75242643e-04 -3.24671710e-01] [-1.14573962e-02 2.64771290e-04 9.99934327e-01 -1.50774806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.33, Z:-0.15 [[ 9.99920578e-01 -5.25106091e-03 1.14570786e-02 1.20919454e+01] [ 5.25459246e-03 9.99986156e-01 -2.78160468e-04 -3.25896450e-01] [-1.14554594e-02 3.38340655e-04 9.99934327e-01 -1.51948712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.33, Z:-0.15 [[ 9.99855435e-01 -1.25637134e-02 1.14570030e-02 1.21525791e+01] [ 1.25677597e-02 9.99920983e-01 -2.81240751e-04 -3.27894417e-01] [-1.14525643e-02 4.25188954e-04 9.99934327e-01 -1.50389985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.33, Z:-0.15 [[ 9.99816105e-01 -1.53783904e-02 1.14569668e-02 1.22109150e+01] [ 1.53826380e-02 9.99881640e-01 -2.82707245e-04 -3.29256437e-01] [-1.14512632e-02 4.58893629e-04 9.99934327e-01 -1.49617686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.33, Z:-0.15 [[ 9.99817639e-01 -1.52782647e-02 1.14569805e-02 1.22701370e+01] [ 1.52824994e-02 9.99883176e-01 -2.82150915e-04 -3.29271802e-01] [-1.14513313e-02 4.57190759e-04 9.99934327e-01 -1.49290825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457628 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.33, Z:-0.15 [[ 9.99858025e-01 -1.23557796e-02 1.14570460e-02 1.23294843e+01] [ 1.23597920e-02 9.99923576e-01 -2.79468418e-04 -3.27528178e-01] [-1.14527173e-02 4.21035445e-04 9.99934327e-01 -1.52923381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.33, Z:-0.15 [[ 9.99902379e-01 -7.99793071e-03 1.14571141e-02 1.23889230e+01] [ 8.00162505e-03 9.99967948e-01 -2.76645862e-04 -3.28053837e-01] [-1.14545343e-02 3.68294387e-04 9.99934327e-01 -1.51699328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577627999999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.33, Z:-0.16 [[ 9.99923738e-01 -4.61000833e-03 1.14571239e-02 1.24500984e+01] [ 4.61347587e-03 9.99989320e-01 -2.76241838e-04 -3.29698484e-01] [-1.14557280e-02 3.29077936e-04 9.99934327e-01 -1.55330079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.33, Z:-0.16 [[ 9.99933585e-01 1.24922241e-03 1.14571141e-02 1.25118761e+01] [-1.24613458e-03 9.99999185e-01 -2.76646264e-04 -3.30753753e-01] [-1.14574503e-02 2.62350785e-04 9.99934327e-01 -1.56237745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.33, Z:-0.15 [[ 9.99922028e-01 4.96721733e-03 1.14570943e-02 1.25736628e+01] [-4.96436408e-03 9.99987639e-01 -2.77464017e-04 -3.31726023e-01] [-1.14583309e-02 2.20565195e-04 9.99934327e-01 -1.54180159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.33, Z:-0.15 [[ 9.99921095e-01 5.15163874e-03 1.14570742e-02 1.26351103e+01] [-5.14878812e-03 9.99986706e-01 -2.78291224e-04 -3.34911119e-01] [-1.14583555e-02 2.19279218e-04 9.99934327e-01 -1.53362121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.34, Z:-0.15 [[ 9.99931487e-01 2.39958548e-03 1.14569992e-02 1.26982087e+01] [-2.39651930e-03 9.99997089e-01 -2.81346012e-04 -3.41531230e-01] [-1.14576409e-02 2.53869817e-04 9.99934327e-01 -1.52412452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.34, Z:-0.15 [[ 9.99934167e-01 6.32356634e-04 1.14569199e-02 1.27615805e+01] [-6.29137967e-04 9.99999762e-01 -2.84538422e-04 -3.44980399e-01] [-1.14570971e-02 2.77311707e-04 9.99934327e-01 -1.53965944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.34, Z:-0.16 [[ 9.99923169e-01 4.73245377e-03 1.14568838e-02 1.28228017e+01] [-4.72948755e-03 9.99988775e-01 -2.85982884e-04 -3.44320613e-01] [-1.14581086e-02 2.31775722e-04 9.99934327e-01 -1.55972078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.35, Z:-0.16 [[ 9.99911565e-01 6.75293869e-03 1.14568506e-02 1.28849159e+01] [-6.75008986e-03 9.99977177e-01 -2.87307611e-04 -3.45849006e-01] [-1.14585293e-02 2.09947432e-04 9.99934327e-01 -1.57629299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.35, Z:-0.16 [[ 9.99899371e-01 8.36596639e-03 1.14568302e-02 1.29464809e+01] [-8.36321414e-03 9.99964986e-01 -2.88117280e-04 -3.48283109e-01] [-1.14588395e-02 1.92272362e-04 9.99934327e-01 -1.59828917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.35, Z:-0.16 [[ 9.99900552e-01 8.22371070e-03 1.14567589e-02 1.30095676e+01] [-8.22091691e-03 9.99966165e-01 -2.90928774e-04 -3.49348606e-01] [-1.14587637e-02 1.96714779e-04 9.99934327e-01 -1.60497111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.35, Z:-0.16 [[ 9.99916912e-01 5.90880890e-03 1.14566770e-02 1.30728981e+01] [-5.90582670e-03 9.99982517e-01 -2.94116099e-04 -3.50202506e-01] [-1.14582146e-02 2.26430512e-04 9.99934327e-01 -1.61677422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237627999999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.35, Z:-0.17 [[ 9.99925623e-01 4.18280302e-03 1.14565956e-02 1.31362456e+01] [-4.17967164e-03 9.99991221e-01 -2.97255649e-04 -3.50949686e-01] [-1.14577384e-02 2.49348732e-04 9.99934327e-01 -1.65682700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.35, Z:-0.16 [[ 9.99932008e-01 2.17424959e-03 1.14565139e-02 1.31995895e+01] [-2.17095076e-03 9.99997598e-01 -3.00371802e-04 -3.54749472e-01] [-1.14571394e-02 2.75479852e-04 9.99934327e-01 -1.62777833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.36, Z:-0.16 [[ 9.99933794e-01 1.07644059e-03 1.14564323e-02 1.32610390e+01] [-1.07303451e-03 9.99999378e-01 -3.03450152e-04 -3.56958036e-01] [-1.14567519e-02 2.91136914e-04 9.99934327e-01 -1.62509550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.36, Z:-0.16 [[ 9.99934320e-01 3.27705517e-04 1.14563562e-02 1.33237018e+01] [-3.24217724e-04 9.99999901e-01 -3.06297621e-04 -3.58159471e-01] [-1.14564554e-02 3.02563150e-04 9.99934327e-01 -1.63319547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.36, Z:-0.17 [[ 9.99931696e-01 2.31464654e-03 1.14562723e-02 1.33862950e+01] [-2.31125351e-03 9.99997281e-01 -3.09403087e-04 -3.58271178e-01] [-1.14569573e-02 2.82903604e-04 9.99934327e-01 -1.65828661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.36, Z:-0.17 [[ 9.99922274e-01 4.91945148e-03 1.14562395e-02 1.34492292e+01] [-4.91621543e-03 9.99987867e-01 -3.10614974e-04 -3.60272175e-01] [-1.14576285e-02 2.54269490e-04 9.99934327e-01 -1.66459786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.36, Z:-0.17 [[ 9.99891882e-01 9.21848682e-03 1.14562061e-02 1.35126275e+01] [-9.21551876e-03 9.99957488e-01 -3.11841727e-04 -3.61807892e-01] [-1.14585938e-02 2.06233129e-04 9.99934327e-01 -1.67414429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.36, Z:-0.17 [[ 9.99872680e-01 1.11076298e-02 1.14561727e-02 1.35750882e+01] [-1.11047717e-02 9.99938291e-01 -3.13065001e-04 -3.64835133e-01] [-1.14589431e-02 1.85806959e-04 9.99934327e-01 -1.67295960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.37, Z:-0.17 [[ 9.99823538e-01 1.48879353e-02 1.14560822e-02 1.36381107e+01] [-1.48852877e-02 9.99889158e-01 -3.16341600e-04 -3.65395861e-01] [-1.14595220e-02 1.45758699e-04 9.99934327e-01 -1.70247499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.37, Z:-0.17 [[ 9.99777900e-01 1.76892415e-02 1.14560484e-02 1.37013168e+01] [-1.76867638e-02 9.99843527e-01 -3.17559892e-04 -3.66322639e-01] [-1.14598732e-02 1.14868939e-04 9.99934327e-01 -1.70915053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.37, Z:-0.17 [[ 9.99755950e-01 1.88891889e-02 1.14559553e-02 1.37642270e+01] [-1.88867520e-02 9.99821578e-01 -3.20883050e-04 -3.67649255e-01] [-1.14599725e-02 1.04438952e-04 9.99934327e-01 -1.71763269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.37, Z:-0.17 [[ 9.99786554e-01 1.71933024e-02 1.14558620e-02 1.38274454e+01] [-1.71907163e-02 9.99852176e-01 -3.24180452e-04 -3.69392738e-01] [-1.14597423e-02 1.27176783e-04 9.99934327e-01 -1.72660267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.37, Z:-0.17 [[ 9.99847507e-01 1.31806187e-02 1.14557690e-02 1.38905102e+01] [-1.31777320e-02 9.99913116e-01 -3.27434742e-04 -3.71187841e-01] [-1.14590895e-02 1.76423756e-04 9.99934327e-01 -1.71307730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.37, Z:-0.17 [[ 9.99908921e-01 7.13562916e-03 1.14556735e-02 1.39523843e+01] [-7.13230801e-03 9.99974510e-01 -3.30741178e-04 -3.72840215e-01] [-1.14577416e-02 2.49005662e-04 9.99934327e-01 -1.72154798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.37, Z:-0.17 [[ 9.99925632e-01 -4.18332826e-03 1.14555848e-02 1.40155679e+01] [ 4.18742648e-03 9.99991177e-01 -3.33786914e-04 -3.73255569e-01] [-1.14540874e-02 3.81731510e-04 9.99934327e-01 -1.73189844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137628 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.37, Z:-0.17 [[ 9.99857597e-01 -1.23918062e-02 1.14554877e-02 1.40787147e+01] [ 1.23964801e-02 9.99923104e-01 -3.37085039e-04 -3.74933376e-01] [-1.14504298e-02 4.79044763e-04 9.99934327e-01 -1.74820317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.37, Z:-0.17 [[ 9.99718964e-01 -2.07549342e-02 1.14553901e-02 1.41382578e+01] [ 2.07601934e-02 9.99784426e-01 -3.40370414e-04 -3.74715975e-01] [-1.14458563e-02 5.78090872e-04 9.99934327e-01 -1.73574934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.37, Z:-0.18 [[ 9.99634629e-01 -2.44822714e-02 1.14554024e-02 1.41954859e+01] [ 2.44877699e-02 9.99700072e-01 -3.39956413e-04 -3.73650084e-01] [-1.14436437e-02 6.20349461e-04 9.99934327e-01 -1.76430252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.37, Z:-0.18 [[ 9.99602210e-01 -2.57719838e-02 1.14554445e-02 1.42531752e+01] [ 2.57775505e-02 9.99667646e-01 -3.38532868e-04 -3.71681998e-01] [-1.14429126e-02 6.33691501e-04 9.99934327e-01 -1.77261978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.37, Z:-0.18 [[ 9.99659860e-01 -2.34293654e-02 1.14555399e-02 1.43118185e+01] [ 2.34347415e-02 9.99725313e-01 -3.35272778e-04 -3.68011500e-01] [-1.14445380e-02 6.03616354e-04 9.99934327e-01 -1.80214358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.37, Z:-0.18 [[ 9.99761428e-01 -1.85971719e-02 1.14556336e-02 1.43703138e+01] [ 1.86021945e-02 9.99826909e-01 -3.32038226e-04 -3.65979817e-01] [-1.14474758e-02 5.45058937e-04 9.99934327e-01 -1.79955813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.36, Z:-0.18 [[ 9.99877956e-01 -1.06226033e-02 1.14557276e-02 1.44282776e+01] [ 1.06270661e-02 9.99943477e-01 -3.28763920e-04 -3.63104784e-01] [-1.14515878e-02 4.50464570e-04 9.99934327e-01 -1.81158090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.36, Z:-0.18 [[ 9.99913912e-01 -6.39787295e-03 1.14558196e-02 1.44884310e+01] [ 6.40202181e-03 9.99979454e-01 -3.25526551e-04 -3.62577795e-01] [-1.14535016e-02 3.98838934e-04 9.99934327e-01 -1.81789435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.36, Z:-0.18 [[ 9.99925006e-01 -4.32964553e-03 1.14558196e-02 1.45508858e+01] [ 4.33365881e-03 9.99990557e-01 -3.25526551e-04 -3.62189282e-01] [-1.14543020e-02 3.75147752e-04 9.99934327e-01 -1.83341674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.36, Z:-0.18 [[ 9.99923867e-01 -4.58522319e-03 1.14557962e-02 1.46130487e+01] [ 4.58926265e-03 9.99989416e-01 -3.26349475e-04 -3.64533177e-01] [-1.14541785e-02 3.78898287e-04 9.99934327e-01 -1.84773127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.37, Z:-0.19 [[ 9.99913584e-01 -6.44903755e-03 1.14557730e-02 1.46760030e+01] [ 6.45320847e-03 9.99979124e-01 -3.27160837e-04 -3.67276949e-01] [-1.14534240e-02 4.01059056e-04 9.99934327e-01 -1.85611943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.37, Z:-0.19 [[ 9.99906172e-01 -7.51093471e-03 1.14556806e-02 1.47376730e+01] [ 7.51521188e-03 9.99971706e-01 -3.30364125e-04 -3.68727084e-01] [-1.14528751e-02 4.16424995e-04 9.99934327e-01 -1.87071461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.37, Z:-0.19 [[ 9.99912576e-01 -6.60369343e-03 1.14556569e-02 1.47992863e+01] [ 6.60792052e-03 9.99978113e-01 -3.31184788e-04 -3.71466509e-01] [-1.14532191e-02 4.06853904e-04 9.99934327e-01 -1.88118481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.38, Z:-0.19 [[ 9.99928115e-01 -3.54029407e-03 1.14556329e-02 1.48599918e+01] [ 3.54432983e-03 9.99993664e-01 -3.32011801e-04 -3.77287829e-01] [-1.14543849e-02 3.72590475e-04 9.99934327e-01 -1.88434505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.38, Z:-0.19 [[ 9.99934371e-01 1.53039981e-04 1.14555932e-02 1.49217816e+01] [-1.49230742e-04 9.99999933e-01 -3.33376182e-04 -3.80338234e-01] [-1.14556435e-02 3.31644776e-04 9.99934327e-01 -1.91516260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.38, Z:-0.19 [[ 9.99929755e-01 3.04232087e-03 1.14555696e-02 1.49833731e+01] [-3.03869184e-03 9.99995327e-01 -3.34184336e-04 -3.83951433e-01] [-1.14565328e-02 2.99350915e-04 9.99934327e-01 -1.94472013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.39, Z:-0.20 [[ 9.99923108e-01 4.74853787e-03 1.14555463e-02 1.50460071e+01] [-4.74501160e-03 9.99988686e-01 -3.34981745e-04 -3.87447186e-01] [-1.14570074e-02 2.80599287e-04 9.99934327e-01 -1.95356229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.39, Z:-0.20 [[ 9.99907194e-01 7.37393813e-03 1.14555105e-02 1.51071187e+01] [-7.37057006e-03 9.99972780e-01 -3.36203427e-04 -3.93684439e-01] [-1.14576778e-02 2.51738583e-04 9.99934327e-01 -1.99452919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217627999999998 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.40, Z:-0.20 [[ 9.99891592e-01 9.25074210e-03 1.14554638e-02 1.51696714e+01] [-9.24747904e-03 9.99957184e-01 -3.37784605e-04 -3.97841813e-01] [-1.14580981e-02 2.31813825e-04 9.99934327e-01 -1.99830414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.40, Z:-0.20 [[ 9.99827630e-01 1.46111424e-02 1.14553665e-02 1.52321283e+01] [-1.46081936e-02 9.99893236e-01 -3.41054082e-04 -4.01949320e-01] [-1.14591267e-02 1.73653083e-04 9.99934327e-01 -1.95664959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.41, Z:-0.19 [[ 9.99763375e-01 1.84924317e-02 1.14553423e-02 1.52950212e+01] [-1.84897283e-02 9.99828992e-01 -3.41864653e-04 -4.05100707e-01] [-1.14597053e-02 1.29977592e-04 9.99934327e-01 -1.94138785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397627999999997 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.41, Z:-0.20 [[ 9.99666924e-01 2.31261264e-02 1.14552443e-02 1.53577232e+01] [-2.31236899e-02 9.99732552e-01 -3.45118794e-04 -4.06110770e-01] [-1.14601619e-02 8.01163268e-05 9.99934327e-01 -1.96734769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457627999999996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.41, Z:-0.20 [[ 9.99534848e-01 2.82642393e-02 1.14551456e-02 1.54204748e+01] [-2.82621030e-02 9.99600486e-01 -3.48363299e-04 -4.07135123e-01] [-1.14604153e-02 2.44547523e-05 9.99934327e-01 -1.97300158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.41, Z:-0.20 [[ 9.99438170e-01 3.14980400e-02 1.14550455e-02 1.54823910e+01] [-3.14960787e-02 9.99503814e-01 -3.51623798e-04 -4.09156284e-01] [-1.14604371e-02 -9.36276988e-06 9.99934327e-01 -2.00960470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.41, Z:-0.20 [[ 9.99447331e-01 3.12060335e-02 1.14549522e-02 1.55455284e+01] [-3.12040185e-02 9.99512973e-01 -3.54636728e-04 -4.11260687e-01] [-1.14604402e-02 -2.99981015e-06 9.99934327e-01 -2.03546595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.41, Z:-0.20 [[ 9.99573345e-01 2.68684746e-02 1.14548532e-02 1.56074963e+01] [-2.68661383e-02 9.99638976e-01 -3.57809007e-04 -4.13295617e-01] [-1.14603315e-02 4.99086760e-05 9.99934327e-01 -2.04605361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.42, Z:-0.20 [[ 9.99695158e-01 2.18718872e-02 1.14547610e-02 1.56705475e+01] [-2.18691894e-02 9.99760776e-01 -3.60736304e-04 -4.15337980e-01] [-1.14599107e-02 1.10119999e-04 9.99934327e-01 -2.04177314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.42, Z:-0.20 [[ 9.99817804e-01 1.52692429e-02 1.14546555e-02 1.57331289e+01] [-1.52660738e-02 9.99883400e-01 -3.64056171e-04 -4.17494586e-01] [-1.14588787e-02 1.89122226e-04 9.99934327e-01 -2.03660594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.42, Z:-0.21 [[ 9.99878675e-01 1.05559727e-02 1.14545489e-02 1.57948309e+01] [-1.05524564e-02 9.99944254e-01 -3.67379764e-04 -4.19148133e-01] [-1.14577884e-02 2.46461565e-04 9.99934327e-01 -2.05051944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.42, Z:-0.21 [[ 9.99899606e-01 8.34106767e-03 1.14544498e-02 1.58572394e+01] [-8.33737101e-03 9.99965175e-01 -3.70441784e-04 -4.19505062e-01] [-1.14571408e-02 2.74904596e-04 9.99934327e-01 -2.06620676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.42, Z:-0.21 [[ 9.99934029e-01 -8.58240576e-04 1.14543442e-02 1.59196924e+01] [ 8.62577363e-04 9.99999558e-01 -3.73680078e-04 -4.21432433e-01] [-1.14540184e-02 3.83535684e-04 9.99934327e-01 -2.07248716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.42, Z:-0.21 [[ 9.99903596e-01 -7.84852925e-03 1.14542392e-02 1.59826900e+01] [ 7.85336054e-03 9.99969091e-01 -3.76871741e-04 -4.22820415e-01] [-1.14509272e-02 4.66789679e-04 9.99934327e-01 -2.08794182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.42, Z:-0.21 [[ 9.99831823e-01 -1.43223191e-02 1.14541312e-02 1.60441784e+01] [ 1.43276116e-02 9.99897282e-01 -3.80125566e-04 -4.20937890e-01] [-1.14475104e-02 5.44171980e-04 9.99934327e-01 -2.05603757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.42, Z:-0.21 [[ 9.99773346e-01 -1.79460483e-02 1.14541178e-02 1.61039887e+01] [ 1.79515826e-02 9.99838785e-01 -3.80529342e-04 -4.21197143e-01] [-1.14454422e-02 5.86062634e-04 9.99934327e-01 -2.05585422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.42, Z:-0.21 [[ 9.99752778e-01 -1.90574266e-02 1.14541311e-02 1.61619813e+01] [ 1.90630291e-02 9.99818212e-01 -3.80128866e-04 -4.18941805e-01] [-1.14448046e-02 5.98385324e-04 9.99934327e-01 -2.08023457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.42, Z:-0.21 [[ 9.99809214e-01 -1.58220096e-02 1.14542382e-02 1.62186449e+01] [ 1.58273630e-02 9.99874668e-01 -3.76871580e-04 -4.17317460e-01] [-1.14468398e-02 5.58090065e-04 9.99934327e-01 -2.10415168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.42, Z:-0.21 [[ 9.99908533e-01 -7.19203367e-03 1.14542841e-02 1.62771841e+01] [ 7.19680596e-03 9.99974032e-01 -3.75473416e-04 -4.15481603e-01] [-1.14512862e-02 4.57873332e-04 9.99934327e-01 -2.11903640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.41, Z:-0.21 [[ 9.99934386e-01 -1.41854392e-04 1.14543748e-02 1.63382339e+01] [ 1.46132846e-04 9.99999920e-01 -3.72685269e-04 -4.14181586e-01] [-1.14543210e-02 3.74334676e-04 9.99934327e-01 -2.13207657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.41, Z:-0.21 [[ 9.99887693e-01 9.66435572e-03 1.14543616e-02 1.63994433e+01] [-9.66071552e-03 9.99953265e-01 -3.73089597e-04 -4.13210176e-01] [-1.14574320e-02 2.62390368e-04 9.99934327e-01 -2.14560510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.41, Z:-0.21 [[ 9.99785561e-01 1.72519506e-02 1.14543172e-02 1.64618424e+01] [-1.72487926e-02 9.99851158e-01 -3.74447857e-04 -4.14674775e-01] [-1.14590723e-02 1.76794420e-04 9.99934327e-01 -2.14412991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.42, Z:-0.22 [[ 9.99695364e-01 2.18627076e-02 1.14542901e-02 1.65234586e+01] [-2.18598426e-02 9.99760975e-01 -3.75275915e-04 -4.16568284e-01] [-1.14597568e-02 1.24772614e-04 9.99934327e-01 -2.15207593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.42, Z:-0.21 [[ 9.99596377e-01 2.59977566e-02 1.14542229e-02 1.65862624e+01] [-2.59951397e-02 9.99661998e-01 -3.77313897e-04 -4.19838539e-01] [-1.14601607e-02 7.94074790e-05 9.99934327e-01 -2.14636542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.42, Z:-0.21 [[ 9.99446368e-01 3.12371608e-02 1.14541139e-02 1.66495106e+01] [-3.12348503e-02 9.99512001e-01 -3.80594414e-04 -4.23577981e-01] [-1.14604130e-02 2.26161698e-05 9.99934327e-01 -2.14734966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.43, Z:-0.22 [[ 9.99331422e-01 3.47205240e-02 1.14540054e-02 1.67120573e+01] [-3.47184052e-02 9.99397061e-01 -3.83833413e-04 -4.27880006e-01] [-1.14604262e-02 -1.40880103e-05 9.99934327e-01 -2.16289020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.43, Z:-0.22 [[ 9.99161979e-01 3.92956437e-02 1.14538948e-02 1.67736972e+01] [-3.92937879e-02 9.99227626e-01 -3.87106931e-04 -4.34958980e-01] [-1.14602597e-02 -6.32843844e-05 9.99934327e-01 -2.18813444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.44, Z:-0.22 [[ 9.99120258e-01 4.03425288e-02 1.14537979e-02 1.68349759e+01] [-4.03407092e-02 9.99185906e-01 -3.89953266e-04 -4.41815602e-01] [-1.14602051e-02 -7.24441208e-05 9.99934327e-01 -2.23995861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.45, Z:-0.23 [[ 9.99158858e-01 3.93749905e-02 1.14537018e-02 1.68966676e+01] [-3.93730752e-02 9.99224503e-01 -3.92755882e-04 -4.48726918e-01] [-1.14602842e-02 -5.85419425e-05 9.99934327e-01 -2.25568597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.46, Z:-0.23 [[ 9.99247252e-01 3.70640461e-02 1.14536037e-02 1.69578668e+01] [-3.70619463e-02 9.99312892e-01 -3.95595764e-04 -4.57357122e-01] [-1.14603962e-02 -2.91948646e-05 9.99934327e-01 -2.25664366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.46, Z:-0.22 [[ 9.99204536e-01 3.81983392e-02 1.14534992e-02 1.70202475e+01] [-3.81962796e-02 9.99270176e-01 -3.98598356e-04 -4.61710367e-01] [-1.14603659e-02 -3.91997719e-05 9.99934327e-01 -2.22772449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.47, Z:-0.22 [[ 9.99184190e-01 3.87269084e-02 1.14533994e-02 1.70811895e+01] [-3.87248509e-02 9.99249831e-01 -4.01443952e-04 -4.65363218e-01] [-1.14603541e-02 -4.24147346e-05 9.99934327e-01 -2.21737016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.47, Z:-0.22 [[ 9.99170255e-01 3.90848142e-02 1.14533074e-02 1.71418781e+01] [-3.90827503e-02 9.99235896e-01 -4.04054081e-04 -4.67422249e-01] [-1.14603482e-02 -4.39079321e-05 9.99934327e-01 -2.21955957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.47, Z:-0.22 [[ 9.99269022e-01 3.64725217e-02 1.14532166e-02 1.72042929e+01] [-3.64702569e-02 9.99334656e-01 -4.06610472e-04 -4.68717410e-01] [-1.14604264e-02 -1.13885034e-05 9.99934327e-01 -2.22641368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.47, Z:-0.22 [[ 9.99435284e-01 3.15901834e-02 1.14531064e-02 1.72668144e+01] [-3.15875627e-02 9.99500904e-01 -4.09690431e-04 -4.69982859e-01] [-1.14603324e-02 4.76833556e-05 9.99934327e-01 -2.23420170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.47, Z:-0.22 [[ 9.99633889e-01 2.45136202e-02 1.14529883e-02 1.73299615e+01] [-2.45104974e-02 9.99699487e-01 -4.12965327e-04 -4.71733824e-01] [-1.14596698e-02 1.32095695e-04 9.99934327e-01 -2.24277171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.47, Z:-0.22 [[ 9.99876759e-01 1.07377090e-02 1.14528703e-02 1.73932982e+01] [-1.07336455e-02 9.99942306e-01 -4.16212775e-04 -4.72744392e-01] [-1.14566787e-02 2.93230431e-04 9.99934327e-01 -2.24767047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.47, Z:-0.23 [[ 9.99917733e-01 -5.77596389e-03 1.14527517e-02 1.74564529e+01] [ 5.78114633e-03 9.99983201e-01 -4.19450619e-04 -4.72628075e-01] [-1.14501366e-02 4.85626146e-04 9.99934327e-01 -2.26318649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.47, Z:-0.23 [[ 9.99794913e-01 -1.67023635e-02 1.14526317e-02 1.75184841e+01] [ 1.67082981e-02 9.99860317e-01 -4.22702402e-04 -4.74985532e-01] [-1.14439719e-02 6.13969697e-04 9.99934327e-01 -2.29477567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.48, Z:-0.23 [[ 9.99596018e-01 -2.60122950e-02 1.14525253e-02 1.75778181e+01] [ 2.60188712e-02 9.99661361e-01 -4.25565905e-04 -4.76486369e-01] [-1.14375771e-02 7.23375765e-04 9.99934327e-01 -2.26195655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617627999999996 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.48, Z:-0.23 [[ 9.99537039e-01 -2.81876928e-02 1.14525554e-02 1.76354480e+01] [ 2.81944019e-02 9.99602369e-01 -4.24753769e-04 -4.76547985e-01] [-1.14360287e-02 7.47455076e-04 9.99934327e-01 -2.30195670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.47, Z:-0.23 [[ 9.99737445e-01 -1.98463347e-02 1.14526752e-02 1.76949292e+01] [ 1.98524612e-02 9.99802832e-01 -4.21498917e-04 -4.74999365e-01] [-1.14420519e-02 6.48752041e-04 9.99934327e-01 -2.27103801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737627999999997 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.47, Z:-0.23 [[ 9.99923629e-01 -4.64431085e-03 1.14527779e-02 1.77525227e+01] [ 4.64941048e-03 9.99989104e-01 -4.18689386e-04 -4.71770790e-01] [-1.14507086e-02 4.71906076e-04 9.99934327e-01 -2.31091841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.47, Z:-0.23 [[ 9.99921414e-01 5.09887757e-03 1.14528284e-02 1.78145723e+01] [-5.09443198e-03 9.99986936e-01 -4.17305015e-04 -4.67528815e-01] [-1.14548066e-02 3.58926565e-04 9.99934327e-01 -2.32762352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.47, Z:-0.23 [[ 9.99769532e-01 1.81580827e-02 1.14527984e-02 1.78768739e+01] [-1.81544838e-02 9.99835106e-01 -4.18126251e-04 -4.70469855e-01] [-1.14585023e-02 2.10110243e-04 9.99934327e-01 -2.31647473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.47, Z:-0.23 [[ 9.99437967e-01 3.15053091e-02 1.14527685e-02 1.79392701e+01] [-3.15025767e-02 9.99503583e-01 -4.18944379e-04 -4.70606837e-01] [-1.14602821e-02 5.79172010e-05 9.99934327e-01 -2.29881262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.47, Z:-0.23 [[ 9.99256234e-01 3.68213720e-02 1.14527388e-02 1.80021070e+01] [-3.68189795e-02 9.99321863e-01 -4.19752668e-04 -4.72418435e-01] [-1.14604282e-02 -2.23768589e-06 9.99934327e-01 -2.31158670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.48, Z:-0.23 [[ 9.99108709e-01 4.06278976e-02 1.14526185e-02 1.80638857e+01] [-4.06257177e-02 9.99174345e-01 -4.23009671e-04 -4.76943092e-01] [-1.14603486e-02 -4.26382018e-05 9.99934327e-01 -2.32814354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.48, Z:-0.23 [[ 9.99061824e-01 4.17649575e-02 1.14525439e-02 1.81262674e+01] [-4.17628294e-02 9.99127462e-01 -4.25020029e-04 -4.82225584e-01] [-1.14603021e-02 -5.36693526e-05 9.99934327e-01 -2.33890926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.49, Z:-0.24 [[ 9.99122067e-01 4.02981106e-02 1.14524251e-02 1.81888400e+01] [-4.02958496e-02 9.99187701e-01 -4.28198501e-04 -4.89259527e-01] [-1.14603779e-02 -3.36626286e-05 9.99934327e-01 -2.36247906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.50, Z:-0.24 [[ 9.99199266e-01 3.83362990e-02 1.14523070e-02 1.82513972e+01] [-3.83338733e-02 9.99264894e-01 -4.31334620e-04 -4.96030966e-01] [-1.14604241e-02 -8.02204883e-06 9.99934327e-01 -2.37503339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277627999999996 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.51, Z:-0.24 [[ 9.99337961e-01 3.45324095e-02 1.14521831e-02 1.83123140e+01] [-3.45296965e-02 9.99403578e-01 -4.34599554e-04 -5.06486722e-01] [-1.14603605e-02 3.88714260e-05 9.99934327e-01 -2.42996864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.51, Z:-0.24 [[ 9.99312060e-01 3.52740233e-02 1.14520836e-02 1.83729567e+01] [-3.52713292e-02 9.99377677e-01 -4.37205913e-04 -5.14691421e-01] [-1.14603787e-02 3.29749321e-05 9.99934327e-01 -2.37257340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.52, Z:-0.24 [[ 9.99222761e-01 3.77190445e-02 1.14519898e-02 1.84357074e+01] [-3.77164829e-02 9.99288384e-01 -4.39649835e-04 -5.18257051e-01] [-1.14604235e-02 7.37934625e-06 9.99934327e-01 -2.36467249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.52, Z:-0.24 [[ 9.99141131e-01 3.98227945e-02 1.14518645e-02 1.84982469e+01] [-3.98203339e-02 9.99206758e-01 -4.42887428e-04 -5.21301128e-01] [-1.14604175e-02 -1.35100244e-05 9.99934327e-01 -2.36421415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.52, Z:-0.24 [[ 9.99157894e-01 3.94000055e-02 1.14517371e-02 1.85607690e+01] [-3.93974797e-02 9.99223518e-01 -4.46157502e-04 -5.23536630e-01] [-1.14604237e-02 -5.38779146e-06 9.99934327e-01 -2.36465693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.53, Z:-0.24 [[ 9.99365967e-01 3.37123789e-02 1.14516079e-02 1.86232302e+01] [-3.37094419e-02 9.99431574e-01 -4.49450811e-04 -5.25441569e-01] [-1.14602506e-02 6.31385342e-05 9.99934327e-01 -2.37171764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.53, Z:-0.24 [[ 9.99600433e-01 2.58425696e-02 1.14514792e-02 1.86865335e+01] [-2.58390788e-02 9.99666013e-01 -4.52705062e-04 -5.28065569e-01] [-1.14593537e-02 1.56628501e-04 9.99934327e-01 -2.36625388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.53, Z:-0.24 [[ 9.99891545e-01 9.26090301e-03 1.14513497e-02 1.87493252e+01] [-9.25628786e-03 9.99957056e-01 -4.55957288e-04 -5.29757229e-01] [-1.14550806e-02 3.49910848e-04 9.99934327e-01 -2.35056057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.53, Z:-0.24 [[ 9.99932336e-01 -2.04774232e-03 1.14512208e-02 1.88117033e+01] [ 2.05313481e-03 9.99997787e-01 -4.59172996e-04 -5.30601790e-01] [-1.14502552e-02 4.82652827e-04 9.99934327e-01 -2.36107762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.53, Z:-0.24 [[ 9.99838806e-01 -1.38287335e-02 1.14511015e-02 1.88747586e+01] [ 1.38349305e-02 9.99904186e-01 -4.62130148e-04 -5.31465790e-01] [-1.14436136e-02 6.20480849e-04 9.99934327e-01 -2.37162904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.53, Z:-0.24 [[ 9.99529044e-01 -2.84704306e-02 1.14509675e-02 1.89341536e+01] [ 2.84776220e-02 9.99594322e-01 -4.65425312e-04 -5.31757924e-01] [-1.14330713e-02 7.91302442e-04 9.99934327e-01 -2.37388923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937627999999997 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.53, Z:-0.24 [[ 9.99414215e-01 -3.22506044e-02 1.14509841e-02 1.89923765e+01] [ 3.22580380e-02 9.99479466e-01 -4.65017702e-04 -5.32881053e-01] [-1.14300264e-02 8.34131581e-04 9.99934327e-01 -2.40239529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.53, Z:-0.24 [[ 9.99339900e-01 -3.44766131e-02 1.14511154e-02 1.90497718e+01] [ 3.44841550e-02 9.99405138e-01 -4.61760493e-04 -5.28633506e-01] [-1.14283837e-02 8.56337724e-04 9.99934327e-01 -2.41247448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.53, Z:-0.24 [[ 9.99486372e-01 -2.99309686e-02 1.14511717e-02 1.91078871e+01] [ 2.99381976e-02 9.99551646e-01 -4.60361420e-04 -5.26742566e-01] [-1.14322584e-02 8.02952407e-04 9.99934327e-01 -2.38336009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.52, Z:-0.24 [[ 9.99762991e-01 -1.85156614e-02 1.14513020e-02 1.91650670e+01] [ 1.85221074e-02 9.99828347e-01 -4.57097288e-04 -5.19900669e-01] [-1.14408729e-02 6.69091196e-04 9.99934327e-01 -2.39652169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.51, Z:-0.24 [[ 9.99897525e-01 -8.59102012e-03 1.14513578e-02 1.92232021e+01] [ 8.59680104e-03 9.99962943e-01 -4.55694451e-04 -5.13270546e-01] [-1.14470186e-02 5.54092798e-04 9.99934327e-01 -2.41191354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.51, Z:-0.24 [[ 9.99921929e-01 -5.00013040e-03 1.14514168e-02 1.92849045e+01] [ 5.00565935e-03 9.99987368e-01 -4.54207361e-04 -5.11541660e-01] [-1.14490010e-02 5.11493792e-04 9.99934327e-01 -2.41281910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.51, Z:-0.24 [[ 9.99922927e-01 -4.79643497e-03 1.14514004e-02 1.93473976e+01] [ 4.80195530e-03 9.99988367e-01 -4.54618797e-04 -5.08231515e-01] [-1.14490867e-02 5.09572871e-04 9.99934327e-01 -2.41669936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.51, Z:-0.24 [[ 9.99912402e-01 -6.63731445e-03 1.14513676e-02 1.94103627e+01] [ 6.64296469e-03 9.99977832e-01 -4.55444803e-04 -5.06478354e-01] [-1.14480908e-02 5.31475938e-04 9.99934327e-01 -2.43750402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.51, Z:-0.24 [[ 9.99891817e-01 -9.23162891e-03 1.14512368e-02 1.94719420e+01] [ 9.23748619e-03 9.99957228e-01 -4.58709467e-04 -5.06748200e-01] [-1.14465124e-02 5.64440485e-04 9.99934327e-01 -2.44525541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.51, Z:-0.25 [[ 9.99843031e-01 -1.35197887e-02 1.14511559e-02 1.95336226e+01] [ 1.35259495e-02 9.99908414e-01 -4.60719582e-04 -5.06802581e-01] [-1.14438783e-02 6.15535019e-04 9.99934327e-01 -2.45004524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537627999999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.51, Z:-0.25 [[ 9.99805565e-01 -1.60531726e-02 1.14511395e-02 1.95937432e+01] [ 1.60595036e-02 9.99870932e-01 -4.61127265e-04 -5.06879609e-01] [-1.14422590e-02 6.44937222e-04 9.99934327e-01 -2.49140049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597627999999997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.51, Z:-0.25 [[ 9.99770317e-01 -1.81158396e-02 1.14511478e-02 1.96536189e+01] [ 1.81223031e-02 9.99835671e-01 -4.60922763e-04 -5.07310127e-01] [-1.14409160e-02 6.68338067e-04 9.99934327e-01 -2.48029843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.51, Z:-0.25 [[ 9.99737519e-01 -1.98435044e-02 1.14511645e-02 1.97124730e+01] [ 1.98500761e-02 9.99802862e-01 -4.60505903e-04 -5.07515257e-01] [-1.14397690e-02 6.87691515e-04 9.99934327e-01 -2.48543376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.51, Z:-0.25 [[ 9.99721369e-01 -2.06410363e-02 1.14512806e-02 1.97700102e+01] [ 2.06476270e-02 9.99786710e-01 -4.57600832e-04 -5.06786199e-01] [-1.14393928e-02 6.93915100e-04 9.99934327e-01 -2.45448466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.51, Z:-0.25 [[ 9.99720186e-01 -2.06981994e-02 1.14513509e-02 1.98282423e+01] [ 2.07047736e-02 9.99785529e-01 -4.55835759e-04 -5.06229294e-01] [-1.14394599e-02 6.92805837e-04 9.99934327e-01 -2.45278769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.50, Z:-0.25 [[ 9.99761506e-01 -1.85955513e-02 1.14514802e-02 1.98860670e+01] [ 1.86019507e-02 9.99826866e-01 -4.52563485e-04 -5.03483062e-01] [-1.14410819e-02 6.65475421e-04 9.99934327e-01 -2.45482967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.50, Z:-0.25 [[ 9.99828701e-01 -1.45405906e-02 1.14516091e-02 1.99446665e+01] [ 1.45466874e-02 9.99894090e-01 -4.49277725e-04 -4.99603348e-01] [-1.14438635e-02 6.15783742e-04 9.99934327e-01 -2.46431878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.49, Z:-0.25 [[ 9.99879955e-01 -1.04371144e-02 1.14517193e-02 2.00049764e+01] [ 1.04429105e-02 9.99945372e-01 -4.46451440e-04 -4.93825475e-01] [-1.14464340e-02 5.65987126e-04 9.99934327e-01 -2.47114925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.49, Z:-0.25 [[ 9.99917763e-01 -5.77281696e-03 1.14517193e-02 2.00656937e+01] [ 5.77830784e-03 9.99983206e-01 -4.46451440e-04 -4.89733950e-01] [-1.14489497e-02 5.12586285e-04 9.99934327e-01 -2.47215135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.49, Z:-0.25 [[ 9.99924892e-01 -4.36667018e-03 1.14517115e-02 2.01276065e+01] [ 4.37207130e-03 9.99990343e-01 -4.46651085e-04 -4.89851743e-01] [-1.14496505e-02 4.96685237e-04 9.99934327e-01 -2.47859484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.49, Z:-0.25 [[ 9.99933758e-01 -1.15742703e-03 1.14516787e-02 2.01890248e+01] [ 1.16262767e-03 9.99999224e-01 -4.47491360e-04 -4.85920726e-01] [-1.14511518e-02 4.60775755e-04 9.99934327e-01 -2.49534577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197627999999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.49, Z:-0.25 [[ 9.99934426e-01 5.82733047e-05 1.14516543e-02 2.02513450e+01] [-5.31451527e-05 9.99999898e-01 -4.48112637e-04 -4.85651952e-01] [-1.14516793e-02 4.47474652e-04 9.99934327e-01 -2.52513451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.49, Z:-0.25 [[ 9.99927309e-01 3.77319915e-03 1.14516227e-02 2.03130324e+01] [-3.76830505e-03 9.99992799e-01 -4.48919340e-04 -4.86952211e-01] [-1.14532341e-02 4.05733500e-04 9.99934327e-01 -2.50722231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.49, Z:-0.25 [[ 9.99907847e-01 7.29101626e-03 1.14515899e-02 2.03755764e+01] [-7.28634303e-03 9.99973353e-01 -4.49754567e-04 -4.88135903e-01] [-1.14545639e-02 3.66272908e-04 9.99934327e-01 -2.50870097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.49, Z:-0.25 [[ 9.99812377e-01 1.56228602e-02 1.14515407e-02 2.04382864e+01] [-1.56187187e-02 9.99877919e-01 -4.51004681e-04 -4.88461019e-01] [-1.14571887e-02 2.72061669e-04 9.99934327e-01 -2.53217016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.49, Z:-0.25 [[ 9.99707335e-01 2.13098130e-02 1.14514921e-02 2.05007311e+01] [-2.13060303e-02 9.99772898e-01 -4.52235965e-04 -4.91493437e-01] [-1.14585285e-02 2.08117775e-04 9.99934327e-01 -2.54467216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.50, Z:-0.26 [[ 9.99562976e-01 2.72529091e-02 1.14514427e-02 2.05621735e+01] [-2.72495019e-02 9.99628561e-01 -4.53481404e-04 -4.95850463e-01] [-1.14595479e-02 1.41237111e-04 9.99934327e-01 -2.55765782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.50, Z:-0.26 [[ 9.99526990e-01 2.85423225e-02 1.14513210e-02 2.06244582e+01] [-2.85389650e-02 9.99592577e-01 -4.56534275e-04 -5.02196865e-01] [-1.14596860e-02 1.29509480e-04 9.99934327e-01 -2.55348862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.51, Z:-0.25 [[ 9.99526837e-01 2.85477148e-02 1.14511924e-02 2.06875109e+01] [-2.85443209e-02 9.99592422e-01 -4.59738660e-04 -5.08548169e-01] [-1.14596496e-02 1.32654618e-04 9.99934327e-01 -2.54568618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.52, Z:-0.26 [[ 9.99540238e-01 2.80746434e-02 1.14510571e-02 2.07501998e+01] [-2.80711802e-02 9.99605820e-01 -4.63084415e-04 -5.15174516e-01] [-1.14595442e-02 1.41426820e-04 9.99934327e-01 -2.55214060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.52, Z:-0.26 [[ 9.99688996e-01 2.21537349e-02 1.14509180e-02 2.08129743e+01] [-2.21498442e-02 9.99754553e-01 -4.66498556e-04 -5.23998247e-01] [-1.14584421e-02 2.12717423e-04 9.99934327e-01 -2.57387775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.53, Z:-0.26 [[ 9.99894778e-01 8.90571238e-03 1.14507795e-02 2.08752176e+01] [-8.90091477e-03 9.99960276e-01 -4.69872471e-04 -5.34486216e-01] [-1.14545092e-02 3.67900617e-04 9.99934327e-01 -2.57747825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.54, Z:-0.26 [[ 9.99926523e-01 3.97891536e-03 1.14506401e-02 2.09375339e+01] [-3.97375651e-03 9.99991993e-01 -4.73245476e-04 -5.40700423e-01] [-1.14524315e-02 4.27708647e-04 9.99934327e-01 -2.58208386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.55, Z:-0.26 [[ 9.99915596e-01 -6.13892817e-03 1.14505014e-02 2.10001011e+01] [ 6.14478729e-03 9.99981007e-01 -4.76578823e-04 -5.49969503e-01] [-1.14473582e-02 5.46899493e-04 9.99934327e-01 -2.57588863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.56, Z:-0.26 [[ 9.99812123e-01 -1.56399453e-02 1.14503614e-02 2.10620825e+01] [ 1.56464638e-02 9.99877471e-01 -4.79919714e-04 -5.58620152e-01] [-1.14414525e-02 6.58987213e-04 9.99934327e-01 -2.57085667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.56, Z:-0.26 [[ 9.99763110e-01 -1.85098714e-02 1.14502398e-02 2.11210533e+01] [ 1.85166104e-02 9.99828436e-01 -4.82802967e-04 -5.63875099e-01] [-1.14393387e-02 6.94708225e-04 9.99934327e-01 -2.57332690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.57, Z:-0.26 [[ 9.99768788e-01 -1.82005824e-02 1.14502654e-02 2.11802548e+01] [ 1.82072943e-02 9.99834117e-01 -4.82196173e-04 -5.68335439e-01] [-1.14395897e-02 6.90563034e-04 9.99934327e-01 -2.59714450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.57, Z:-0.26 [[ 9.99809064e-01 -1.58342847e-02 1.14503844e-02 2.12393495e+01] [ 1.58408095e-02 9.99874412e-01 -4.79352975e-04 -5.71613889e-01] [-1.14413561e-02 6.60644807e-04 9.99934327e-01 -2.60333772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.57, Z:-0.26 [[ 9.99893107e-01 -9.09176020e-03 1.14505043e-02 2.12977349e+01] [ 9.09781122e-03 9.99958501e-01 -4.76470695e-04 -5.73423401e-01] [-1.14456972e-02 5.80594290e-04 9.99934327e-01 -2.62313216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.58, Z:-0.26 [[ 9.99929635e-01 -3.10019457e-03 1.14505295e-02 2.13586979e+01] [ 3.10584671e-03 9.99995064e-01 -4.75863887e-04 -5.75695224e-01] [-1.14489977e-02 5.11393992e-04 9.99934327e-01 -2.63280527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.58, Z:-0.26 [[ 9.99912525e-01 6.62022945e-03 1.14505124e-02 2.14201485e+01] [-6.61520891e-03 9.99978006e-01 -4.76275814e-04 -5.76903177e-01] [-1.14534136e-02 4.00486620e-04 9.99934327e-01 -2.64887534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397627999999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.58, Z:-0.27 [[ 9.99863458e-01 1.19143515e-02 1.14504869e-02 2.14818280e+01] [-1.19096707e-02 9.99928964e-01 -4.76887407e-04 -5.79146211e-01] [-1.14553553e-02 3.40450763e-04 9.99934327e-01 -2.66846950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.58, Z:-0.27 [[ 9.99711306e-01 2.11232328e-02 1.14504526e-02 2.15437434e+01] [-2.11191461e-02 9.99776852e-01 -4.77710988e-04 -5.83185548e-01] [-1.14579882e-02 2.35749295e-04 9.99934327e-01 -2.65692824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.59, Z:-0.27 [[ 9.99576912e-01 2.67373427e-02 1.14504185e-02 2.16068075e+01] [-2.67336148e-02 9.99642479e-01 -4.78525274e-04 -5.86963987e-01] [-1.14591193e-02 1.72211737e-04 9.99934327e-01 -2.67374933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.59, Z:-0.27 [[ 9.99370654e-01 3.35736150e-02 1.14502810e-02 2.16697174e+01] [-3.35702983e-02 9.99436243e-01 -4.81794932e-04 -5.93429713e-01] [-1.14600014e-02 9.71023687e-05 9.99934327e-01 -2.67981195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.60, Z:-0.27 [[ 9.99148646e-01 3.96343046e-02 1.14501439e-02 2.17325949e+01] [-3.96313487e-02 9.99214252e-01 -4.85031239e-04 -6.01965790e-01] [-1.14603708e-02 3.08336609e-05 9.99934327e-01 -2.68009080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.61, Z:-0.27 [[ 9.99013175e-01 4.29135712e-02 1.14500035e-02 2.17954221e+01] [-4.29107929e-02 9.99078788e-01 -4.88323259e-04 -6.09918014e-01] [-1.14604113e-02 -3.48735854e-06 9.99934327e-01 -2.69260316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.62, Z:-0.27 [[ 9.98850757e-01 4.65410155e-02 1.14498630e-02 2.18575559e+01] [-4.65384379e-02 9.98916379e-01 -4.91594806e-04 -6.22081101e-01] [-1.14603350e-02 -4.18288946e-05 9.99934327e-01 -2.71241251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.63, Z:-0.28 [[ 9.98902658e-01 4.54134726e-02 1.14497192e-02 2.19203070e+01] [-4.54107828e-02 9.98968276e-01 -4.94922453e-04 -6.28081252e-01] [-1.14603824e-02 -2.55613575e-05 9.99934327e-01 -2.75123186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.65, Z:-0.27 [[ 9.98829669e-01 4.69914770e-02 1.14495744e-02 2.19819225e+01] [-4.69888527e-02 9.98895290e-01 -4.98250057e-04 -6.45864720e-01] [-1.14603394e-02 -4.03354243e-05 9.99934327e-01 -2.74885213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.66, Z:-0.27 [[ 9.98965339e-01 4.40131890e-02 1.14494850e-02 2.20446120e+01] [-4.40103456e-02 9.99030950e-01 -5.00295537e-04 -6.59506154e-01] [-1.14604095e-02 -4.11789151e-06 9.99934327e-01 -2.74581631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.68, Z:-0.28 [[ 9.99176824e-01 3.89176923e-02 1.14493429e-02 2.21065555e+01] [-3.89144773e-02 9.99242418e-01 -5.03525295e-04 -6.75017116e-01] [-1.14602652e-02 5.75656084e-05 9.99934327e-01 -2.75016886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.68, Z:-0.28 [[ 9.98895588e-01 4.55688532e-02 1.14491967e-02 2.21683708e+01] [-4.55660372e-02 9.98961200e-01 -5.06829028e-04 -6.77087339e-01] [-1.14603989e-02 -1.54252431e-05 9.99934327e-01 -2.76276354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.68, Z:-0.27 [[ 9.98690640e-01 4.98590447e-02 1.14490474e-02 2.22312310e+01] [-4.98564721e-02 9.98756263e-01 -5.10178869e-04 -6.81990149e-01] [-1.14602449e-02 -6.12982524e-05 9.99934327e-01 -2.74719504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.68, Z:-0.28 [[ 9.98802581e-01 4.75639252e-02 1.14488948e-02 2.22930282e+01] [-4.75611629e-02 9.98868196e-01 -5.13581830e-04 -6.84376669e-01] [-1.14603648e-02 -3.15558916e-05 9.99934327e-01 -2.76738272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.69, Z:-0.28 [[ 9.99079488e-01 4.13412789e-02 1.14488044e-02 2.23556759e+01] [-4.13380848e-02 9.99145083e-01 -5.15588840e-04 -6.86283993e-01] [-1.14603317e-02 4.18425876e-05 9.99934327e-01 -2.78947824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.69, Z:-0.28 [[ 9.99242289e-01 3.71991340e-02 1.14486598e-02 2.24185177e+01] [-3.71956315e-02 9.99307868e-01 -5.18778949e-04 -6.90030223e-01] [-1.14600340e-02 9.25457323e-05 9.99934327e-01 -2.76761611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.69, Z:-0.28 [[ 9.99402675e-01 3.26071249e-02 1.14485152e-02 2.24801258e+01] [-3.26032847e-02 9.99468235e-01 -5.21951361e-04 -6.92816665e-01] [-1.14594466e-02 1.48380385e-04 9.99934327e-01 -2.76140873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.69, Z:-0.28 [[ 9.99653542e-01 2.37008659e-02 1.14483810e-02 2.25428104e+01] [-2.36964083e-02 9.99719063e-01 -5.24877694e-04 -6.94019274e-01] [-1.14576048e-02 2.53410334e-04 9.99934327e-01 -2.78225955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.69, Z:-0.28 [[ 9.99824744e-01 1.48128122e-02 1.14482372e-02 2.26052353e+01] [-1.48077366e-02 9.99890220e-01 -5.27995645e-04 -6.94904264e-01] [-1.14548016e-02 3.58380629e-04 9.99934327e-01 -2.79990119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.70, Z:-0.28 [[ 9.99873571e-01 1.10355497e-02 1.14480831e-02 2.26677490e+01] [-1.10301888e-02 9.99939024e-01 -5.31316519e-04 -6.95754200e-01] [-1.14532484e-02 4.04974828e-04 9.99934327e-01 -2.79618097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.70, Z:-0.28 [[ 9.99923129e-01 4.76249760e-03 1.14479299e-02 2.27309905e+01] [-4.75668867e-03 9.99988544e-01 -5.34596464e-04 -6.96289895e-01] [-1.14503448e-02 4.80101130e-04 9.99934327e-01 -2.80765172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.70, Z:-0.28 [[ 9.99932211e-01 2.12646775e-03 1.14477732e-02 2.27926770e+01] [-2.12044827e-03 9.99997607e-01 -5.37932804e-04 -6.97120394e-01] [-1.14488897e-02 5.13621927e-04 9.99934327e-01 -2.82324579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.70, Z:-0.28 [[ 9.99933317e-01 1.52115147e-03 1.14476279e-02 2.28551009e+01] [-1.51505729e-03 9.99998706e-01 -5.41006285e-04 -6.98050534e-01] [-1.14484361e-02 5.23626397e-04 9.99934327e-01 -2.83232551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.70, Z:-0.28 [[ 9.99931856e-01 2.28875739e-03 1.14474793e-02 2.29176475e+01] [-2.28267768e-03 9.99997247e-01 -5.44133653e-04 -6.98682596e-01] [-1.14486931e-02 5.17965668e-04 9.99934327e-01 -2.84440347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.70, Z:-0.29 [[ 9.99915602e-01 6.14366215e-03 1.14474213e-02 2.29805682e+01] [-6.13782067e-03 9.99981015e-01 -5.45350525e-04 -6.99787671e-01] [-1.14505544e-02 4.75042279e-04 9.99934327e-01 -2.87172819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.70, Z:-0.29 [[ 9.99873570e-01 1.10364243e-02 1.14473618e-02 2.30437914e+01] [-1.10308887e-02 9.99939009e-01 -5.46596573e-04 -7.01171497e-01] [-1.14526961e-02 4.20252893e-04 9.99934327e-01 -2.86154735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.70, Z:-0.29 [[ 9.99801708e-01 1.62942704e-02 1.14473021e-02 2.31059072e+01] [-1.62890647e-02 9.99867174e-01 -5.47843288e-04 -7.02386141e-01] [-1.14547083e-02 3.61268809e-04 9.99934327e-01 -2.88845381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.71, Z:-0.29 [[ 9.99761397e-01 1.86041045e-02 1.14471552e-02 2.31691046e+01] [-1.85990152e-02 9.99826872e-01 -5.50895773e-04 -7.06315419e-01] [-1.14554223e-02 3.37858512e-04 9.99934327e-01 -2.90131178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.71, Z:-0.29 [[ 9.99709745e-01 2.11988713e-02 1.14469990e-02 2.32318968e+01] [-2.11939150e-02 9.99775230e-01 -5.54123277e-04 -7.11982775e-01] [-1.14561728e-02 3.11355716e-04 9.99934327e-01 -2.90476408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.72, Z:-0.29 [[ 9.99661038e-01 2.33832963e-02 1.14468403e-02 2.32936162e+01] [-2.33784458e-02 9.99726531e-01 -5.57382252e-04 -7.15625227e-01] [-1.14567434e-02 2.89583984e-04 9.99934327e-01 -2.93666411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.72, Z:-0.30 [[ 9.99651251e-01 2.37980895e-02 1.14466931e-02 2.33565997e+01] [-2.37932318e-02 9.99716744e-01 -5.60388982e-04 -7.20293518e-01] [-1.14567870e-02 2.87839724e-04 9.99934327e-01 -2.95722680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.73, Z:-0.30 [[ 9.99665981e-01 2.31711769e-02 1.14465325e-02 2.34190518e+01] [-2.31662408e-02 9.99731468e-01 -5.63650678e-04 -7.27580684e-01] [-1.14565192e-02 2.98289280e-04 9.99934327e-01 -2.96745496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.73, Z:-0.30 [[ 9.99658896e-01 2.34749110e-02 1.14463732e-02 2.34813004e+01] [-2.34699580e-02 9.99724382e-01 -5.66866605e-04 -7.31997679e-01] [-1.14565255e-02 2.98027345e-04 9.99934327e-01 -2.96792974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.73, Z:-0.30 [[ 9.99582366e-01 2.65344744e-02 1.14462257e-02 2.35439138e+01] [-2.65296880e-02 9.99647863e-01 -5.69829610e-04 -7.34502909e-01] [-1.14573152e-02 2.65926833e-04 9.99934327e-01 -2.97896092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.74, Z:-0.30 [[ 9.99538279e-01 2.81463221e-02 1.14460653e-02 2.36071232e+01] [-2.81416046e-02 9.99603782e-01 -5.73033345e-04 -7.37717562e-01] [-1.14576590e-02 2.50658119e-04 9.99934327e-01 -2.99589615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.74, Z:-0.30 [[ 9.99508256e-01 2.91931006e-02 1.14459024e-02 2.36703418e+01] [-2.91884146e-02 9.99573761e-01 -5.76270053e-04 -7.39450699e-01] [-1.14578468e-02 2.41898931e-04 9.99934327e-01 -3.01513019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.74, Z:-0.30 [[ 9.99562796e-01 2.72619027e-02 1.14457373e-02 2.37327141e+01] [-2.72570529e-02 9.99628290e-01 -5.79529525e-04 -7.41304704e-01] [-1.14572819e-02 2.67299084e-04 9.99934327e-01 -3.03488640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.74, Z:-0.30 [[ 9.99597555e-01 2.59562279e-02 1.14456354e-02 2.37958592e+01] [-2.59512696e-02 9.99663040e-01 -5.81535980e-04 -7.44147307e-01] [-1.14568732e-02 2.84273173e-04 9.99934327e-01 -3.02689762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.75, Z:-0.30 [[ 9.99654712e-01 2.36528643e-02 1.14454763e-02 2.38591351e+01] [-2.36477195e-02 9.99720183e-01 -5.84651354e-04 -7.46496097e-01] [-1.14561023e-02 3.13790070e-04 9.99934327e-01 -3.02693455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.75, Z:-0.30 [[ 9.99702413e-01 2.15427319e-02 1.14453116e-02 2.39205337e+01] [-2.15374123e-02 9.99767870e-01 -5.87856807e-04 -7.49379996e-01] [-1.14553189e-02 3.41179474e-04 9.99934327e-01 -3.02272739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.75, Z:-0.30 [[ 9.99676961e-01 2.26932095e-02 1.14452100e-02 2.39837118e+01] [-2.26879426e-02 9.99742422e-01 -5.89828854e-04 -7.52322888e-01] [-1.14556471e-02 3.29970049e-04 9.99934327e-01 -3.03911380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.76, Z:-0.31 [[ 9.99542063e-01 2.80120645e-02 1.14450491e-02 2.40450399e+01] [-2.80071105e-02 9.99607548e-01 -5.92934561e-04 -7.55301225e-01] [-1.14571668e-02 2.72120280e-04 9.99934327e-01 -3.05221501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.76, Z:-0.31 [[ 9.99391926e-01 3.29361912e-02 1.14448997e-02 2.41078886e+01] [-3.29315270e-02 9.99457433e-01 -5.95804614e-04 -7.58525563e-01] [-1.14583136e-02 2.18544298e-04 9.99934327e-01 -3.05448513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.76, Z:-0.31 [[ 9.99213866e-01 3.79561287e-02 1.14447422e-02 2.41705028e+01] [-3.79517592e-02 9.99279393e-01 -5.98814184e-04 -7.62888960e-01] [-1.14592237e-02 1.63995335e-04 9.99934327e-01 -3.07084819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.77, Z:-0.31 [[ 9.99101930e-01 4.07965154e-02 1.14445733e-02 2.42320417e+01] [-4.07922954e-02 9.99167467e-01 -6.02024509e-04 -7.70110165e-01] [-1.14596058e-02 1.34633432e-04 9.99934327e-01 -3.08016735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.77, Z:-0.31 [[ 9.98988180e-01 4.34930079e-02 1.14444169e-02 2.42954181e+01] [-4.34889308e-02 9.99053726e-01 -6.04984509e-04 -7.71932028e-01] [-1.14598999e-02 1.06666920e-04 9.99934328e-01 -3.09154517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.77, Z:-0.31 [[ 9.99097151e-01 4.09134611e-02 1.14442513e-02 2.43570147e+01] [-4.09091791e-02 9.99162684e-01 -6.08100292e-04 -7.73999830e-01] [-1.14595483e-02 1.39376343e-04 9.99934328e-01 -3.11437408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.78, Z:-0.31 [[ 9.99281428e-01 3.61339170e-02 1.14441489e-02 2.44200859e+01] [-3.61292996e-02 9.99346938e-01 -6.10021578e-04 -7.77884979e-01] [-1.14587176e-02 1.96114149e-04 9.99934328e-01 -3.11326216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.78, Z:-0.31 [[ 9.99477497e-01 3.02286037e-02 1.14439852e-02 2.44828425e+01] [-3.02235643e-02 9.99542976e-01 -6.13077698e-04 -7.79530730e-01] [-1.14572875e-02 2.66879341e-04 9.99934328e-01 -3.11818189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.78, Z:-0.31 [[ 9.99598291e-01 2.59286699e-02 1.14438112e-02 2.45460077e+01] [-2.59233120e-02 9.99663744e-01 -6.16308653e-04 -7.81756461e-01] [-1.14559432e-02 3.19399589e-04 9.99934328e-01 -3.14537050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.78, Z:-0.32 [[ 9.99696560e-01 2.18135405e-02 1.14436379e-02 2.46088402e+01] [-2.18078766e-02 9.99761988e-01 -6.19509357e-04 -7.82868376e-01] [-1.14544279e-02 3.69759930e-04 9.99934328e-01 -3.16767172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.79, Z:-0.32 [[ 9.99710887e-01 2.11468393e-02 1.14434653e-02 2.46717111e+01] [-2.11410955e-02 9.99776308e-01 -6.22680369e-04 -7.85413508e-01] [-1.14540733e-02 3.80572951e-04 9.99934328e-01 -3.17844651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.79, Z:-0.32 [[ 9.99672857e-01 2.28742388e-02 1.14432942e-02 2.47344016e+01] [-2.28685722e-02 9.99738284e-01 -6.25809180e-04 -7.86460588e-01] [-1.14546143e-02 3.63912650e-04 9.99934328e-01 -3.19214902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.79, Z:-0.32 [[ 9.99614160e-01 2.53098014e-02 1.14431173e-02 2.47967792e+01] [-2.53042574e-02 9.99679598e-01 -6.29028510e-04 -7.89047272e-01] [-1.14553715e-02 3.39226221e-04 9.99934328e-01 -3.20103492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.79, Z:-0.32 [[ 9.99536388e-01 2.82146896e-02 1.14429360e-02 2.48584735e+01] [-2.82092983e-02 9.99601839e-01 -6.32309490e-04 -7.92016967e-01] [-1.14562203e-02 3.09219150e-04 9.99934328e-01 -3.20657224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.80, Z:-0.32 [[ 9.99422238e-01 3.20039653e-02 1.14427677e-02 2.49211197e+01] [-3.19987875e-02 9.99487706e-01 -6.35340941e-04 -7.95202915e-01] [-1.14572390e-02 2.68819174e-04 9.99934328e-01 -3.22968482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.80, Z:-0.32 [[ 9.99163800e-01 3.92526138e-02 1.14425915e-02 2.49840388e+01] [-3.92478749e-02 9.99229301e-01 -6.38498413e-04 -7.99713832e-01] [-1.14588354e-02 1.88867103e-04 9.99934328e-01 -3.24625169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.80, Z:-0.32 [[ 9.98801491e-01 4.75883658e-02 1.14424122e-02 2.50470398e+01] [-4.75841370e-02 9.98867027e-01 -6.41694506e-04 -8.04694693e-01] [-1.14599855e-02 9.64481184e-05 9.99934328e-01 -3.24851273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.81, Z:-0.33 [[ 9.98561608e-01 5.23812106e-02 1.14422285e-02 2.51100963e+01] [-5.23772590e-02 9.98627161e-01 -6.44953791e-04 -8.09263186e-01] [-1.14603036e-02 4.47135278e-05 9.99934328e-01 -3.25705221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.82, Z:-0.33 [[ 9.98277439e-01 5.75433210e-02 1.14420462e-02 2.51727337e+01] [-5.75396715e-02 9.98343010e-01 -6.48172820e-04 -8.15780054e-01] [-1.14603848e-02 -1.13152749e-05 9.99934328e-01 -3.26061895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.82, Z:-0.33 [[ 9.98080844e-01 6.08581310e-02 1.14418603e-02 2.52356462e+01] [-6.08546618e-02 9.98146425e-01 -6.51437627e-04 -8.21704081e-01] [-1.14602972e-02 -4.61031218e-05 9.99934328e-01 -3.26534305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.82, Z:-0.33 [[ 9.97738788e-01 6.62298905e-02 1.14416755e-02 2.52978434e+01] [-6.62267374e-02 9.97804385e-01 -6.54667181e-04 -8.24940983e-01] [-1.14599125e-02 -1.04557998e-04 9.99934328e-01 -3.28493499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.83, Z:-0.33 [[ 9.97563802e-01 6.88153412e-02 1.14415608e-02 2.53607047e+01] [-6.88123352e-02 9.97629406e-01 -6.56664896e-04 -8.25864966e-01] [-1.14596262e-02 -1.32255389e-04 9.99934328e-01 -3.32052073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.83, Z:-0.34 [[ 9.97738064e-01 6.62408585e-02 1.14413745e-02 2.54222748e+01] [-6.62376461e-02 9.97803657e-01 -6.59895163e-04 -8.26879746e-01] [-1.14599574e-02 -9.94471954e-05 9.99934328e-01 -3.36498485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.83, Z:-0.34 [[ 9.97957766e-01 6.28442134e-02 1.14412593e-02 2.54852003e+01] [-6.28407549e-02 9.98023347e-01 -6.61887510e-04 -8.31084345e-01] [-1.14602397e-02 -5.84415889e-05 9.99934328e-01 -3.37950626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.84, Z:-0.34 [[ 9.98349537e-01 5.62788014e-02 1.14410718e-02 2.55475914e+01] [-5.62748747e-02 9.98415092e-01 -6.65112548e-04 -8.37829965e-01] [-1.14603705e-02 2.01699231e-05 9.99934328e-01 -3.37902798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.84, Z:-0.34 [[ 9.98568236e-01 5.22549946e-02 1.14408794e-02 2.56103505e+01] [-5.22507660e-02 9.98633772e-01 -6.68404809e-04 -8.41009697e-01] [-1.14601761e-02 6.96530957e-05 9.99934328e-01 -3.38127213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.85, Z:-0.34 [[ 9.99038274e-01 4.23277493e-02 1.14406839e-02 2.56724067e+01] [-4.23228314e-02 9.99103762e-01 -6.71734449e-04 -8.45291201e-01] [-1.14588634e-02 1.86886286e-04 9.99934328e-01 -3.36934413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.85, Z:-0.34 [[ 9.99334808e-01 3.46273877e-02 1.14405029e-02 2.57349106e+01] [-3.46219301e-02 9.99400253e-01 -6.74803289e-04 -8.49589414e-01] [-1.14570082e-02 2.78262122e-04 9.99934328e-01 -3.35891275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.85, Z:-0.33 [[ 9.99634510e-01 2.44941804e-02 1.14403096e-02 2.57960930e+01] [-2.44880224e-02 9.99699893e-01 -6.78064838e-04 -8.50832923e-01] [-1.14534850e-02 3.97666454e-04 9.99934328e-01 -3.34082698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.85, Z:-0.34 [[ 9.99858557e-01 1.23283911e-02 1.14401545e-02 2.58591814e+01] [-1.23214081e-02 9.99923857e-01 -6.80672509e-04 -8.51647625e-01] [-1.14476750e-02 5.39617421e-04 9.99934328e-01 -3.37260643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.92, Y:-0.85, Z:-0.34 [[ 9.99919667e-01 5.45766296e-03 1.14399593e-02 2.59217265e+01] [-5.45019424e-03 9.99984914e-01 -6.83936774e-04 -8.52057780e-01] [-1.14435194e-02 6.21531831e-04 9.99934328e-01 -3.40151032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.98, Y:-0.85, Z:-0.34 [[ 9.99934516e-01 3.10055907e-04 1.14397666e-02 2.59848948e+01] [-3.02214823e-04 9.99999718e-01 -6.87145751e-04 -8.52206934e-01] [-1.14399764e-02 6.83643486e-04 9.99934328e-01 -3.43219644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777627999999996 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.85, Z:-0.34 [[ 9.99934555e-01 1.49251967e-04 1.14395761e-02 2.60478300e+01] [-1.41364415e-04 9.99999752e-01 -6.90302391e-04 -8.54133377e-01] [-1.14396763e-02 6.88640065e-04 9.99934328e-01 -3.44030236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.85, Z:-0.34 [[ 9.99921799e-01 5.05343703e-03 1.14393798e-02 2.61100589e+01] [-5.04583241e-03 9.99987029e-01 -6.93540025e-04 -8.50905036e-01] [-1.14427362e-02 6.35764596e-04 9.99934328e-01 -3.42255798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.85, Z:-0.34 [[ 9.99885795e-01 9.87616116e-03 1.14393310e-02 2.61725370e+01] [-9.86886207e-03 9.99951061e-01 -6.94343699e-04 -8.50165648e-01] [-1.14456286e-02 5.81371222e-04 9.99934328e-01 -3.41827555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.85, Z:-0.34 [[ 9.99754143e-01 1.89946602e-02 1.14392706e-02 2.62361428e+01] [-1.89879453e-02 9.99819471e-01 -6.95337560e-04 -8.48752504e-01] [-1.14504132e-02 4.77958362e-04 9.99934328e-01 -3.39686794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.85, Z:-0.34 [[ 9.99581140e-01 2.65836262e-02 1.14391963e-02 2.62990892e+01] [-2.65773934e-02 9.99646516e-01 -6.96558514e-04 -8.47576044e-01] [-1.14536697e-02 3.92242735e-04 9.99934328e-01 -3.40263690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.84, Z:-0.34 [[ 9.99180316e-01 3.88309411e-02 1.14391223e-02 2.63625430e+01] [-3.88254961e-02 9.99245763e-01 -6.97770222e-04 -8.44027728e-01] [-1.14575896e-02 2.53068672e-04 9.99934328e-01 -3.43510438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.42, Y:-0.84, Z:-0.35 [[ 9.98941885e-01 4.45450228e-02 1.14390475e-02 2.64244937e+01] [-4.45399382e-02 9.99007360e-01 -6.98994629e-04 -8.44055323e-01] [-1.14588294e-02 1.88760542e-04 9.99934328e-01 -3.47035326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.85, Z:-0.35 [[ 9.98828503e-01 4.70188774e-02 1.14388631e-02 2.64870836e+01] [-4.70139205e-02 9.98893988e-01 -7.01999302e-04 -8.45887971e-01] [-1.14592188e-02 1.63391110e-04 9.99934328e-01 -3.51256797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.85, Z:-0.35 [[ 9.98957865e-01 4.41852733e-02 1.14387689e-02 2.65491761e+01] [-4.41801132e-02 9.99023334e-01 -7.03531349e-04 -8.50061065e-01] [-1.14586828e-02 1.97432069e-04 9.99934328e-01 -3.52656057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.86, Z:-0.35 [[ 9.99453426e-01 3.10162487e-02 1.14385917e-02 2.66120641e+01] [-3.10101934e-02 9.99518819e-01 -7.06401146e-04 -8.57799674e-01] [-1.14549976e-02 3.51302106e-04 9.99934328e-01 -3.51631650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.87, Z:-0.35 [[ 9.99834479e-01 1.41484223e-02 1.14383870e-02 2.66740165e+01] [-1.41412269e-02 9.99899756e-01 -7.09699712e-04 -8.68082988e-01] [-1.14472815e-02 5.47829416e-04 9.99934328e-01 -3.48820685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.87, Z:-0.35 [[ 9.99921506e-01 5.11355558e-03 1.14382092e-02 2.67369169e+01] [-5.10573806e-03 9.99986712e-01 -7.12553784e-04 -8.74297013e-01] [-1.14417009e-02 6.54097353e-04 9.99934328e-01 -3.48645013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.88, Z:-0.35 [[ 9.99934294e-01 -7.61792765e-04 1.14380043e-02 2.67987989e+01] [ 7.70030594e-04 9.99999447e-01 -7.15828866e-04 -8.78547205e-01] [-1.14374526e-02 7.24589445e-04 9.99934328e-01 -3.51392993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.88, Z:-0.35 [[ 9.99934544e-01 2.89159710e-04 1.14378274e-02 2.68606987e+01] [-2.80958297e-04 9.99999702e-01 -7.18643252e-04 -8.82496149e-01] [-1.14380318e-02 7.15382660e-04 9.99934328e-01 -3.50355577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.88, Z:-0.35 [[ 9.99925271e-01 4.31619348e-03 1.14377648e-02 2.69227389e+01] [-4.30824319e-03 9.99990461e-01 -7.19638820e-04 -8.84437083e-01] [-1.14407618e-02 6.70308370e-04 9.99934328e-01 -3.51688685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.88, Z:-0.35 [[ 9.99822543e-01 1.49687024e-02 1.14377136e-02 2.69844541e+01] [-1.49614377e-02 9.99887812e-01 -7.20452203e-04 -8.84208050e-01] [-1.14472146e-02 5.49199715e-04 9.99934328e-01 -3.53580076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.88, Z:-0.35 [[ 9.99583127e-01 2.65094716e-02 1.14376756e-02 2.70471436e+01] [-2.65029541e-02 9.99648475e-01 -7.21053548e-04 -8.84518774e-01] [-1.14527698e-02 4.17620768e-04 9.99934328e-01 -3.53636986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.89, Z:-0.35 [[ 9.99376249e-01 3.34109695e-02 1.14376249e-02 2.71077986e+01] [-3.34048942e-02 9.99441640e-01 -7.21857188e-04 -8.85957031e-01] [-1.14553566e-02 3.39334279e-04 9.99934328e-01 -3.52811898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.89, Z:-0.35 [[ 9.99118632e-01 4.03874222e-02 1.14374864e-02 2.71685437e+01] [-4.03817785e-02 9.99184061e-01 -7.24044597e-04 -8.86653425e-01] [-1.14573965e-02 2.61540402e-04 9.99934328e-01 -3.50251712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.89, Z:-0.35 [[ 9.99002181e-01 4.31720902e-02 1.14373500e-02 2.72317791e+01] [-4.31666043e-02 9.99067624e-01 -7.26193864e-04 -8.90072498e-01] [-1.14580374e-02 2.31757694e-04 9.99934328e-01 -3.49085451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.89, Z:-0.35 [[ 9.98886869e-01 4.57625807e-02 1.14371427e-02 2.72946677e+01] [-4.57572273e-02 9.98952323e-01 -7.29444041e-04 -8.93639143e-01] [-1.14585415e-02 2.05300137e-04 9.99934328e-01 -3.48989116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.90, Z:-0.35 [[ 9.98840017e-01 4.67741046e-02 1.14369359e-02 2.73565889e+01] [-4.67687806e-02 9.98905473e-01 -7.32672258e-04 -8.96612031e-01] [-1.14586879e-02 1.96930826e-04 9.99934328e-01 -3.51849097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.90, Z:-0.35 [[ 9.98887823e-01 4.57418681e-02 1.14367568e-02 2.74191657e+01] [-4.57364445e-02 9.98953271e-01 -7.35457701e-04 -9.00479997e-01] [-1.14584268e-02 2.11563150e-04 9.99934328e-01 -3.53396886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.91, Z:-0.35 [[ 9.99140293e-01 3.98482046e-02 1.14365453e-02 2.74807308e+01] [-3.98423576e-02 9.99205705e-01 -7.38730726e-04 -9.07026979e-01] [-1.14568984e-02 2.82436706e-04 9.99934328e-01 -3.54316782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.91, Z:-0.36 [[ 9.99395515e-01 3.28300953e-02 1.14363555e-02 2.75419110e+01] [-3.28237555e-02 9.99460880e-01 -7.41658762e-04 -9.14070309e-01] [-1.14545386e-02 3.65826304e-04 9.99934328e-01 -3.56952045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.92, Z:-0.36 [[ 9.99760253e-01 1.86722141e-02 1.14361545e-02 2.76040860e+01] [-1.86649140e-02 9.99825518e-01 -7.44745306e-04 -9.21483223e-01] [-1.14480651e-02 5.31111916e-04 9.99934328e-01 -3.56037977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.67, Y:-0.93, Z:-0.36 [[ 9.99885744e-01 9.88527684e-03 1.14359427e-02 2.76667614e+01] [-9.87736651e-03 9.99950938e-01 -7.47983570e-04 -9.28017017e-01] [-1.14427756e-02 6.34941111e-04 9.99934328e-01 -3.56359283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.94, Z:-0.36 [[ 9.99930968e-01 2.69860295e-03 1.14357261e-02 2.77295711e+01] [-2.69018670e-03 9.99996099e-01 -7.51279706e-04 -9.36883111e-01] [-1.14377089e-02 7.20463606e-04 9.99934328e-01 -3.55729640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.94, Z:-0.36 [[ 9.99931703e-01 2.41207102e-03 1.14355101e-02 2.77913530e+01] [-2.40359882e-03 9.99996827e-01 -7.54553255e-04 -9.40390724e-01] [-1.14372939e-02 7.27015342e-04 9.99934328e-01 -3.57990545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.94, Z:-0.36 [[ 9.99907639e-01 7.34481836e-03 1.14353224e-02 2.78531396e+01] [-7.33663522e-03 9.99972800e-01 -7.57387312e-04 -9.42114428e-01] [-1.14405742e-02 6.73420570e-04 9.99934328e-01 -3.60303384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.91, Y:-0.94, Z:-0.36 [[ 9.99792867e-01 1.68361941e-02 1.14352685e-02 2.79141099e+01] [-1.68286206e-02 9.99858101e-01 -7.58199844e-04 -9.44724336e-01] [-1.14464111e-02 5.65603000e-04 9.99934328e-01 -3.59617503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.95, Z:-0.36 [[ 9.99642322e-01 2.41756982e-02 1.14352286e-02 2.79749997e+01] [-2.41685969e-02 9.99707609e-01 -7.58801125e-04 -9.46542196e-01] [-1.14502296e-02 4.82156287e-04 9.99934328e-01 -3.60092952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.95, Z:-0.36 [[ 9.99315894e-01 3.51707747e-02 1.14350585e-02 2.80379612e+01] [-3.51643628e-02 9.99381253e-01 -7.61356815e-04 -9.46584125e-01] [-1.14547606e-02 3.58729421e-04 9.99934328e-01 -3.60388440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.10, Y:-0.95, Z:-0.36 [[ 9.98985430e-01 4.35586367e-02 1.14348458e-02 2.80996480e+01] [-4.35527373e-02 9.99050837e-01 -7.64538067e-04 -9.49810616e-01] [-1.14572945e-02 2.65743555e-04 9.99934328e-01 -3.60692817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.95, Z:-0.36 [[ 9.98419334e-01 5.50280220e-02 1.14346483e-02 2.81619771e+01] [-5.50228405e-02 9.98484801e-01 -7.67480039e-04 -9.54145159e-01] [-1.14595555e-02 1.37100079e-04 9.99934328e-01 -3.61063690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.96, Z:-0.36 [[ 9.97932256e-01 6.32492358e-02 1.14344318e-02 2.82238171e+01] [-6.32445568e-02 9.97997762e-01 -7.70692610e-04 -9.59481295e-01] [-1.14602830e-02 4.59334446e-05 9.99934328e-01 -3.62293280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.97, Z:-0.36 [[ 9.97597037e-01 6.83330876e-02 1.14342306e-02 2.82863487e+01] [-6.83287084e-02 9.97662563e-01 -7.73666329e-04 -9.66065472e-01] [-1.14603708e-02 -9.47896989e-06 9.99934328e-01 -3.63045374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.98, Z:-0.37 [[ 9.97191667e-01 7.40138008e-02 1.14340078e-02 2.83479196e+01] [-7.40097573e-02 9.97257215e-01 -7.76944749e-04 -9.75302487e-01] [-1.14601514e-02 -7.14653132e-05 9.99934328e-01 -3.65400527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.99, Z:-0.37 [[ 9.97062962e-01 7.57279136e-02 1.14338121e-02 2.84097828e+01] [-7.57239499e-02 9.97128515e-01 -7.79814671e-04 -9.86920378e-01] [-1.14600338e-02 -8.82890861e-05 9.99934328e-01 -3.66426068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.00, Z:-0.37 [[ 9.97202850e-01 7.38630469e-02 1.14335877e-02 2.84716731e+01] [-7.38589230e-02 9.97268392e-01 -7.83091327e-04 -9.97681879e-01] [-1.14601971e-02 -6.35715672e-05 9.99934328e-01 -3.66255805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.01, Z:-0.37 [[ 9.97577078e-01 6.86239872e-02 1.14333609e-02 2.85334647e+01] [-6.86194813e-02 9.97642596e-01 -7.86387612e-04 -1.01313376e+00] [-1.14603729e-02 -6.90404800e-08 9.99934328e-01 -3.66646846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.03, Z:-0.37 [[ 9.97820939e-01 6.49819705e-02 1.14331353e-02 2.85944645e+01] [-6.49771880e-02 9.97886437e-01 -7.89654380e-04 -1.02655623e+00] [-1.14602840e-02 4.50406929e-05 9.99934328e-01 -3.67454651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.66, Y:-1.04, Z:-0.37 [[ 9.98169087e-01 5.93949615e-02 1.14329376e-02 2.86554239e+01] [-5.93897798e-02 9.98234555e-01 -7.92505850e-04 -1.04317217e+00] [-1.14598243e-02 1.12055191e-04 9.99934328e-01 -3.69070047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.05, Z:-0.37 [[ 9.97816157e-01 6.50554253e-02 1.14327424e-02 2.87166407e+01] [-6.50505828e-02 9.97881651e-01 -7.95312697e-04 -1.04909444e+00] [-1.14602633e-02 4.98693033e-05 9.99934328e-01 -3.68088413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.05, Z:-0.37 [[ 9.97668417e-01 6.72831784e-02 1.14325634e-02 2.87783375e+01] [-6.72784528e-02 9.97733919e-01 -7.97877413e-04 -1.05449319e+00] [-1.14603400e-02 2.68519190e-05 9.99934328e-01 -3.67900375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.06, Z:-0.37 [[ 9.97676635e-01 6.71612520e-02 1.14323671e-02 2.88413484e+01] [-6.71564862e-02 9.97742134e-01 -8.00680413e-04 -1.05940475e+00] [-1.14603290e-02 3.10625365e-05 9.99934328e-01 -3.69025069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.06, Z:-0.37 [[ 9.97853943e-01 6.44733587e-02 1.14321407e-02 2.89044836e+01] [-6.44683797e-02 9.97919426e-01 -8.03899394e-04 -1.06307668e+00] [-1.14601854e-02 6.51625916e-05 9.99934328e-01 -3.69460038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.07, Z:-0.37 [[ 9.98148122e-01 5.97464464e-02 1.14319144e-02 2.89667537e+01] [-5.97411206e-02 9.98213578e-01 -8.07105382e-04 -1.06612792e+00] [-1.14597138e-02 1.22655346e-04 9.99934328e-01 -3.71513076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.07, Z:-0.37 [[ 9.98651090e-01 5.06489552e-02 1.14317050e-02 2.90285004e+01] [-5.06429993e-02 9.98716492e-01 -8.10060732e-04 -1.06917282e+00] [-1.14580610e-02 2.30032207e-04 9.99934328e-01 -3.72069398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.07, Z:-0.37 [[ 9.99137841e-01 3.99110954e-02 1.14315127e-02 2.90909209e+01] [-3.99044060e-02 9.99203171e-01 -8.12765228e-04 -1.07333717e+00] [-1.14548421e-02 3.55896772e-04 9.99934328e-01 -3.70351264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.15, Y:-1.08, Z:-0.37 [[ 9.99370151e-01 3.35950392e-02 1.14312851e-02 2.91538764e+01] [-3.35879005e-02 9.99435434e-01 -8.15953960e-04 -1.07745500e+00] [-1.14522434e-02 4.31487167e-04 9.99934328e-01 -3.69765839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.08, Z:-0.37 [[ 9.99513670e-01 2.90130153e-02 1.14310529e-02 2.92166592e+01] [-2.90055404e-02 9.99578915e-01 -8.19193614e-04 -1.08041142e+00] [-1.14500067e-02 4.87231349e-04 9.99934328e-01 -3.70180908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.08, Z:-0.37 [[ 9.99519813e-01 2.88006791e-02 1.14308179e-02 2.92799456e+01] [-2.87931531e-02 9.99585053e-01 -8.22459720e-04 -1.08311867e+00] [-1.14497621e-02 4.92935497e-04 9.99934328e-01 -3.71029528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.08, Z:-0.37 [[ 9.99432122e-01 3.16981888e-02 1.14305842e-02 2.93423112e+01] [-3.16908150e-02 9.99497379e-01 -8.25694864e-04 -1.08375378e+00] [-1.14510120e-02 4.62981441e-04 9.99934328e-01 -3.73761030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:-1.09, Z:-0.37 [[ 9.99237622e-01 3.73298873e-02 1.14303679e-02 2.94052474e+01] [-3.73228472e-02 9.99302916e-01 -8.28678051e-04 -1.08602244e+00] [-1.14533345e-02 4.01432409e-04 9.99934328e-01 -3.74180055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.09, Z:-0.38 [[ 9.99127277e-01 4.01750812e-02 1.14301369e-02 2.94680682e+01] [-4.01681908e-02 9.99192586e-01 -8.31853002e-04 -1.08856188e+00] [-1.14543278e-02 3.71999105e-04 9.99934328e-01 -3.75104265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.09, Z:-0.38 [[ 9.99083863e-01 4.12406718e-02 1.14299003e-02 2.95297624e+01] [-4.12338141e-02 9.99149176e-01 -8.35091159e-04 -1.09238495e+00] [-1.14546152e-02 3.63027717e-04 9.99934328e-01 -3.76884232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.10, Z:-0.38 [[ 9.98998829e-01 4.32516028e-02 1.14296810e-02 2.95920750e+01] [-4.32448424e-02 9.99064153e-01 -8.38081420e-04 -1.09758271e+00] [-1.14552330e-02 3.42967603e-04 9.99934328e-01 -3.78295016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.65, Y:-1.10, Z:-0.38 [[ 9.98923970e-01 4.49474129e-02 1.14294428e-02 2.96549553e+01] [-4.49407263e-02 9.98989301e-01 -8.41317843e-04 -1.10424693e+00] [-1.14557061e-02 3.26765100e-04 9.99934328e-01 -3.79060274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.11, Z:-0.38 [[ 9.98924834e-01 4.49282655e-02 1.14292029e-02 2.97166094e+01] [-4.49215406e-02 9.98990161e-01 -8.44564587e-04 -1.10982080e+00] [-1.14556060e-02 3.30239138e-04 9.99934328e-01 -3.80225072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.12, Z:-0.38 [[ 9.98927206e-01 4.48755552e-02 1.14289805e-02 2.97791707e+01] [-4.48687925e-02 9.98992529e-01 -8.47563354e-04 -1.11649184e+00] [-1.14555010e-02 3.33849539e-04 9.99934328e-01 -3.79385148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.12, Z:-0.38 [[ 9.98892796e-01 4.56351426e-02 1.14287356e-02 2.98408955e+01] [-4.56283921e-02 9.98958120e-01 -8.50852120e-04 -1.12438276e+00] [-1.14556570e-02 3.28435222e-04 9.99934328e-01 -3.79333015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.13, Z:-0.38 [[ 9.98821774e-01 4.71641089e-02 1.14285088e-02 2.99036359e+01] [-4.71574236e-02 9.98887105e-01 -8.53888704e-04 -1.12958123e+00] [-1.14560629e-02 3.13943601e-04 9.99934328e-01 -3.80786170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.14, Z:-0.38 [[ 9.98679118e-01 5.00940496e-02 1.14282672e-02 2.99659658e+01] [-5.00875191e-02 9.98744465e-01 -8.57110132e-04 -1.13517477e+00] [-1.14568547e-02 2.83564441e-04 9.99934328e-01 -3.82543452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:-1.14, Z:-0.38 [[ 9.98513914e-01 5.32856811e-02 1.14280256e-02 3.00280374e+01] [-5.32793229e-02 9.98579278e-01 -8.60319326e-04 -1.14394179e+00] [-1.14576322e-02 2.50163354e-04 9.99934328e-01 -3.80410264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.09, Y:-1.15, Z:-0.38 [[ 9.98339160e-01 5.64652816e-02 1.14277788e-02 3.00904337e+01] [-5.64590942e-02 9.98404540e-01 -8.63585380e-04 -1.15079123e+00] [-1.14583088e-02 2.16949065e-04 9.99934328e-01 -3.80586432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:-1.16, Z:-0.38 [[ 9.98175768e-01 5.92836227e-02 1.14275346e-02 3.01528594e+01] [-5.92775831e-02 9.98241162e-01 -8.66803857e-04 -1.15622803e+00] [-1.14588227e-02 1.87825973e-04 9.99934328e-01 -3.83277006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.16, Z:-0.39 [[ 9.97735801e-01 6.62773597e-02 1.14272912e-02 3.02151970e+01] [-6.62717418e-02 9.97801232e-01 -8.70001554e-04 -1.16205696e+00] [-1.14598266e-02 1.10725207e-04 9.99934328e-01 -3.85196783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.28, Y:-1.17, Z:-0.38 [[ 9.97311157e-01 7.23869754e-02 1.14272153e-02 3.02778244e+01] [-7.23817470e-02 9.97376621e-01 -8.70997555e-04 -1.16739264e+00] [-1.14602862e-02 4.15337761e-05 9.99934328e-01 -3.84443820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.34, Y:-1.17, Z:-0.38 [[ 9.97196535e-01 7.39492746e-02 1.14269646e-02 3.03404218e+01] [-7.39441112e-02 9.97262004e-01 -8.74273135e-04 -1.17146239e+00] [-1.14603295e-02 2.68653959e-05 9.99934328e-01 -3.84944172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.18, Z:-0.38 [[ 9.97183281e-01 7.41278267e-02 1.14267158e-02 3.04024429e+01] [-7.41226379e-02 9.97248748e-01 -8.77513759e-04 -1.17743150e+00] [-1.14603262e-02 2.80637333e-05 9.99934328e-01 -3.84756416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.18, Z:-0.38 [[ 9.97198735e-01 7.39196803e-02 1.14264853e-02 3.04645799e+01] [-7.39144435e-02 9.97264198e-01 -8.80504578e-04 -1.18405965e+00] [-1.14603113e-02 3.34557473e-05 9.99934328e-01 -3.84420803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:-1.19, Z:-0.39 [[ 9.97167209e-01 7.43437782e-02 1.14262487e-02 3.05270149e+01] [-7.43385343e-02 9.97232672e-01 -8.83564807e-04 -1.18816701e+00] [-1.14603160e-02 3.16512741e-05 9.99934328e-01 -3.86125395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:-1.19, Z:-0.39 [[ 9.97183255e-01 7.41282812e-02 1.14260071e-02 3.05901044e+01] [-7.41229874e-02 9.97248713e-01 -8.86677445e-04 -1.19152676e+00] [-1.14602988e-02 3.72501188e-05 9.99934328e-01 -3.89257582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:-1.20, Z:-0.39 [[ 9.97162119e-01 7.44120980e-02 1.14257579e-02 3.06520208e+01] [-7.44067862e-02 9.97227576e-01 -8.89877422e-04 -1.19628591e+00] [-1.14602985e-02 3.71981300e-05 9.99934328e-01 -3.91848740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:-1.20, Z:-0.39 [[ 9.97127782e-01 7.48708407e-02 1.14255272e-02 3.07146720e+01] [-7.48655252e-02 9.97193239e-01 -8.92829328e-04 -1.20015539e+00] [-1.14603054e-02 3.48868309e-05 9.99934328e-01 -3.91933065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.20, Z:-0.39 [[ 9.97170133e-01 7.43047069e-02 1.14252710e-02 3.07764993e+01] [-7.42993168e-02 9.97235583e-01 -8.96096298e-04 -1.20347445e+00] [-1.14602710e-02 4.46706346e-05 9.99934328e-01 -3.93743115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.21, Z:-0.40 [[ 9.97335406e-01 7.20524584e-02 1.14250499e-02 3.08380570e+01] [-7.20468883e-02 9.97400841e-01 -8.98906914e-04 -1.20794633e+00] [-1.14601228e-02 7.33724001e-05 9.99934328e-01 -3.96067066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.90, Y:-1.22, Z:-0.39 [[ 9.97749790e-01 6.60668542e-02 1.14248936e-02 3.09000619e+01] [-6.60608689e-02 9.97815188e-01 -9.00888503e-04 -1.21508557e+00] [-1.14594512e-02 1.44122915e-04 9.99934328e-01 -3.91807245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.96, Y:-1.22, Z:-0.39 [[ 9.98272820e-01 5.76268509e-02 1.14246730e-02 3.09630333e+01] [-5.76202809e-02 9.98338162e-01 -9.03677186e-04 -1.22020034e+00] [-1.14577632e-02 2.43823504e-04 9.99934328e-01 -3.92186117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.02, Y:-1.22, Z:-0.39 [[ 9.98553147e-01 5.25461230e-02 1.14244223e-02 3.10242909e+01] [-5.25391844e-02 9.98618452e-01 -9.06836094e-04 -1.22479110e+00] [-1.14562896e-02 3.05294207e-04 9.99934328e-01 -3.93129855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.09, Y:-1.23, Z:-0.39 [[ 9.98810504e-01 4.74032131e-02 1.14241904e-02 3.10872535e+01] [-4.73959050e-02 9.98875768e-01 -9.09748000e-04 -1.22937975e+00] [-1.14544719e-02 3.67206015e-04 9.99934328e-01 -3.92897931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.15, Y:-1.23, Z:-0.39 [[ 9.98926973e-01 4.48820216e-02 1.14239350e-02 3.11496605e+01] [-4.48745122e-02 9.98992215e-01 -9.12943974e-04 -1.23445193e+00] [-1.14533969e-02 3.99320850e-04 9.99934328e-01 -3.93564114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.21, Y:-1.24, Z:-0.40 [[ 9.98992605e-01 4.33967145e-02 1.14236797e-02 3.12125087e+01] [-4.33890718e-02 9.99057831e-01 -9.16127122e-04 -1.23628069e+00] [-1.14526736e-02 4.19541360e-04 9.99934328e-01 -3.95517133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.27, Y:-1.24, Z:-0.40 [[ 9.98953360e-01 4.42909604e-02 1.14234220e-02 3.12746741e+01] [-4.42833395e-02 9.99018589e-01 -9.19329943e-04 -1.23890436e+00] [-1.14529289e-02 4.12500462e-04 9.99934328e-01 -3.97709250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:-1.24, Z:-0.40 [[ 9.98780562e-01 4.80302020e-02 1.14231837e-02 3.13376780e+01] [-4.80227917e-02 9.98845814e-01 -9.22280564e-04 -1.24177355e+00] [-1.14542966e-02 3.72582727e-04 9.99934328e-01 -3.96611741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:-1.24, Z:-0.40 [[ 9.98613681e-01 5.13831899e-02 1.14229280e-02 3.13991910e+01] [-5.13759626e-02 9.98678954e-01 -9.25436769e-04 -1.24496641e+00] [-1.14553897e-02 3.37289895e-04 9.99934328e-01 -3.96897747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:-1.25, Z:-0.40 [[ 9.98340703e-01 5.64390025e-02 1.14227697e-02 3.14626002e+01] [-5.64320835e-02 9.98406010e-01 -9.27386981e-04 -1.24602810e+00] [-1.14569027e-02 2.81237477e-04 9.99934328e-01 -3.96468686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:-1.25, Z:-0.40 [[ 9.98207771e-01 5.87432806e-02 1.14225004e-02 3.15243931e+01] [-5.87364745e-02 9.98273089e-01 -9.30692117e-04 -1.24940610e+00] [-1.14574467e-02 2.58106699e-04 9.99934328e-01 -3.98992270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.26, Z:-0.40 [[ 9.98100640e-01 6.05363104e-02 1.14222510e-02 3.15861778e+01] [-6.05295868e-02 9.98165967e-01 -9.33743555e-04 -1.25612245e+00] [-1.14578276e-02 2.40585909e-04 9.99934328e-01 -3.98108037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.26, Z:-0.40 [[ 9.98057452e-01 6.12442651e-02 1.14220173e-02 3.16490349e+01] [-6.12375553e-02 9.98122780e-01 -9.36592943e-04 -1.26021376e+00] [-1.14579366e-02 2.35317150e-04 9.99934328e-01 -3.99604244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.27, Z:-0.40 [[ 9.98018749e-01 6.18718026e-02 1.14217524e-02 3.17117642e+01] [-6.18650971e-02 9.98084078e-01 -9.39812535e-04 -1.26507953e+00] [-1.14580171e-02 2.31342711e-04 9.99934328e-01 -3.99677262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.27, Z:-0.40 [[ 9.97941033e-01 6.31129503e-02 1.14214840e-02 3.17733624e+01] [-6.31062888e-02 9.98006366e-01 -9.43063481e-04 -1.27254513e+00] [-1.14582332e-02 2.20354279e-04 9.99934328e-01 -3.96915687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.84, Y:-1.28, Z:-0.40 [[ 9.97717425e-01 6.65544447e-02 1.14212460e-02 3.18355587e+01] [-6.65479756e-02 9.97782778e-01 -9.45936794e-04 -1.27813889e+00] [-1.14588789e-02 1.83716823e-04 9.99934328e-01 -3.97291133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:-1.28, Z:-0.40 [[ 9.97429060e-01 7.07448362e-02 1.14209769e-02 3.18974909e+01] [-7.07386047e-02 9.97494436e-01 -9.49174396e-04 -1.28262210e+00] [-1.14595101e-02 1.38830153e-04 9.99934328e-01 -3.99162294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.29, Z:-0.40 [[ 9.96922776e-01 7.75534944e-02 1.14208104e-02 3.19595909e+01] [-7.75476865e-02 9.96988190e-01 -9.51173821e-04 -1.28894504e+00] [-1.14601799e-02 6.25894212e-05 9.99934328e-01 -4.00878179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.29, Z:-0.40 [[ 9.96697314e-01 8.03992178e-02 1.14205738e-02 3.20211149e+01] [-8.03935642e-02 9.96762742e-01 -9.54006149e-04 -1.29421743e+00] [-1.14603038e-02 3.27147327e-05 9.99934328e-01 -4.03673086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.30, Z:-0.41 [[ 9.96565029e-01 8.20226669e-02 1.14203385e-02 3.20824390e+01] [-8.20170877e-02 9.96630464e-01 -9.56814981e-04 -1.30143636e+00] [-1.14603378e-02 1.68654473e-05 9.99934328e-01 -4.05780127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:-1.31, Z:-0.41 [[ 9.96774501e-01 7.94366078e-02 1.14201059e-02 3.21436851e+01] [-7.94308271e-02 9.96839918e-01 -9.59582893e-04 -1.31248868e+00] [-1.14602434e-02 4.93793022e-05 9.99934328e-01 -4.05557631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.32, Z:-0.40 [[ 9.96935374e-01 7.73915113e-02 1.14198596e-02 3.22052581e+01] [-7.73855630e-02 9.97000776e-01 -9.62505741e-04 -1.32102163e+00] [-1.14600986e-02 7.58237602e-05 9.99934328e-01 -4.04696040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.33, Z:-0.40 [[ 9.96887707e-01 7.80031493e-02 1.14196307e-02 3.22664672e+01] [-7.79972100e-02 9.96953110e-01 -9.65213256e-04 -1.32937291e+00] [-1.14601260e-02 7.15098954e-05 9.99934328e-01 -4.02981267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.34, Z:-0.40 [[ 9.96665488e-01 8.07929614e-02 1.14193924e-02 3.23293314e+01] [-8.07871730e-02 9.96730904e-01 -9.68024358e-04 -1.33683746e+00] [-1.14602709e-02 4.22560390e-05 9.99934328e-01 -4.02759059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.897628 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.34, Z:-0.41 [[ 9.96269664e-01 8.55357214e-02 1.14191195e-02 3.23913711e+01] [-8.55302077e-02 9.96335104e-01 -9.71233416e-04 -1.34447137e+00] [-1.14603447e-02 -9.06927057e-06 9.99934328e-01 -4.06339442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.35, Z:-0.40 [[ 9.95863145e-01 9.01454738e-02 1.14188449e-02 3.24536605e+01] [-9.01402261e-02 9.95928607e-01 -9.74451031e-04 -1.35010076e+00] [-1.14601966e-02 -5.88773910e-05 9.99934328e-01 -4.04859870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.36, Z:-0.41 [[ 9.95295327e-01 9.62124150e-02 1.14185697e-02 3.25158304e+01] [-9.62075294e-02 9.95360817e-01 -9.77665400e-04 -1.35564112e+00] [-1.14596604e-02 -1.25486573e-04 9.99934328e-01 -4.07092331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.36, Z:-0.41 [[ 9.95028233e-01 9.89365360e-02 1.14183270e-02 3.25778765e+01] [-9.89317973e-02 9.95093733e-01 -9.80491424e-04 -1.35925434e+00] [-1.14593121e-02 -1.54018963e-04 9.99934328e-01 -4.09874114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.36, Z:-0.41 [[ 9.94972570e-01 9.94947815e-02 1.14180834e-02 3.26397587e+01] [-9.94900471e-02 9.95038071e-01 -9.83320575e-04 -1.36304511e+00] [-1.14592629e-02 -1.57608651e-04 9.99934328e-01 -4.14334056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.37, Z:-0.41 [[ 9.95182374e-01 9.73738931e-02 1.14178390e-02 3.27002333e+01] [-9.73689867e-02 9.95247863e-01 -9.86149665e-04 -1.37028214e+00] [-1.14596051e-02 -1.30344649e-04 9.99934328e-01 -4.09059659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.38, Z:-0.41 [[ 9.95599186e-01 9.30155845e-02 1.14176154e-02 3.27616968e+01] [-9.30103617e-02 9.95664650e-01 -9.88731450e-04 -1.37787344e+00] [-1.14600835e-02 -7.75763152e-05 9.99934328e-01 -4.06986368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.38, Z:-0.41 [[ 9.95830533e-01 9.05052128e-02 1.14173729e-02 3.28247126e+01] [-9.04997929e-02 9.95895981e-01 -9.91524558e-04 -1.38444373e+00] [-1.14602539e-02 -4.58794517e-05 9.99934328e-01 -4.06509676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.89, Y:-1.39, Z:-0.41 [[ 9.96320203e-01 8.49452897e-02 1.14170898e-02 3.28872215e+01] [-8.49394674e-02 9.96385617e-01 -9.94773444e-04 -1.38886797e+00] [-1.14603254e-02 2.13513541e-05 9.99934328e-01 -4.07015838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.95, Y:-1.39, Z:-0.41 [[ 9.96673644e-01 8.06926538e-02 1.14168075e-02 3.29488141e+01] [-8.06865155e-02 9.96739028e-01 -9.98002724e-04 -1.39361705e+00] [-1.14601091e-02 7.35005958e-05 9.99934328e-01 -4.09575007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.01, Y:-1.40, Z:-0.41 [[ 9.96923327e-01 7.75470304e-02 1.14165603e-02 3.30104264e+01] [-7.75406534e-02 9.96988689e-01 -1.00082261e-03 -1.39888614e+00] [-1.14597923e-02 1.12495858e-04 9.99934328e-01 -4.11424975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.07, Y:-1.40, Z:-0.41 [[ 9.97336239e-01 7.20423085e-02 1.14163126e-02 3.30724577e+01] [-7.20355386e-02 9.97401561e-01 -1.00363989e-03 -1.40253243e+00] [-1.14589526e-02 1.78586207e-04 9.99934328e-01 -4.13981120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.41, Z:-0.41 [[ 9.97559479e-01 6.88822152e-02 1.14160674e-02 3.31352783e+01] [-6.88752065e-02 9.97624776e-01 -1.00642154e-03 -1.40652796e+00] [-1.14582762e-02 2.17681349e-04 9.99934328e-01 -4.13617430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.41, Z:-0.41 [[ 9.97655630e-01 6.74753530e-02 1.14157856e-02 3.31972183e+01] [-6.74682158e-02 9.97720913e-01 -1.00960750e-03 -1.40995003e+00] [-1.14578917e-02 2.37037922e-04 9.99934328e-01 -4.12882664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.26, Y:-1.41, Z:-0.41 [[ 9.97432330e-01 7.06995993e-02 1.14155247e-02 3.32602703e+01] [-7.06926395e-02 9.97497632e-01 -1.01254909e-03 -1.41244507e+00] [-1.14585457e-02 2.02955620e-04 9.99934328e-01 -4.11274145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:33.32, Y:-1.41, Z:-0.41 [[ 9.97166843e-01 7.43503896e-02 1.14152386e-02 3.33220863e+01] [-7.43436321e-02 9.97232166e-01 -1.01576410e-03 -1.41490540e+00] [-1.14591656e-02 1.64235978e-04 9.99934328e-01 -4.14849680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.38, Y:-1.42, Z:-0.41 [[ 9.96610375e-01 8.14705918e-02 1.14150619e-02 3.33848063e+01] [-8.14642783e-02 9.96675742e-01 -1.01774661e-03 -1.41655842e+00] [-1.14600317e-02 8.43770520e-05 9.99934328e-01 -4.14779427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.917628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:33.45, Y:-1.42, Z:-0.42 [[ 9.96282607e-01 8.53854192e-02 1.14147704e-02 3.34469229e+01] [-8.53793252e-02 9.96347996e-01 -1.02100531e-03 -1.42112290e+00] [-1.14602626e-02 4.26244412e-05 9.99934328e-01 -4.19558150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:33.51, Y:-1.43, Z:-0.42 [[ 9.95789895e-01 9.09515994e-02 1.14145154e-02 3.35085548e+01] [-9.09458383e-02 9.95855314e-01 -1.02384832e-03 -1.42695055e+00] [-1.14603265e-02 -1.85648612e-05 9.99934328e-01 -4.19579800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.57, Y:-1.43, Z:-0.42 [[ 9.95770606e-01 9.11625743e-02 1.14142632e-02 3.35700091e+01] [-9.11567950e-02 9.95836023e-01 -1.02665189e-03 -1.43240943e+00] [-1.14603267e-02 -1.81778741e-05 9.99934328e-01 -4.16141421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.63, Y:-1.44, Z:-0.42 [[ 9.96074288e-01 8.77823026e-02 1.14140296e-02 3.36330040e+01] [-8.77762716e-02 9.96139682e-01 -1.02924320e-03 -1.43954156e+00] [-1.14603171e-02 2.33217272e-05 9.99934328e-01 -4.16428326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:-1.45, Z:-0.42 [[ 9.96864273e-01 7.83029230e-02 1.14137422e-02 3.36953205e+01] [-7.82962338e-02 9.96929603e-01 -1.03242012e-03 -1.45074905e+00] [-1.14595390e-02 1.35529710e-04 9.99934328e-01 -4.15994434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:-1.46, Z:-0.42 [[ 9.97415263e-01 7.09402976e-02 1.14134525e-02 3.37574344e+01] [-7.09330897e-02 9.97480538e-01 -1.03561317e-03 -1.46023532e+00] [-1.14581634e-02 2.23344932e-04 9.99934328e-01 -4.15589206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:-1.47, Z:-0.42 [[ 9.98004348e-01 6.21052464e-02 1.14131619e-02 3.38180894e+01] [-6.20974243e-02 9.98069552e-01 -1.03880535e-03 -1.46870422e+00] [-1.14556447e-02 3.28004294e-04 9.99934328e-01 -4.18920601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:-1.48, Z:-0.42 [[ 9.98109962e-01 6.03841842e-02 1.14129294e-02 3.38803119e+01] [-6.03762205e-02 9.98175149e-01 -1.04135326e-03 -1.47829379e+00] [-1.14549838e-02 3.50315521e-04 9.99934328e-01 -4.17427744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.49, Z:-0.42 [[ 9.98012971e-01 6.19666135e-02 1.14126328e-02 3.39410822e+01] [-6.19587162e-02 9.98078166e-01 -1.04459369e-03 -1.48510746e+00] [-1.14554296e-02 3.35405971e-04 9.99934328e-01 -4.20235937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.49, Z:-0.42 [[ 9.97890513e-01 6.39083774e-02 1.14123958e-02 3.40025991e+01] [-6.39005774e-02 9.97955720e-01 -1.04717719e-03 -1.49134335e+00] [-1.14559891e-02 3.15709507e-04 9.99934328e-01 -4.24653565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.50, Z:-0.42 [[ 9.97599234e-01 6.83046924e-02 1.14121448e-02 3.40638889e+01] [-6.82971486e-02 9.97664471e-01 -1.04990587e-03 -1.49751344e+00] [-1.14572049e-02 2.67968348e-04 9.99934328e-01 -4.19025827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.13, Y:-1.50, Z:-0.42 [[ 9.97174346e-01 7.42501940e-02 1.14119029e-02 3.41255906e+01] [-7.42430092e-02 9.97239624e-01 -1.05252818e-03 -1.50422324e+00] [-1.14585522e-02 2.02300088e-04 9.99934328e-01 -4.15208050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.19, Y:-1.51, Z:-0.42 [[ 9.96731155e-01 7.99798644e-02 1.14116440e-02 3.41881255e+01] [-7.99730228e-02 9.96796470e-01 -1.05532798e-03 -1.50923893e+00] [-1.14594914e-02 1.39254614e-04 9.99934328e-01 -4.15354325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.25, Y:-1.51, Z:-0.42 [[ 9.96005710e-01 8.85573624e-02 1.14113458e-02 3.42507125e+01] [-8.85510466e-02 9.96071078e-01 -1.05854269e-03 -1.51220417e+00] [-1.14602532e-02 4.38279543e-05 9.99934328e-01 -4.19168075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757628000000004 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.52, Z:-0.42 [[ 9.95622274e-01 9.27689321e-02 1.14110424e-02 3.43128351e+01] [-9.27628554e-02 9.95687665e-01 -1.06180315e-03 -1.51776824e+00] [-1.14603365e-02 -1.36601045e-06 9.99934328e-01 -4.24091997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.37, Y:-1.53, Z:-0.42 [[ 9.95067976e-01 9.85368865e-02 1.14107746e-02 3.43747229e+01] [-9.85311559e-02 9.95133397e-01 -1.06467317e-03 -1.52540119e+00] [-1.14601525e-02 -6.48946328e-05 9.99934328e-01 -4.21425042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.44, Y:-1.53, Z:-0.42 [[ 9.94852052e-01 1.00693570e-01 1.14104911e-02 3.44370286e+01] [-1.00687946e-01 9.94917483e-01 -1.06770282e-03 -1.53261652e+00] [-1.14600079e-02 -8.66925765e-05 9.99934328e-01 -4.21843396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.50, Y:-1.54, Z:-0.42 [[ 9.94844783e-01 1.00765399e-01 1.14101842e-02 3.44997176e+01] [-1.00759743e-01 9.94910211e-01 -1.07097277e-03 -1.54041868e+00] [-1.14600258e-02 -8.42355544e-05 9.99934328e-01 -4.22359797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:-1.55, Z:-0.42 [[ 9.94979186e-01 9.94295440e-02 1.14098805e-02 3.45619949e+01] [-9.94237629e-02 9.95044603e-01 -1.07419849e-03 -1.54914548e+00] [-1.14601471e-02 -6.56081139e-05 9.99934328e-01 -4.24003657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.56, Z:-0.43 [[ 9.95098769e-01 9.82255647e-02 1.14095734e-02 3.46235641e+01] [-9.82196672e-02 9.95164175e-01 -1.07745047e-03 -1.55718525e+00] [-1.14602319e-02 -4.84748703e-05 9.99934328e-01 -4.25409719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.69, Y:-1.56, Z:-0.42 [[ 9.95001486e-01 9.92062036e-02 1.14092898e-02 3.46865548e+01] [-9.92003362e-02 9.95066895e-01 -1.08044547e-03 -1.56398627e+00] [-1.14601935e-02 -5.67605370e-05 9.99934328e-01 -4.23311739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:-1.57, Z:-0.42 [[ 9.95018963e-01 9.90307962e-02 1.14089851e-02 3.47491447e+01] [-9.90248804e-02 9.95084368e-01 -1.08365283e-03 -1.56974854e+00] [-1.14602178e-02 -5.15182778e-05 9.99934328e-01 -4.24415363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.57, Z:-0.43 [[ 9.95393926e-01 9.51880985e-02 1.14086816e-02 3.48111270e+01] [-9.51818937e-02 9.95459304e-01 -1.08683872e-03 -1.57377905e+00] [-1.14603324e-02 -4.06726294e-06 9.99934328e-01 -4.27269402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:-1.58, Z:-0.43 [[ 9.95958798e-01 8.90837911e-02 1.14084005e-02 3.48732824e+01] [-8.90771519e-02 9.96024133e-01 -1.08978233e-03 -1.57975433e+00] [-1.14601241e-02 6.91504768e-05 9.99934328e-01 -4.29678757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.59, Z:-0.43 [[ 9.96980841e-01 7.68053197e-02 1.14081051e-02 3.49353374e+01] [-7.67978407e-02 9.97046086e-01 -1.09286529e-03 -1.58515690e+00] [-1.14583444e-02 2.13447922e-04 9.99934328e-01 -4.25303035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.00, Y:-1.59, Z:-0.42 [[ 9.97717025e-01 6.65627410e-02 1.14078507e-02 3.49983952e+01] [-6.65545622e-02 9.97782186e-01 -1.09551461e-03 -1.58971221e+00] [-1.14554707e-02 3.33769067e-04 9.99934328e-01 -4.24551448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.59, Z:-0.43 [[ 9.98671573e-01 5.02489607e-02 1.14075426e-02 3.50610327e+01] [-5.02396816e-02 9.98736586e-01 -1.09871298e-03 -1.59230105e+00] [-1.14483394e-02 5.24142105e-04 9.99934328e-01 -4.25503533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.60, Z:-0.43 [[ 9.99078600e-01 4.13742258e-02 1.14072275e-02 3.51241201e+01] [-4.13643323e-02 9.99143522e-01 -1.10197560e-03 -1.59618508e+00] [-1.14430508e-02 6.29107894e-04 9.99934328e-01 -4.25396571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.19, Y:-1.60, Z:-0.43 [[ 9.99312686e-01 3.52709302e-02 1.14069103e-02 3.51875434e+01] [-3.52606031e-02 9.99377540e-01 -1.10524909e-03 -1.59763410e+00] [-1.14387931e-02 7.02274902e-04 9.99934328e-01 -4.25283462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.25, Y:-1.60, Z:-0.43 [[ 9.99184190e-01 3.87407406e-02 1.14065959e-02 3.52505771e+01] [-3.87306020e-02 9.99249074e-01 -1.10848422e-03 -1.59773314e+00] [-1.14409739e-02 6.65795583e-04 9.99934328e-01 -4.25028713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:-1.60, Z:-0.43 [[ 9.98940380e-01 4.45871591e-02 1.14062812e-02 3.53128668e+01] [-4.45773635e-02 9.99005317e-01 -1.11171329e-03 -1.59945961e+00] [-1.14445037e-02 6.02073350e-04 9.99934328e-01 -4.25718282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.60, Z:-0.43 [[ 9.98543644e-01 5.27303912e-02 1.14059897e-02 3.53761001e+01] [-5.27210914e-02 9.98608654e-01 -1.11469546e-03 -1.59642556e+00] [-1.14488984e-02 5.11735840e-04 9.99934328e-01 -4.29283862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.60, Z:-0.43 [[ 9.98305054e-01 5.70695090e-02 1.14056766e-02 3.54389482e+01] [-5.70604554e-02 9.98370099e-01 -1.11789060e-03 -1.59841282e+00] [-1.14508839e-02 4.65182733e-04 9.99934328e-01 -4.27499443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:-1.60, Z:-0.43 [[ 9.98416941e-01 5.50774803e-02 1.14053651e-02 3.55007781e+01] [-5.50682608e-02 9.98481963e-01 -1.12105944e-03 -1.60040126e+00] [-1.14497965e-02 4.91211113e-04 9.99934328e-01 -4.26251620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.56, Y:-1.60, Z:-0.43 [[ 9.98603667e-01 5.15813774e-02 1.14051729e-02 3.55633243e+01] [-5.15719081e-02 9.98668652e-01 -1.12301174e-03 -1.60275671e+00] [-1.14479151e-02 5.33257111e-04 9.99934328e-01 -4.26785945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.60, Z:-0.43 [[ 9.98759334e-01 4.84739376e-02 1.14048573e-02 3.56266163e+01] [-4.84642297e-02 9.98824284e-01 -1.12620742e-03 -1.60303467e+00] [-1.14460401e-02 5.72082553e-04 9.99934328e-01 -4.27784567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.60, Z:-0.43 [[ 9.98623900e-01 5.11883013e-02 1.14045368e-02 3.56899319e+01] [-5.11787331e-02 9.98688871e-01 -1.12944394e-03 -1.60336043e+00] [-1.14473983e-02 5.44219973e-04 9.99934328e-01 -4.29927502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:-1.61, Z:-0.43 [[ 9.98311913e-01 5.69496915e-02 1.14042191e-02 3.57525019e+01] [-5.69404618e-02 9.98376933e-01 -1.13264216e-03 -1.60500738e+00] [-1.14502129e-02 4.81368662e-04 9.99934328e-01 -4.32235961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.81, Y:-1.61, Z:-0.43 [[ 9.97624890e-01 6.79303383e-02 1.14038906e-02 3.58137413e+01] [-6.79217870e-02 9.97690002e-01 -1.13593986e-03 -1.60517292e+00] [-1.14547125e-02 3.58669250e-04 9.99934328e-01 -4.34962430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257628000000004 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.61, Z:-0.44 [[ 9.97159996e-01 7.44439407e-02 1.14036275e-02 3.58760426e+01] [-7.44357847e-02 9.97225159e-01 -1.13857505e-03 -1.60814838e+00] [-1.14567443e-02 2.86503532e-04 9.99934328e-01 -4.37070175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.61, Z:-0.43 [[ 9.96333396e-01 8.47922625e-02 1.14033314e-02 3.59383083e+01] [-8.47847496e-02 9.96398637e-01 -1.14153290e-03 -1.61171679e+00] [-1.14590571e-02 1.70518752e-04 9.99934328e-01 -4.34990022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.62, Z:-0.44 [[ 9.95702940e-01 9.19000833e-02 1.14030522e-02 3.60002626e+01] [-9.18930043e-02 9.95768229e-01 -1.14431569e-03 -1.61695401e+00] [-1.14599598e-02 9.15377765e-05 9.99934328e-01 -4.35617581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:-1.62, Z:-0.44 [[ 9.94666868e-01 1.02507556e-01 1.14027558e-02 3.60631356e+01] [-1.02501140e-01 9.94732225e-01 -1.14726172e-03 -1.62239527e+00] [-1.14602916e-02 -2.76522435e-05 9.99934328e-01 -4.35275110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:-1.63, Z:-0.44 [[ 9.94101178e-01 1.07855611e-01 1.14024277e-02 3.61244711e+01] [-1.07849509e-01 9.94166565e-01 -1.15051328e-03 -1.62818838e+00] [-1.14600017e-02 -8.60196278e-05 9.99934328e-01 -4.36547459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.64, Z:-0.44 [[ 9.93825798e-01 1.10364282e-01 1.14021231e-02 3.61871155e+01] [-1.10358310e-01 9.93891198e-01 -1.15352441e-03 -1.63682370e+00] [-1.14597776e-02 -1.11916717e-04 9.99934328e-01 -4.38135758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.65, Z:-0.44 [[ 9.94141662e-01 1.07481882e-01 1.14017919e-02 3.62480220e+01] [-1.07475683e-01 9.94207041e-01 -1.15678831e-03 -1.64797843e+00] [-1.14600756e-02 -7.54039244e-05 9.99934328e-01 -4.42701070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.66, Z:-0.45 [[ 9.94554065e-01 1.03596417e-01 1.14015048e-02 3.63095129e+01] [-1.03589930e-01 9.94619416e-01 -1.15961145e-03 -1.65859767e+00] [-1.14602896e-02 -2.77847996e-05 9.99934328e-01 -4.45702675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.67, Z:-0.45 [[ 9.95309873e-01 9.60638815e-02 1.14012136e-02 3.63697693e+01] [-9.60568676e-02 9.95375169e-01 -1.16246731e-03 -1.67311097e+00] [-1.14601560e-02 6.18503285e-05 9.99934328e-01 -4.48427803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:-1.69, Z:-0.45 [[ 9.95769949e-01 9.11713984e-02 1.14010499e-02 3.64320996e+01] [-9.11640454e-02 9.95835208e-01 -1.16407063e-03 -1.68644258e+00] [-1.14596969e-02 1.19780724e-04 9.99934328e-01 -4.46758493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.857628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:-1.70, Z:-0.45 [[ 9.96458387e-01 8.33109057e-02 1.14007223e-02 3.64933132e+01] [-8.33030013e-02 9.96523581e-01 -1.16727023e-03 -1.70257553e+00] [-1.14583350e-02 2.13421822e-04 9.99934328e-01 -4.46894247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.917628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:-1.71, Z:-0.45 [[ 9.96882503e-01 7.80724391e-02 1.14004330e-02 3.65543314e+01] [-7.80641600e-02 9.96947650e-01 -1.17008930e-03 -1.71479282e+00] [-1.14569866e-02 2.76476324e-04 9.99934328e-01 -4.46023847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.62, Y:-1.73, Z:-0.44 [[ 9.97357730e-01 7.17467470e-02 1.14001375e-02 3.66162709e+01] [-7.17380219e-02 9.97422819e-01 -1.17296124e-03 -1.73158243e+00] [-1.14549134e-02 3.52038649e-04 9.99934328e-01 -4.44087593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.037628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:36.68, Y:-1.74, Z:-0.45 [[ 9.97439633e-01 7.05990321e-02 1.13998038e-02 3.66777018e+01] [-7.05901953e-02 9.97504707e-01 -1.17619525e-03 -1.74216592e+00] [-1.14543962e-02 3.68469379e-04 9.99934328e-01 -4.47742051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:-1.75, Z:-0.45 [[ 9.97329111e-01 7.21435766e-02 1.13995132e-02 3.67402868e+01] [-7.21348085e-02 9.97394195e-01 -1.17900523e-03 -1.75217857e+00] [-1.14548659e-02 3.53554538e-04 9.99934328e-01 -4.48253799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:-1.76, Z:-0.45 [[ 9.97142458e-01 7.46791557e-02 1.13991746e-02 3.68003447e+01] [-7.46705158e-02 9.97207559e-01 -1.18227001e-03 -1.76214233e+00] [-1.14556340e-02 3.27709381e-04 9.99934328e-01 -4.51595637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.86, Y:-1.77, Z:-0.45 [[ 9.96783240e-01 7.93299184e-02 1.13990103e-02 3.68617345e+01] [-7.93215642e-02 9.96848378e-01 -1.18385153e-03 -1.77353176e+00] [-1.14569998e-02 2.75856033e-04 9.99934328e-01 -4.49836348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:-1.78, Z:-0.45 [[ 9.96514712e-01 8.26347246e-02 1.13987270e-02 3.69233933e+01] [-8.26265553e-02 9.96579874e-01 -1.18657286e-03 -1.78189353e+00] [-1.14577941e-02 2.40599762e-04 9.99934328e-01 -4.49297887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:-1.79, Z:-0.45 [[ 9.96122688e-01 8.72333971e-02 1.13984383e-02 3.69843415e+01] [-8.72254970e-02 9.96187883e-01 -1.18933979e-03 -1.79192473e+00] [-1.14587363e-02 1.90493897e-04 9.99934328e-01 -4.49457963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:-1.80, Z:-0.45 [[ 9.95721892e-01 9.16951259e-02 1.13981325e-02 3.70460819e+01] [-9.16874845e-02 9.95787118e-01 -1.19226336e-03 -1.80320202e+00] [-1.14594383e-02 1.42096631e-04 9.99934328e-01 -4.50795794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:-1.81, Z:-0.45 [[ 9.95479747e-01 9.42876573e-02 1.13978093e-02 3.71085383e+01] [-9.42801505e-02 9.95544989e-01 -1.19534500e-03 -1.81110318e+00] [-1.14597382e-02 1.15354563e-04 9.99934328e-01 -4.53665065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:-1.82, Z:-0.46 [[ 9.95082214e-01 9.83945340e-02 1.13974810e-02 3.71704055e+01] [-9.83872606e-02 9.95147482e-01 -1.19846760e-03 -1.81676495e+00] [-1.14600972e-02 7.12068654e-05 9.99934328e-01 -4.56380366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:-1.82, Z:-0.46 [[ 9.95212434e-01 9.70686081e-02 1.13971884e-02 3.72328265e+01] [-9.70612160e-02 9.95277689e-01 -1.20124341e-03 -1.82336248e+00] [-1.14599704e-02 8.92674117e-05 9.99934328e-01 -4.55504195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:-1.83, Z:-0.46 [[ 9.95769298e-01 9.11790361e-02 1.13968458e-02 3.72944625e+01] [-9.11712210e-02 9.95834503e-01 -1.20448536e-03 -1.83009914e+00] [-1.14591961e-02 1.60325194e-04 9.99934328e-01 -4.55167032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:-1.83, Z:-0.45 [[ 9.96766834e-01 7.95361466e-02 1.13965290e-02 3.73568458e+01] [-7.95275359e-02 9.96831938e-01 -1.20747561e-03 -1.83392876e+00] [-1.14564620e-02 2.97233775e-04 9.99934328e-01 -4.53476640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:-1.84, Z:-0.45 [[ 9.97436633e-01 7.06419835e-02 1.13962297e-02 3.74196618e+01] [-7.06327603e-02 9.97501653e-01 -1.21029364e-03 -1.83944630e+00] [-1.14532555e-02 4.02244056e-04 9.99934328e-01 -4.54068317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:-1.84, Z:-0.46 [[ 9.98037987e-01 6.15654983e-02 1.13958851e-02 3.74811530e+01] [-6.15556471e-02 9.98102915e-01 -1.21352931e-03 -1.84424220e+00] [-1.14489777e-02 5.09667269e-04 9.99934328e-01 -4.55936054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877628 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:-1.85, Z:-0.46 [[ 9.98193239e-01 5.89948925e-02 1.13955856e-02 3.75434075e+01] [-5.89848421e-02 9.98258137e-01 -1.21633582e-03 -1.84877188e+00] [-1.14474936e-02 5.41971381e-04 9.99934328e-01 -4.60168409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.61, Y:-1.85, Z:-0.46 [[ 9.98002838e-01 6.21327782e-02 1.13952826e-02 3.76052892e+01] [-6.21228997e-02 9.98067763e-01 -1.21916762e-03 -1.85122461e+00] [-1.14490145e-02 5.08824746e-04 9.99934328e-01 -4.60603037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.67, Y:-1.85, Z:-0.46 [[ 9.97335036e-01 7.20623356e-02 1.13949804e-02 3.76662782e+01] [-7.20530715e-02 9.97400051e-01 -1.22198534e-03 -1.85314021e+00] [-1.14534132e-02 3.97685453e-04 9.99934328e-01 -4.63207913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.73, Y:-1.86, Z:-0.46 [[ 9.96600564e-01 8.15933555e-02 1.13947035e-02 3.77293550e+01] [-8.15846840e-02 9.96665661e-01 -1.22456194e-03 -1.85850555e+00] [-1.14566258e-02 2.90765838e-04 9.99934328e-01 -4.63200243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.79, Y:-1.86, Z:-0.46 [[ 9.95303380e-01 9.61319372e-02 1.13943750e-02 3.77914993e+01] [-9.61241819e-02 9.95368592e-01 -1.22761117e-03 -1.86293514e+00] [-1.14596157e-02 1.26570567e-04 9.99934328e-01 -4.59651131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:-1.87, Z:-0.46 [[ 9.94364020e-01 1.05405743e-01 1.13940838e-02 3.78538060e+01] [-1.05398565e-01 9.94429298e-01 -1.23030856e-03 -1.86669091e+00] [-1.14602923e-02 2.24544841e-05 9.99934328e-01 -4.58310912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.92, Y:-1.87, Z:-0.46 [[ 9.93152023e-01 1.16272267e-01 1.13937933e-02 3.79164676e+01] [-1.16265772e-01 9.93217373e-01 -1.23299258e-03 -1.87229118e+00] [-1.14598763e-02 -1.00159097e-04 9.99934328e-01 -4.56348286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.98, Y:-1.88, Z:-0.46 [[ 9.92719178e-01 1.19911733e-01 1.13934504e-02 3.79792498e+01] [-1.19905442e-01 9.92784547e-01 -1.23615315e-03 -1.88040024e+00] [-1.14594708e-02 -1.38983758e-04 9.99934328e-01 -4.57017461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:-1.89, Z:-0.46 [[ 9.92672053e-01 1.20301257e-01 1.13931073e-02 3.80412486e+01] [-1.20294955e-01 9.92737421e-01 -1.23930757e-03 -1.88922663e+00] [-1.14594542e-02 -1.40307335e-04 9.99934328e-01 -4.60724087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:-1.90, Z:-0.47 [[ 9.93125823e-01 1.16495940e-01 1.13927621e-02 3.81014941e+01] [-1.16489352e-01 9.93191163e-01 -1.24247291e-03 -1.90042791e+00] [-1.14599337e-02 -9.32035381e-05 9.99934328e-01 -4.66907101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.16, Y:-1.91, Z:-0.47 [[ 9.93600758e-01 1.12373236e-01 1.13924852e-02 3.81620747e+01] [-1.12366347e-01 9.93666068e-01 -1.24500629e-03 -1.91326534e+00] [-1.14602314e-02 -4.30927538e-05 9.99934328e-01 -4.69568229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.537628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:38.22, Y:-1.93, Z:-0.47 [[ 9.94446943e-01 1.04620720e-01 1.13921908e-02 3.82225376e+01] [-1.04613291e-01 9.94512193e-01 -1.24769396e-03 -1.92967624e+00] [-1.14602073e-02 4.89908728e-05 9.99934328e-01 -4.74119213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.597628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:38.28, Y:-1.94, Z:-0.47 [[ 9.94083953e-01 1.08015364e-01 1.13918996e-02 3.82841708e+01] [-1.08008127e-01 9.94149225e-01 -1.25034741e-03 -1.93589885e+00] [-1.14603049e-02 1.25325554e-05 9.99934328e-01 -4.72591849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.34, Y:-1.95, Z:-0.47 [[ 9.93783149e-01 1.10748742e-01 1.13916113e-02 3.83446156e+01] [-1.10741655e-01 9.93848437e-01 -1.25296859e-03 -1.94530478e+00] [-1.14602998e-02 -1.63468281e-05 9.99934328e-01 -4.68301205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.41, Y:-1.95, Z:-0.47 [[ 9.93817694e-01 1.10438349e-01 1.13913463e-02 3.84056396e+01] [-1.10431214e-01 9.93882977e-01 -1.25537290e-03 -1.95174424e+00] [-1.14603065e-02 -1.03484110e-05 9.99934328e-01 -4.66330168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.47, Y:-1.96, Z:-0.47 [[ 9.93928094e-01 1.09440336e-01 1.13910855e-02 3.84680646e+01] [-1.09433108e-01 9.93993367e-01 -1.25773567e-03 -1.95734011e+00] [-1.14603104e-02 3.53692833e-06 9.99934328e-01 -4.66988682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.53, Y:-1.96, Z:-0.47 [[ 9.94262209e-01 1.06362165e-01 1.13907667e-02 3.85300406e+01] [-1.06354703e-01 9.94327455e-01 -1.26061598e-03 -1.96252560e+00] [-1.14602339e-02 4.19212238e-05 9.99934328e-01 -4.71097280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.59, Y:-1.97, Z:-0.47 [[ 9.94513219e-01 1.03989011e-01 1.13904719e-02 3.85926661e+01] [-1.03981363e-01 9.94578444e-01 -1.26327373e-03 -1.96870542e+00] [-1.14600844e-02 7.19456300e-05 9.99934328e-01 -4.70749958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.65, Y:-1.97, Z:-0.47 [[ 9.94761332e-01 1.01588175e-01 1.13901250e-02 3.86544188e+01] [-1.01580334e-01 9.94826534e-01 -1.26639432e-03 -1.97453030e+00] [-1.14598492e-02 1.02747403e-04 9.99934328e-01 -4.73234732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:-1.98, Z:-0.47 [[ 9.95041338e-01 9.88079308e-02 1.13898052e-02 3.87160703e+01] [-9.87998740e-02 9.95106514e-01 -1.26926393e-03 -1.98121931e+00] [-1.14594827e-02 1.37658763e-04 9.99934328e-01 -4.74192046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.077628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:-1.99, Z:-0.48 [[ 9.95463027e-01 9.44650252e-02 1.13895163e-02 3.87777248e+01] [-9.44566545e-02 9.95528163e-01 -1.27185075e-03 -1.98509830e+00] [-1.14587297e-02 1.90264793e-04 9.99934329e-01 -4.77642978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:-1.99, Z:-0.47 [[ 9.95583812e-01 9.31834711e-02 1.13892311e-02 3.88400900e+01] [-9.31749874e-02 9.95648933e-01 -1.27439970e-03 -1.99160655e+00] [-1.14584288e-02 2.07580245e-04 9.99934329e-01 -4.74300288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.90, Y:-2.00, Z:-0.47 [[ 9.95751831e-01 9.13705893e-02 1.13888786e-02 3.89020095e+01] [-9.13619511e-02 9.95816932e-01 -1.27754235e-03 -1.99859763e+00] [-1.14579679e-02 2.31604966e-04 9.99934329e-01 -4.74149839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:-2.00, Z:-0.47 [[ 9.95523852e-01 9.38219504e-02 1.13886610e-02 3.89642794e+01] [-9.38134504e-02 9.95588971e-01 -1.27947916e-03 -2.00389747e+00] [-1.14584685e-02 2.05342439e-04 9.99934329e-01 -4.74709365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.03, Y:-2.01, Z:-0.48 [[ 9.95013106e-01 9.90920042e-02 1.13883238e-02 3.90272486e+01] [-9.90838149e-02 9.95078265e-01 -1.28247320e-03 -2.00957824e+00] [-1.14593563e-02 1.47679078e-04 9.99934329e-01 -4.75032773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.09, Y:-2.01, Z:-0.48 [[ 9.94046984e-01 1.08355473e-01 1.13879644e-02 3.90899543e+01] [-1.08347855e-01 9.94112212e-01 -1.28565642e-03 -2.01441002e+00] [-1.14602224e-02 4.41413695e-05 9.99934329e-01 -4.76263434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437628000000004 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:39.15, Y:-2.02, Z:-0.48 [[ 9.93391228e-01 1.14211167e-01 1.13875987e-02 3.91522980e+01] [-1.14203896e-01 9.93456496e-01 -1.28888813e-03 -2.02069213e+00] [-1.14602893e-02 -2.01379624e-05 9.99934329e-01 -4.79516184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.21, Y:-2.03, Z:-0.48 [[ 9.93254873e-01 1.15391026e-01 1.13872286e-02 3.92143564e+01] [-1.15383795e-01 9.93320145e-01 -1.29214950e-03 -2.02898931e+00] [-1.14602660e-02 -3.04678628e-05 9.99934329e-01 -4.78725470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.04, Z:-0.48 [[ 9.93661704e-01 1.11833613e-01 1.13868626e-02 3.92762348e+01] [-1.11826111e-01 9.93726946e-01 -1.29536676e-03 -2.04008799e+00] [-1.14602977e-02 1.38077766e-05 9.99934329e-01 -4.80068311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.05, Z:-0.48 [[ 9.94048044e-01 1.08345903e-01 1.13864926e-02 3.93381257e+01] [-1.08338135e-01 9.94113254e-01 -1.29861134e-03 -2.04981151e+00] [-1.14601624e-02 5.72906935e-05 9.99934329e-01 -4.80811722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.677628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.06, Z:-0.48 [[ 9.94222941e-01 1.06729098e-01 1.13861239e-02 3.94003155e+01] [-1.06721188e-01 9.94288134e-01 -1.30183550e-03 -2.05594600e+00] [-1.14600316e-02 7.91740494e-05 9.99934329e-01 -4.83784798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:-2.06, Z:-0.48 [[ 9.94491809e-01 1.04194082e-01 1.13857582e-02 3.94623616e+01] [-1.04185969e-01 9.94556977e-01 -1.30502662e-03 -2.06474470e+00] [-1.14597613e-02 1.11602037e-04 9.99934329e-01 -4.82022159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:-2.07, Z:-0.48 [[ 9.94492519e-01 1.04187312e-01 1.13856428e-02 3.95241921e+01] [-1.04179187e-01 9.94557686e-01 -1.30603239e-03 -2.07136807e+00] [-1.14597505e-02 1.12692440e-04 9.99934329e-01 -4.81707761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.857628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.08, Z:-0.49 [[ 9.94630756e-01 1.02859294e-01 1.13853017e-02 3.95865649e+01] [-1.02851048e-01 9.94695908e-01 -1.30899918e-03 -2.07540146e+00] [-1.14595557e-02 1.30980636e-04 9.99934329e-01 -4.85892545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:-2.08, Z:-0.49 [[ 9.94847407e-01 1.00742349e-01 1.13849320e-02 3.96477475e+01] [-1.00733928e-01 9.94912536e-01 -1.31220645e-03 -2.08233005e+00] [-1.14592063e-02 1.58596268e-04 9.99934329e-01 -4.85370741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:-2.09, Z:-0.48 [[ 9.95490724e-01 9.41732960e-02 1.13845901e-02 3.97105299e+01] [-9.41644110e-02 9.95555792e-01 -1.31516657e-03 -2.08898759e+00] [-1.14578481e-02 2.37212908e-04 9.99934329e-01 -4.84132042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.77, Y:-2.09, Z:-0.48 [[ 9.96035319e-01 8.82272190e-02 1.13842188e-02 3.97729230e+01] [-8.82179090e-02 9.96100327e-01 -1.31837285e-03 -2.09412319e+00] [-1.14561404e-02 3.08853952e-04 9.99934329e-01 -4.83983449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:-2.10, Z:-0.48 [[ 9.96151908e-01 8.69010055e-02 1.13838496e-02 3.98351387e+01] [-8.68915726e-02 9.96216898e-01 -1.32155259e-03 -2.10053918e+00] [-1.14556276e-02 3.27306536e-04 9.99934329e-01 -4.84728843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.11, Z:-0.49 [[ 9.96195382e-01 8.64012575e-02 1.13834772e-02 3.98973598e+01] [-8.63917555e-02 9.96260362e-01 -1.32475278e-03 -2.10654298e+00] [-1.14553674e-02 3.36274020e-04 9.99934329e-01 -4.86422019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.217628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:-2.11, Z:-0.49 [[ 9.96180621e-01 8.65713327e-02 1.13831023e-02 3.99596251e+01] [-8.65618050e-02 9.96245597e-01 -1.32796659e-03 -2.11186433e+00] [-1.14553294e-02 3.37552705e-04 9.99934329e-01 -4.89697525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:-2.12, Z:-0.49 [[ 9.95930560e-01 8.94022032e-02 1.13827247e-02 4.00213563e+01] [-8.93928233e-02 9.95995558e-01 -1.33119495e-03 -2.11837347e+00] [-1.14561550e-02 3.08243833e-04 9.99934329e-01 -4.86814573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:-2.12, Z:-0.49 [[ 9.95350840e-01 9.56407152e-02 1.13823750e-02 4.00838344e+01] [-9.56317088e-02 9.95415891e-01 -1.33417820e-03 -2.12290304e+00] [-1.14577987e-02 2.39459419e-04 9.99934329e-01 -4.89298193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.397628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:40.15, Y:-2.13, Z:-0.49 [[ 9.94791859e-01 1.01289718e-01 1.13819911e-02 4.01454647e+01] [-1.01281044e-01 9.94856955e-01 -1.33744536e-03 -2.12846375e+00] [-1.14589225e-02 1.77699812e-04 9.99934329e-01 -4.90986571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.21, Y:-2.13, Z:-0.49 [[ 9.93884761e-01 1.09834153e-01 1.13816357e-02 4.02081854e+01] [-1.09826004e-01 9.93949924e-01 -1.34046326e-03 -2.13390420e+00] [-1.14600046e-02 8.22664445e-05 9.99934329e-01 -4.89790786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.27, Y:-2.14, Z:-0.49 [[ 9.93104313e-01 1.16680293e-01 1.13812568e-02 4.02710508e+01] [-1.16672557e-01 9.93169527e-01 -1.34367223e-03 -2.14099261e+00] [-1.14602975e-02 6.52635444e-06 9.99934329e-01 -4.90881466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:-2.15, Z:-0.49 [[ 9.92738773e-01 1.19750591e-01 1.13808738e-02 4.03328315e+01] [-1.19743019e-01 9.92804007e-01 -1.34690883e-03 -2.14866327e+00] [-1.14602702e-02 -2.56515623e-05 9.99934329e-01 -4.93255256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:-2.16, Z:-0.50 [[ 9.92521156e-01 1.21541100e-01 1.13805187e-02 4.03946261e+01] [-1.21533611e-01 9.92586399e-01 -1.34990289e-03 -2.15818655e+00] [-1.14602167e-02 -4.33083526e-05 9.99934329e-01 -4.95412029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.46, Y:-2.17, Z:-0.50 [[ 9.92530857e-01 1.21461891e-01 1.13801377e-02 4.04563497e+01] [-1.21454360e-01 9.92596095e-01 -1.35310722e-03 -2.16869419e+00] [-1.14602312e-02 -3.91666640e-05 9.99934329e-01 -4.96102809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.52, Y:-2.18, Z:-0.50 [[ 9.92799111e-01 1.19249431e-01 1.13797540e-02 4.05175126e+01] [-1.19241718e-01 9.92864328e-01 -1.35632602e-03 -2.18217584e+00] [-1.14602929e-02 -1.03821488e-05 9.99934329e-01 -4.97357642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.58, Y:-2.19, Z:-0.50 [[ 9.92945430e-01 1.18024924e-01 1.13793996e-02 4.05791165e+01] [-1.18017097e-01 9.93010633e-01 -1.35929265e-03 -2.19334500e+00] [-1.14602953e-02 6.73971735e-06 9.99934329e-01 -4.97948344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:-2.20, Z:-0.50 [[ 9.92817592e-01 1.19095537e-01 1.13790246e-02 4.06414003e+01] [-1.19087744e-01 9.92882799e-01 -1.36242509e-03 -2.20297716e+00] [-1.14602965e-02 -2.46277145e-06 9.99934329e-01 -4.96920016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.21, Z:-0.50 [[ 9.92709743e-01 1.19991221e-01 1.13786520e-02 4.07034837e+01] [-1.19983451e-01 9.92774953e-01 -1.36552960e-03 -2.21066321e+00] [-1.14602923e-02 -9.67540108e-06 9.99934329e-01 -4.97742115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:-2.22, Z:-0.50 [[ 9.92711476e-01 1.19976917e-01 1.13782775e-02 4.07639219e+01] [-1.19969110e-01 9.92776682e-01 -1.36864362e-03 -2.21895932e+00] [-1.14602942e-02 -6.37360000e-06 9.99934329e-01 -5.00100869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:-2.23, Z:-0.50 [[ 9.93203704e-01 1.15831533e-01 1.13779766e-02 4.08265600e+01] [-1.15823426e-01 9.93268873e-01 -1.37114014e-03 -2.22788010e+00] [-1.14602113e-02 4.39852323e-05 9.99934329e-01 -5.00321739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:-2.23, Z:-0.50 [[ 9.93490459e-01 1.13345746e-01 1.13775917e-02 4.08895488e+01] [-1.13337440e-01 9.93555603e-01 -1.37432662e-03 -2.23468910e+00] [-1.14600441e-02 7.58732747e-05 9.99934329e-01 -5.01785357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:-2.24, Z:-0.50 [[ 9.93747182e-01 1.11072484e-01 1.13772022e-02 4.09523370e+01] [-1.11063992e-01 9.93812302e-01 -1.37754390e-03 -2.24130027e+00] [-1.14598107e-02 1.05332887e-04 9.99934329e-01 -4.99210795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.01, Y:-2.25, Z:-0.50 [[ 9.94075341e-01 1.08096183e-01 1.13768072e-02 4.10146874e+01] [-1.08087458e-01 9.94140430e-01 -1.38079783e-03 -2.24662243e+00] [-1.14594030e-02 1.42926900e-04 9.99934329e-01 -5.00187930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:-2.25, Z:-0.50 [[ 9.94275725e-01 1.06237284e-01 1.13764061e-02 4.10764533e+01] [-1.06228400e-01 9.94340792e-01 -1.38409502e-03 -2.25399245e+00] [-1.14590671e-02 1.67674663e-04 9.99934329e-01 -4.99952572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:-2.26, Z:-0.50 [[ 9.94490740e-01 1.04205327e-01 1.13761588e-02 4.11377751e+01] [-1.04196287e-01 9.94555786e-01 -1.38612463e-03 -2.26000823e+00] [-1.14586661e-02 1.93134602e-04 9.99934329e-01 -4.98917457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:-2.27, Z:-0.50 [[ 9.94494622e-01 1.04168300e-01 1.13759209e-02 4.11999322e+01] [-1.04159235e-01 9.94559665e-01 -1.38807447e-03 -2.26640959e+00] [-1.14586254e-02 1.95525379e-04 9.99934329e-01 -5.00053249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477628 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.27, Z:-0.50 [[ 9.94505414e-01 1.04065258e-01 1.13755274e-02 4.12602442e+01] [-1.04056149e-01 9.94570451e-01 -1.39129128e-03 -2.27326367e+00] [-1.14585485e-02 1.99953128e-04 9.99934329e-01 -5.04643845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.537628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.28, Z:-0.51 [[ 9.94348818e-01 1.05551092e-01 1.13752125e-02 4.13222394e+01] [-1.05542051e-01 9.94413864e-01 -1.39386112e-03 -2.27978414e+00] [-1.14587926e-02 1.85420891e-04 9.99934329e-01 -5.07028044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:-2.29, Z:-0.51 [[ 9.94184449e-01 1.07088253e-01 1.13748661e-02 4.13844436e+01] [-1.07079280e-01 9.94249504e-01 -1.39668274e-03 -2.28776394e+00] [-1.14590233e-02 1.70547788e-04 9.99934329e-01 -5.05452360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.30, Z:-0.50 [[ 9.94248119e-01 1.06495533e-01 1.13744662e-02 4.14463673e+01] [-1.06486484e-01 9.94313164e-01 -1.39993156e-03 -2.29658073e+00] [-1.14588680e-02 1.80652407e-04 9.99934329e-01 -5.04806895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:-2.30, Z:-0.50 [[ 9.94594355e-01 1.03211920e-01 1.13740650e-02 4.15089301e+01] [-1.03202619e-01 9.94659364e-01 -1.40318389e-03 -2.30442762e+00] [-1.14581456e-02 2.21765476e-04 9.99934329e-01 -5.04942882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:-2.31, Z:-0.50 [[ 9.94879275e-01 1.00428417e-01 1.13736612e-02 4.15704377e+01] [-1.00418898e-01 9.94944253e-01 -1.40644948e-03 -2.31292206e+00] [-1.14574063e-02 2.57116919e-04 9.99934329e-01 -5.04229582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:41.63, Y:-2.32, Z:-0.51 [[ 9.95035826e-01 9.88653272e-02 1.13732880e-02 4.16331243e+01] [-9.88556711e-02 9.95100784e-01 -1.40946110e-03 -2.32138381e+00] [-1.14569146e-02 2.78150277e-04 9.99934329e-01 -5.06468487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.70, Y:-2.33, Z:-0.51 [[ 9.94800828e-01 1.01202622e-01 1.13728812e-02 4.16953058e+01] [-1.01193082e-01 9.94865802e-01 -1.41273544e-03 -2.32864482e+00] [-1.14574631e-02 2.54533491e-04 9.99934329e-01 -5.07608704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.957628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:41.76, Y:-2.34, Z:-0.51 [[ 9.94564460e-01 1.03499766e-01 1.13724762e-02 4.17578452e+01] [-1.03490338e-01 9.94629451e-01 -1.41598813e-03 -2.33583907e+00] [-1.14579542e-02 2.31350056e-04 9.99934329e-01 -5.12119714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:41.82, Y:-2.34, Z:-0.51 [[ 9.94121493e-01 1.07671410e-01 1.13720733e-02 4.18198169e+01] [-1.07662218e-01 9.94186518e-01 -1.41921704e-03 -2.34249654e+00] [-1.14587710e-02 1.86531530e-04 9.99934329e-01 -5.14141977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:-2.35, Z:-0.51 [[ 9.93818865e-01 1.10429833e-01 1.13717220e-02 4.18815438e+01] [-1.10420789e-01 9.93883910e-01 -1.42202585e-03 -2.34952887e+00] [-1.14592056e-02 1.57561599e-04 9.99934329e-01 -5.12469306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:-2.36, Z:-0.51 [[ 9.93805831e-01 1.10547104e-01 1.13713492e-02 4.19429414e+01] [-1.10538033e-01 9.93870873e-01 -1.42500085e-03 -2.35701110e+00] [-1.14591825e-02 1.59207573e-04 9.99934329e-01 -5.10640209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.197628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:-2.36, Z:-0.51 [[ 9.94316478e-01 1.05855765e-01 1.13709936e-02 4.20041342e+01] [-1.05846356e-01 9.94381471e-01 -1.42783301e-03 -2.36352180e+00] [-1.14582497e-02 2.16139660e-04 9.99934329e-01 -5.14336770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.07, Y:-2.37, Z:-0.51 [[ 9.94739132e-01 1.01807508e-01 1.13706177e-02 4.20662496e+01] [-1.01797800e-01 9.94804082e-01 -1.43082046e-03 -2.37265904e+00] [-1.14572051e-02 2.65789243e-04 9.99934329e-01 -5.10574202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.13, Y:-2.38, Z:-0.51 [[ 9.95486823e-01 9.42162549e-02 1.13702106e-02 4.21275282e+01] [-9.42060148e-02 9.95551691e-01 -1.43404804e-03 -2.38108088e+00] [-1.14547430e-02 3.56433700e-04 9.99934329e-01 -5.07403031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:-2.39, Z:-0.51 [[ 9.96226886e-01 8.60390516e-02 1.13698350e-02 4.21903899e+01] [-8.60282454e-02 9.96291662e-01 -1.43701938e-03 -2.38580848e+00] [-1.14513116e-02 4.53470379e-04 9.99934329e-01 -5.09425120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:-2.39, Z:-0.51 [[ 9.96557006e-01 8.21271558e-02 1.13694254e-02 4.22532097e+01] [-8.21160585e-02 9.96621733e-01 -1.44025353e-03 -2.39277929e+00] [-1.14493003e-02 5.01682343e-04 9.99934329e-01 -5.10634402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:-2.40, Z:-0.51 [[ 9.96797834e-01 7.91506343e-02 1.13690138e-02 4.23153074e+01] [-7.91393069e-02 9.96862521e-01 -1.44349475e-03 -2.39747606e+00] [-1.14475973e-02 5.39136565e-04 9.99934329e-01 -5.13444881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.557628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:-2.40, Z:-0.52 [[ 9.96759623e-01 7.96304521e-02 1.13686338e-02 4.23773950e+01] [-7.96191218e-02 9.96824309e-01 -1.44648167e-03 -2.40004244e+00] [-1.14477145e-02 5.36633889e-04 9.99934329e-01 -5.19422337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.44, Y:-2.40, Z:-0.52 [[ 9.96220531e-01 8.61128095e-02 1.13682833e-02 4.24406546e+01] [-8.61018690e-02 9.96285284e-01 -1.44923096e-03 -2.40169667e+00] [-1.14508507e-02 4.64923195e-04 9.99934329e-01 -5.16055785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.50, Y:-2.41, Z:-0.51 [[ 9.95642676e-01 9.25550274e-02 1.13678772e-02 4.25035816e+01] [-9.25444697e-02 9.95707493e-01 -1.45240970e-03 -2.40671768e+00] [-1.14535083e-02 3.94046910e-04 9.99934329e-01 -5.13909962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.41, Z:-0.51 [[ 9.94283564e-01 1.06164845e-01 1.13674694e-02 4.25663499e+01] [-1.06155139e-01 9.94348514e-01 -1.45559413e-03 -2.40678110e+00] [-1.14577592e-02 2.40558024e-04 9.99934329e-01 -5.13372003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.63, Y:-2.41, Z:-0.51 [[ 9.93724681e-01 1.11274638e-01 1.13672173e-02 4.26291019e+01] [-1.11265243e-01 9.93789677e-01 -1.45756050e-03 -2.41138399e+00] [-1.14588127e-02 1.83637649e-04 9.99934329e-01 -5.14222175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.41, Z:-0.51 [[ 9.92205339e-01 1.24094164e-01 1.13668037e-02 4.26921966e+01] [-1.24085572e-01 9.92270446e-01 -1.46077839e-03 -2.41317442e+00] [-1.14602175e-02 3.89357782e-05 9.99934329e-01 -5.13682134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:-2.42, Z:-0.52 [[ 9.91355771e-01 1.30707844e-01 1.13663783e-02 4.27543017e+01] [-1.30699648e-01 9.91420929e-01 -1.46408098e-03 -2.41701844e+00] [-1.14602322e-02 -3.41565252e-05 9.99934329e-01 -5.15670380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.82, Y:-2.42, Z:-0.52 [[ 9.91231239e-01 1.31648944e-01 1.13659840e-02 4.28173071e+01] [-1.31640775e-01 9.91296401e-01 -1.46713598e-03 -2.42328536e+00] [-1.14602059e-02 -4.19559266e-05 9.99934329e-01 -5.18784959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.43, Z:-0.52 [[ 9.91298760e-01 1.31139588e-01 1.13655682e-02 4.28793074e+01] [-1.31131349e-01 9.91363913e-01 -1.47034997e-03 -2.43230522e+00] [-1.14602352e-02 -3.28261797e-05 9.99934329e-01 -5.20864066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.44, Z:-0.52 [[ 9.91533105e-01 1.29355845e-01 1.13651503e-02 4.29416113e+01] [-1.29347452e-01 9.91598238e-01 -1.47357335e-03 -2.44297318e+00] [-1.14602783e-02 -8.95647285e-06 9.99934329e-01 -5.22600621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.45, Z:-0.53 [[ 9.91648637e-01 1.28467208e-01 1.13647329e-02 4.30037897e+01] [-1.28458720e-01 9.91713757e-01 -1.47678551e-03 -2.45273777e+00] [-1.14602804e-02 4.55330858e-06 9.99934329e-01 -5.25156358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.46, Z:-0.53 [[ 9.92164234e-01 1.24422603e-01 1.13643136e-02 4.30656938e+01] [-1.24413813e-01 9.92229315e-01 -1.48000509e-03 -2.46045096e+00] [-1.14601511e-02 5.45305377e-05 9.99934329e-01 -5.31706363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.48, Z:-0.53 [[ 9.91688026e-01 1.28162871e-01 1.13638870e-02 4.31256617e+01] [-1.28154289e-01 9.91753134e-01 -1.48327317e-03 -2.47774313e+00] [-1.14602711e-02 1.46133881e-05 9.99934329e-01 -5.29084632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.49, Z:-0.53 [[ 9.91778220e-01 1.27463065e-01 1.13635205e-02 4.31870328e+01] [-1.27454405e-01 9.91843317e-01 -1.48607555e-03 -2.48995710e+00] [-1.14602516e-02 2.55266259e-05 9.99934329e-01 -5.29152721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.397628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:-2.50, Z:-0.53 [[ 9.92016276e-01 1.25596928e-01 1.13630997e-02 4.32465737e+01] [-1.25588108e-01 9.92081352e-01 -1.48928610e-03 -2.50359139e+00] [-1.14601691e-02 5.03258556e-05 9.99934329e-01 -5.32834360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:-2.52, Z:-0.53 [[ 9.91969910e-01 1.25962631e-01 1.13627632e-02 4.33083426e+01] [-1.25953806e-01 9.92034986e-01 -1.49184920e-03 -2.51939024e+00] [-1.14601759e-02 4.86862405e-05 9.99934329e-01 -5.32088708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:-2.53, Z:-0.54 [[ 9.92140169e-01 1.24614536e-01 1.13623394e-02 4.33687390e+01] [-1.24605585e-01 9.92205227e-01 -1.49507018e-03 -2.53172620e+00] [-1.14600800e-02 6.75082276e-05 9.99934329e-01 -5.35837486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.55, Z:-0.53 [[ 9.92421821e-01 1.22351271e-01 1.13619998e-02 4.34288582e+01] [-1.22342142e-01 9.92486855e-01 -1.49764676e-03 -2.54746999e+00] [-1.14598744e-02 9.62459366e-05 9.99934329e-01 -5.32916288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.56, Z:-0.53 [[ 9.92538235e-01 1.21403301e-01 1.13617980e-02 4.34885209e+01] [-1.21394093e-01 9.92603257e-01 -1.49917610e-03 -2.56014725e+00] [-1.14597626e-02 1.08734442e-04 9.99934329e-01 -5.30142313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.55, Y:-2.57, Z:-0.53 [[ 9.92378755e-01 1.22700140e-01 1.13614592e-02 4.35510138e+01] [-1.22690987e-01 9.92443785e-01 -1.50173943e-03 -2.56861674e+00] [-1.14598732e-02 9.63456596e-05 9.99934329e-01 -5.30463326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.61, Y:-2.58, Z:-0.53 [[ 9.92292066e-01 1.23399280e-01 1.13610386e-02 4.36138778e+01] [-1.23390137e-01 9.92357098e-01 -1.50491434e-03 -2.57587551e+00] [-1.14599126e-02 9.14744469e-05 9.99934329e-01 -5.32821458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:-2.58, Z:-0.53 [[ 9.92927670e-01 1.18176051e-01 1.13606132e-02 4.36766490e+01] [-1.18166529e-01 9.92992647e-01 -1.50811907e-03 -2.58277903e+00] [-1.14592289e-02 1.55008930e-04 9.99934329e-01 -5.33600417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-2.59, Z:-0.53 [[ 9.93911056e-01 1.09598166e-01 1.13601907e-02 4.37394569e+01] [-1.09588048e-01 9.93975943e-01 -1.51129452e-03 -2.58881943e+00] [-1.14573914e-02 2.57151215e-04 9.99934329e-01 -5.34725428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-2.59, Z:-0.54 [[ 9.95516046e-01 9.39082432e-02 1.13597683e-02 4.38014663e+01] [-9.38970663e-02 9.95580759e-01 -1.51446331e-03 -2.59380150e+00] [-1.14517873e-02 4.41023608e-04 9.99934329e-01 -5.36881542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:-2.60, Z:-0.54 [[ 9.96301304e-01 8.51743645e-02 1.13595084e-02 4.38638567e+01] [-8.51625983e-02 9.96365913e-01 -1.51641034e-03 -2.60153086e+00] [-1.14473862e-02 5.43396349e-04 9.99934329e-01 -5.37018338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.61, Z:-0.54 [[ 9.96856864e-01 7.84051220e-02 1.13590761e-02 4.39270245e+01] [-7.83928805e-02 9.96921385e-01 -1.51964154e-03 -2.60622711e+00] [-1.14432535e-02 6.24394407e-04 9.99934329e-01 -5.39090692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.61, Z:-0.54 [[ 9.96597820e-01 8.16319026e-02 1.13586361e-02 4.39894044e+01] [-8.16198328e-02 9.96662372e-01 -1.52292283e-03 -2.61054913e+00] [-1.14450443e-02 5.90651593e-04 9.99934329e-01 -5.39755994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.05, Y:-2.62, Z:-0.54 [[ 9.95985647e-01 8.87895160e-02 1.13583652e-02 4.40522056e+01] [-8.87778872e-02 9.96050281e-01 -1.52494102e-03 -2.61528319e+00] [-1.14489016e-02 5.10447702e-04 9.99934329e-01 -5.39811925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:-2.62, Z:-0.54 [[ 9.94484570e-01 1.04266189e-01 1.13579346e-02 4.41154517e+01] [-1.04255530e-01 9.94549370e-01 -1.52814147e-03 -2.61723716e+00] [-1.14553602e-02 3.35585618e-04 9.99934329e-01 -5.41590152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:-2.62, Z:-0.54 [[ 9.93303662e-01 1.14973222e-01 1.13575037e-02 4.41785281e+01] [-1.14963225e-01 9.93368568e-01 -1.53133750e-03 -2.62211606e+00] [-1.14582500e-02 2.15387900e-04 9.99934329e-01 -5.41977973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:-2.63, Z:-0.54 [[ 9.91874629e-01 1.26711235e-01 1.13570739e-02 4.42417612e+01] [-1.26701970e-01 9.91939643e-01 -1.53451824e-03 -2.62576320e+00] [-1.14599725e-02 8.30860716e-05 9.99934329e-01 -5.44066653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:-2.63, Z:-0.55 [[ 9.91260184e-01 1.31431635e-01 1.13566444e-02 4.43043034e+01] [-1.31422643e-01 9.91325236e-01 -1.53769038e-03 -2.63255999e+00] [-1.14602293e-02 3.17310214e-05 9.99934329e-01 -5.45372412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:-2.64, Z:-0.55 [[ 9.91288027e-01 1.31221511e-01 1.13562147e-02 4.43662940e+01] [-1.31212469e-01 9.91353072e-01 -1.54085739e-03 -2.64211070e+00] [-1.14602119e-02 3.73565187e-05 9.99934329e-01 -5.46104964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:-2.65, Z:-0.55 [[ 9.91983607e-01 1.25855349e-01 1.13557722e-02 4.44279768e+01] [-1.25845918e-01 9.92048598e-01 -1.54411175e-03 -2.65438638e+00] [-1.14598126e-02 1.02655968e-04 9.99934329e-01 -5.47036332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:-2.67, Z:-0.55 [[ 9.92490588e-01 1.21792816e-01 1.13553324e-02 4.44901020e+01] [-1.21783083e-01 9.92555533e-01 -1.54733868e-03 -2.66720255e+00] [-1.14592528e-02 1.52831686e-04 9.99934329e-01 -5.48115811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:-2.68, Z:-0.55 [[ 9.92933016e-01 1.18131675e-01 1.13548933e-02 4.45520512e+01] [-1.18121665e-01 9.92997920e-01 -1.55055479e-03 -2.68053565e+00] [-1.14585550e-02 1.98338149e-04 9.99934329e-01 -5.49822487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:-2.69, Z:-0.55 [[ 9.93012766e-01 1.17459452e-01 1.13544551e-02 4.46142094e+01] [-1.17449361e-01 9.93077657e-01 -1.55375699e-03 -2.69189347e+00] [-1.14583591e-02 2.09327030e-04 9.99934329e-01 -5.52158674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:-2.71, Z:-0.55 [[ 9.93128481e-01 1.16477068e-01 1.13540136e-02 4.46760607e+01] [-1.16466877e-01 9.93193356e-01 -1.55697641e-03 -2.70518012e+00] [-1.14580829e-02 2.23911111e-04 9.99934329e-01 -5.53410956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:-2.72, Z:-0.55 [[ 9.93371364e-01 1.14387196e-01 1.13535684e-02 4.47373530e+01] [-1.14376831e-01 9.93436211e-01 -1.56021602e-03 -2.71969554e+00] [-1.14575147e-02 2.51288739e-04 9.99934329e-01 -5.54427410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:-2.73, Z:-0.56 [[ 9.93051179e-01 1.17134380e-01 1.13531206e-02 4.47989661e+01] [-1.17124158e-01 9.93116049e-01 -1.56346761e-03 -2.72983982e+00] [-1.14581021e-02 2.22878665e-04 9.99934329e-01 -5.55007347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:-2.74, Z:-0.55 [[ 9.92221658e-01 1.23964890e-01 1.13528447e-02 4.48611960e+01] [-1.23955091e-01 9.92286594e-01 -1.56546852e-03 -2.73963247e+00] [-1.14593387e-02 1.46048874e-04 9.99934329e-01 -5.54895542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:-2.75, Z:-0.55 [[ 9.91344576e-01 1.30793939e-01 1.13524035e-02 4.49239931e+01] [-1.30784550e-01 9.91409573e-01 -1.56866154e-03 -2.74803560e+00] [-1.14600529e-02 7.03651255e-05 9.99934329e-01 -5.54434124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.077628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:44.99, Y:-2.76, Z:-0.56 [[ 9.90968104e-01 1.33616427e-01 1.13519605e-02 4.49867280e+01] [-1.33607187e-01 9.91033122e-01 -1.57186126e-03 -2.75533862e+00] [-1.14601953e-02 4.09608654e-05 9.99934329e-01 -5.57191355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.05, Y:-2.76, Z:-0.55 [[ 9.90466265e-01 1.37287002e-01 1.13515079e-02 4.50489126e+01] [-1.37277966e-01 9.90531312e-01 -1.57512250e-03 -2.76143675e+00] [-1.14602679e-02 1.79378152e-06 9.99934329e-01 -5.53483442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.11, Y:-2.77, Z:-0.55 [[ 9.90204850e-01 1.39160006e-01 1.13511147e-02 4.51104918e+01] [-1.39151061e-01 9.90269909e-01 -1.57795099e-03 -2.76916471e+00] [-1.14602550e-02 -1.70249373e-05 9.99934329e-01 -5.51884045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.17, Y:-2.78, Z:-0.55 [[ 9.90121742e-01 1.39750126e-01 1.13506981e-02 4.51727122e+01] [-1.39741185e-01 9.90186802e-01 -1.58094190e-03 -2.77709815e+00] [-1.14602483e-02 -2.08350567e-05 9.99934329e-01 -5.53567360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.23, Y:-2.78, Z:-0.56 [[ 9.90235229e-01 1.38943736e-01 1.13502666e-02 4.52347893e+01] [-1.38934706e-01 9.90300277e-01 -1.58403391e-03 -2.78474387e+00] [-1.14602638e-02 -8.37978301e-06 9.99934329e-01 -5.58032678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:-2.79, Z:-0.56 [[ 9.90456289e-01 1.37359097e-01 1.13498288e-02 4.52969786e+01] [-1.37349927e-01 9.90521316e-01 -1.58716468e-03 -2.79447380e+00] [-1.14602589e-02 1.31190759e-05 9.99934329e-01 -5.60331955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:-2.81, Z:-0.56 [[ 9.91206529e-01 1.31836294e-01 1.13493953e-02 4.53584211e+01] [-1.31826727e-01 9.91271499e-01 -1.59025866e-03 -2.80555388e+00] [-1.14599859e-02 8.01211315e-05 9.99934329e-01 -5.62859013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:-2.82, Z:-0.56 [[ 9.91992663e-01 1.25784566e-01 1.13489661e-02 4.54201491e+01] [-1.25774567e-01 9.92057569e-01 -1.59331598e-03 -2.81539449e+00] [-1.14592422e-02 1.53146467e-04 9.99934329e-01 -5.63723695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:-2.83, Z:-0.56 [[ 9.92326562e-01 1.23122726e-01 1.13485400e-02 4.54826806e+01] [-1.23112519e-01 9.92391435e-01 -1.59634519e-03 -2.82544491e+00] [-1.14587402e-02 1.86948399e-04 9.99934329e-01 -5.64267517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.55, Y:-2.83, Z:-0.56 [[ 9.92542958e-01 1.21365967e-01 1.13481044e-02 4.55453908e+01] [-1.21355609e-01 9.92607807e-01 -1.59943587e-03 -2.83415989e+00] [-1.14583341e-02 2.10352694e-04 9.99934329e-01 -5.64843249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.61, Y:-2.84, Z:-0.57 [[ 9.92574008e-01 1.21111808e-01 1.13476534e-02 4.56081108e+01] [-1.21101397e-01 9.92638848e-01 -1.60262913e-03 -2.84202849e+00] [-1.14582189e-02 2.16511342e-04 9.99934329e-01 -5.66215265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.67, Y:-2.85, Z:-0.57 [[ 9.92497841e-01 1.21734451e-01 1.13472016e-02 4.56709347e+01] [-1.21724045e-01 9.92562682e-01 -1.60582148e-03 -2.84951751e+00] [-1.14582927e-02 2.12547074e-04 9.99934329e-01 -5.67529101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:-2.86, Z:-0.57 [[ 9.92401312e-01 1.22518925e-01 1.13467482e-02 4.57337434e+01] [-1.22508534e-01 9.92466156e-01 -1.60901878e-03 -2.85619280e+00] [-1.14583988e-02 2.06718861e-04 9.99934329e-01 -5.67696200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:-2.86, Z:-0.57 [[ 9.92376656e-01 1.22718517e-01 1.13462899e-02 4.57966125e+01] [-1.22708101e-01 9.92441496e-01 -1.61224394e-03 -2.86321687e+00] [-1.14583811e-02 2.07671554e-04 9.99934329e-01 -5.67558938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:-2.87, Z:-0.57 [[ 9.92369356e-01 1.22777578e-01 1.13458332e-02 4.58590568e+01] [-1.22767130e-01 9.92434190e-01 -1.61545156e-03 -2.86886465e+00] [-1.14583340e-02 2.10229235e-04 9.99934329e-01 -5.69381687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:-2.88, Z:-0.57 [[ 9.92134920e-01 1.24657863e-01 1.13453717e-02 4.59215470e+01] [-1.24647501e-01 9.92199768e-01 -1.61868604e-03 -2.87705418e+00] [-1.14586572e-02 1.91782706e-04 9.99934329e-01 -5.70280757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:-2.89, Z:-0.57 [[ 9.91887131e-01 1.26614426e-01 1.13449142e-02 4.59829260e+01] [-1.26604156e-01 9.91951993e-01 -1.62188634e-03 -2.88505345e+00] [-1.14589645e-02 1.72414901e-04 9.99934329e-01 -5.70932209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.90, Z:-0.57 [[ 9.91400089e-01 1.30373177e-01 1.13444907e-02 4.60454163e+01] [-1.30363118e-01 9.91464985e-01 -1.62484318e-03 -2.89551840e+00] [-1.14595013e-02 1.31966495e-04 9.99934329e-01 -5.71002825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.11, Y:-2.91, Z:-0.57 [[ 9.90786189e-01 1.34959402e-01 1.13440316e-02 4.61069523e+01] [-1.34949607e-01 9.90851126e-01 -1.62804244e-03 -2.90565692e+00] [-1.14599661e-02 8.21693635e-05 9.99934329e-01 -5.71569064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:-2.91, Z:-0.57 [[ 9.89693765e-01 1.42750038e-01 1.13436071e-02 4.61677094e+01] [-1.42740721e-01 9.89758772e-01 -1.63099445e-03 -2.91476735e+00] [-1.14602592e-02 -5.00961634e-06 9.99934329e-01 -5.73968773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.23, Y:-2.92, Z:-0.58 [[ 9.88623813e-01 1.49980947e-01 1.13433879e-02 4.62292808e+01] [-1.49972087e-01 9.88688883e-01 -1.63251780e-03 -2.92499229e+00] [-1.14599281e-02 -8.72455817e-05 9.99934329e-01 -5.75514030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:-2.94, Z:-0.57 [[ 9.88073342e-01 1.53565649e-01 1.13429463e-02 4.62911493e+01] [-1.53556990e-01 9.88138439e-01 -1.63558066e-03 -2.93661265e+00] [-1.14595702e-02 -1.25715044e-04 9.99934329e-01 -5.74935981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:-2.95, Z:-0.57 [[ 9.87577148e-01 1.56724996e-01 1.13424877e-02 4.63531261e+01] [-1.56716509e-01 9.87642268e-01 -1.63875462e-03 -2.94968292e+00] [-1.14591541e-02 -1.59158456e-04 9.99934329e-01 -5.74088470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.41, Y:-2.96, Z:-0.58 [[ 9.87858172e-01 1.54943831e-01 1.13420293e-02 4.64140235e+01] [-1.54935190e-01 9.87923272e-01 -1.64192078e-03 -2.96004885e+00] [-1.14594602e-02 -1.35294614e-04 9.99934329e-01 -5.75854780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.47, Y:-2.97, Z:-0.58 [[ 9.88634550e-01 1.49910289e-01 1.13416180e-02 4.64748023e+01] [-1.49901284e-01 9.88699600e-01 -1.64475719e-03 -2.96646511e+00] [-1.14600192e-02 -7.40593164e-05 9.99934329e-01 -5.80568578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.54, Y:-2.97, Z:-0.58 [[ 9.88909843e-01 1.48083407e-01 1.13413853e-02 4.65367389e+01] [-1.48074264e-01 9.88974874e-01 -1.64636035e-03 -2.97465369e+00] [-1.14601437e-02 -5.12653198e-05 9.99934329e-01 -5.82164717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.60, Y:-2.98, Z:-0.58 [[ 9.89460284e-01 1.44359719e-01 1.13409816e-02 4.65983167e+01] [-1.44350299e-01 9.89525276e-01 -1.64913662e-03 -2.98284299e+00] [-1.14602568e-02 -5.31889768e-06 9.99934329e-01 -5.82579153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:-2.99, Z:-0.58 [[ 9.90224797e-01 1.39018858e-01 1.13405777e-02 4.66606203e+01] [-1.39009055e-01 9.90289732e-01 -1.65190908e-03 -2.99353010e+00] [-1.14601042e-02 5.93183324e-05 9.99934329e-01 -5.80402774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.72, Y:-3.00, Z:-0.58 [[ 9.90777197e-01 1.35025729e-01 1.13401140e-02 4.67225057e+01] [-1.35015629e-01 9.90842087e-01 -1.65508624e-03 -3.00269549e+00] [-1.14597415e-02 1.08729080e-04 9.99934329e-01 -5.79320358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:-3.01, Z:-0.58 [[ 9.91559371e-01 1.29156590e-01 1.13397028e-02 4.67839325e+01] [-1.29146073e-01 9.91624195e-01 -1.65789914e-03 -3.01036878e+00] [-1.14588522e-02 1.79427347e-04 9.99934329e-01 -5.79513140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:-3.02, Z:-0.58 [[ 9.92164128e-01 1.24425733e-01 1.13392906e-02 4.68462043e+01] [-1.24414875e-01 9.92228895e-01 -1.66071321e-03 -3.01946875e+00] [-1.14578073e-02 2.36923639e-04 9.99934329e-01 -5.77585370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.91, Y:-3.03, Z:-0.58 [[ 9.92316355e-01 1.23205853e-01 1.13388193e-02 4.69088773e+01] [-1.23194879e-01 9.92381103e-01 -1.66392535e-03 -3.02763615e+00] [-1.14574353e-02 2.54255869e-04 9.99934329e-01 -5.78424412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.97, Y:-3.03, Z:-0.58 [[ 9.92239830e-01 1.23820685e-01 1.13383523e-02 4.69701675e+01] [-1.23809715e-01 9.92304578e-01 -1.66710163e-03 -3.03214623e+00] [-1.14575205e-02 2.50366469e-04 9.99934329e-01 -5.82362785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.03, Y:-3.04, Z:-0.58 [[ 9.92061898e-01 1.25238336e-01 1.13379786e-02 4.70306615e+01] [-1.25227430e-01 9.92126657e-01 -1.66963895e-03 -3.03886016e+00] [-1.14578136e-02 2.36559267e-04 9.99934329e-01 -5.84567833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.09, Y:-3.05, Z:-0.58 [[ 9.91846651e-01 1.26931791e-01 1.13376149e-02 4.70928530e+01] [-1.26920967e-01 9.91911424e-01 -1.67210534e-03 -3.04660345e+00] [-1.14581530e-02 2.19491045e-04 9.99934329e-01 -5.83618278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.05, Z:-0.58 [[ 9.91378472e-01 1.30538094e-01 1.13371641e-02 4.71541930e+01] [-1.30527471e-01 9.91443278e-01 -1.67515627e-03 -3.05204007e+00] [-1.14588268e-02 1.80902518e-04 9.99934329e-01 -5.83178242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:-3.06, Z:-0.58 [[ 9.90601664e-01 1.36307801e-01 1.13369514e-02 4.72159003e+01] [-1.36297539e-01 9.90666528e-01 -1.67659439e-03 -3.05944934e+00] [-1.14596712e-02 1.15638623e-04 9.99934329e-01 -5.80554589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:-3.07, Z:-0.58 [[ 9.90070437e-01 1.40114285e-01 1.13365341e-02 4.72780535e+01] [-1.40104240e-01 9.90135335e-01 -1.67941095e-03 -3.06773328e+00] [-1.14600125e-02 7.44386383e-05 9.99934329e-01 -5.81609593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.34, Y:-3.08, Z:-0.58 [[ 9.89280082e-01 1.45589880e-01 1.13360597e-02 4.73404612e+01] [-1.45580158e-01 9.89345029e-01 -1.68260718e-03 -3.07513288e+00] [-1.14602449e-02 1.42644074e-05 9.99934329e-01 -5.83714676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.40, Y:-3.08, Z:-0.58 [[ 9.88688633e-01 1.49553644e-01 1.13355892e-02 4.74023689e+01] [-1.49544145e-01 9.88753613e-01 -1.68577076e-03 -3.08474456e+00] [-1.14602180e-02 -2.84686157e-05 9.99934329e-01 -5.83602701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.46, Y:-3.10, Z:-0.59 [[ 9.87897190e-01 1.54695371e-01 1.13351115e-02 4.74629801e+01] [-1.54686174e-01 9.87962213e-01 -1.68897693e-03 -3.09515724e+00] [-1.14599388e-02 -8.48494644e-05 9.99934329e-01 -5.86591954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:-3.11, Z:-0.59 [[ 9.87489598e-01 1.57276235e-01 1.13348779e-02 4.75245590e+01] [-1.57267190e-01 9.87554643e-01 -1.69054298e-03 -3.10555760e+00] [-1.14596936e-02 -1.13210798e-04 9.99934329e-01 -5.89350459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.59, Y:-3.12, Z:-0.59 [[ 9.87477155e-01 1.57354372e-01 1.13344646e-02 4.75855091e+01] [-1.57345300e-01 9.87542196e-01 -1.69330964e-03 -3.11955942e+00] [-1.14597117e-02 -1.11320146e-04 9.99934329e-01 -5.90687419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.65, Y:-3.13, Z:-0.59 [[ 9.87848038e-01 1.55009010e-01 1.13340454e-02 4.76465807e+01] [-1.54999752e-01 9.87913053e-01 -1.69611102e-03 -3.13336876e+00] [-1.14599639e-02 -8.12742825e-05 9.99934329e-01 -5.89055466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.71, Y:-3.15, Z:-0.59 [[ 9.88575179e-01 1.50301913e-01 1.13336159e-02 4.77074137e+01] [-1.50292312e-01 9.88640144e-01 -1.69897606e-03 -3.14845698e+00] [-1.14602270e-02 -2.37897752e-05 9.99934329e-01 -5.87850933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.77, Y:-3.16, Z:-0.59 [[ 9.89260950e-01 1.45720045e-01 1.13331902e-02 4.77678583e+01] [-1.45710111e-01 9.89325865e-01 -1.70181101e-03 -3.16030759e+00] [-1.14602062e-02 3.21747748e-05 9.99934329e-01 -5.89078704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.83, Y:-3.17, Z:-0.59 [[ 9.89751426e-01 1.42350565e-01 1.13327416e-02 4.78301604e+01] [-1.42340376e-01 9.89816302e-01 -1.70479319e-03 -3.16964375e+00] [-1.14600106e-02 7.42147955e-05 9.99934329e-01 -5.88638850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:-3.18, Z:-0.59 [[ 9.90377546e-01 1.37927144e-01 1.13322533e-02 4.78912780e+01] [-1.37916628e-01 9.90442369e-01 -1.70803276e-03 -3.17829864e+00] [-1.14595279e-02 1.28691125e-04 9.99934329e-01 -5.89617037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:-3.19, Z:-0.59 [[ 9.91106096e-01 1.32590709e-01 1.13318319e-02 4.79534673e+01] [-1.32579812e-01 9.91170856e-01 -1.71082419e-03 -3.18761355e+00] [-1.14586209e-02 1.93236146e-04 9.99934329e-01 -5.90169927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.02, Y:-3.19, Z:-0.59 [[ 9.92199403e-01 1.24144857e-01 1.13313435e-02 4.80152181e+01] [-1.24133372e-01 9.92264062e-01 -1.71405306e-03 -3.19343444e+00] [-1.14564758e-02 2.94084553e-04 9.99934329e-01 -5.91570156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.077628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:-3.20, Z:-0.60 [[ 9.93106674e-01 1.16665101e-01 1.13308924e-02 4.80778061e+01] [-1.16653095e-01 9.93171238e-01 -1.71702937e-03 -3.20141787e+00] [-1.14538339e-02 3.83409661e-04 9.99934329e-01 -5.95047951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:-3.21, Z:-0.59 [[ 9.93930008e-01 1.09429248e-01 1.13304170e-02 4.81383500e+01] [-1.09416737e-01 9.93994476e-01 -1.72016077e-03 -3.20954135e+00] [-1.14506079e-02 4.69982155e-04 9.99934329e-01 -5.90037896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.20, Y:-3.21, Z:-0.59 [[ 9.93847600e-01 1.10175218e-01 1.13300376e-02 4.82012417e+01] [-1.10162726e-01 9.93912072e-01 -1.72265643e-03 -3.21361554e+00] [-1.14508552e-02 4.63910129e-04 9.99934329e-01 -5.88651715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.26, Y:-3.22, Z:-0.59 [[ 9.93289648e-01 1.15096990e-01 1.13295447e-02 4.82640650e+01] [-1.15084781e-01 9.93354174e-01 -1.72589177e-03 -3.21713141e+00] [-1.14528955e-02 4.10452251e-04 9.99934329e-01 -5.90242205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.33, Y:-3.22, Z:-0.59 [[ 9.91952286e-01 1.26104378e-01 1.13290520e-02 4.83258784e+01] [-1.26092848e-01 9.92016937e-01 -1.72911999e-03 -3.22091195e+00] [-1.14566611e-02 2.86692088e-04 9.99934329e-01 -5.90819317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.39, Y:-3.22, Z:-0.59 [[ 9.90594074e-01 1.36363644e-01 1.13285962e-02 4.83893665e+01] [-1.36352750e-01 9.90658835e-01 -1.73210108e-03 -3.22224583e+00] [-1.14589696e-02 1.71123814e-04 9.99934329e-01 -5.94217005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.45, Y:-3.23, Z:-0.60 [[ 9.89724323e-01 1.42539249e-01 1.13281099e-02 4.84512208e+01] [-1.42528723e-01 9.89789145e-01 -1.73527604e-03 -3.22672118e+00] [-1.14597851e-02 1.02863874e-04 9.99934329e-01 -5.96747426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.51, Y:-3.24, Z:-0.60 [[ 9.89342390e-01 1.45166525e-01 1.13276596e-02 4.85137538e+01] [-1.45156138e-01 9.89407234e-01 -1.73821038e-03 -3.23514745e+00] [-1.14599983e-02 7.54059000e-05 9.99934329e-01 -5.98426781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.57, Y:-3.24, Z:-0.60 [[ 9.88750037e-01 1.49147775e-01 1.13271702e-02 4.85748597e+01] [-1.49137612e-01 9.88814917e-01 -1.74139360e-03 -3.24187283e+00] [-1.14601999e-02 3.24958697e-05 9.99934329e-01 -5.99360416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:-3.25, Z:-0.60 [[ 9.88532674e-01 1.50581729e-01 1.13267131e-02 4.86377322e+01] [-1.50571626e-01 9.88597564e-01 -1.74436157e-03 -3.24961857e+00] [-1.14602300e-02 1.88767910e-05 9.99934329e-01 -6.00846508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:-3.26, Z:-0.60 [[ 9.88537398e-01 1.50550756e-01 1.13262254e-02 4.86993361e+01] [-1.50540615e-01 9.88602281e-01 -1.74752254e-03 -3.25631933e+00] [-1.14602231e-02 2.24344350e-05 9.99934329e-01 -5.99252553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.76, Y:-3.27, Z:-0.60 [[ 9.87990639e-01 1.54098097e-01 1.13257655e-02 4.87599115e+01] [-1.54088155e-01 9.88055553e-01 -1.75049848e-03 -3.27018232e+00] [-1.14602340e-02 -1.56902033e-05 9.99934329e-01 -5.96617143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.82, Y:-3.28, Z:-0.60 [[ 9.88101752e-01 1.53384037e-01 1.13254422e-02 4.88219420e+01] [-1.53374024e-01 9.88166655e-01 -1.75258737e-03 -3.28127159e+00] [-1.14602433e-02 -5.29400187e-06 9.99934329e-01 -5.97597242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.88, Y:-3.30, Z:-0.60 [[ 9.88536289e-01 1.50558128e-01 1.13249468e-02 4.88833790e+01] [-1.50547893e-01 9.88601158e-01 -1.75578282e-03 -3.29537876e+00] [-1.14602029e-02 3.07081494e-05 9.99934329e-01 -5.99767703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.94, Y:-3.31, Z:-0.60 [[ 9.88905545e-01 1.48113403e-01 1.13244512e-02 4.89437269e+01] [-1.48102971e-01 9.88970382e-01 -1.75897384e-03 -3.30803298e+00] [-1.14600744e-02 6.22741231e-05 9.99934329e-01 -6.02188720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.00, Y:-3.32, Z:-0.60 [[ 9.89819431e-01 1.41877626e-01 1.13240247e-02 4.90043007e+01] [-1.41866754e-01 9.89884195e-01 -1.76171544e-03 -3.32366925e+00] [-1.14594210e-02 1.37277551e-04 9.99934329e-01 -6.03206089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.34, Z:-0.60 [[ 9.90820967e-01 1.34705563e-01 1.13235791e-02 4.90653728e+01] [-1.34694190e-01 9.90885645e-01 -1.76457465e-03 -3.34014561e+00] [-1.14580700e-02 2.23157256e-04 9.99934329e-01 -6.03278092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.12, Y:-3.36, Z:-0.60 [[ 9.91639454e-01 1.28541746e-01 1.13230751e-02 4.91246645e+01] [-1.28529934e-01 9.91704054e-01 -1.76780278e-03 -3.35663500e+00] [-1.14563759e-02 2.97668885e-04 9.99934329e-01 -6.01872559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.19, Y:-3.37, Z:-0.60 [[ 9.92074729e-01 1.25138027e-01 1.13228383e-02 4.91855886e+01] [-1.25125976e-01 9.92139284e-01 -1.76931858e-03 -3.37001726e+00] [-1.14552417e-02 3.38515068e-04 9.99934329e-01 -5.99807218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.25, Y:-3.38, Z:-0.60 [[ 9.92662028e-01 1.20390619e-01 1.13224105e-02 4.92470528e+01] [-1.20378228e-01 9.92726519e-01 -1.77205197e-03 -3.38232543e+00] [-1.14533956e-02 3.96076992e-04 9.99934329e-01 -6.00206617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:-3.39, Z:-0.60 [[ 9.92840611e-01 1.18908942e-01 1.13219036e-02 4.93085589e+01] [-1.18896418e-01 9.92905076e-01 -1.77528416e-03 -3.39367437e+00] [-1.14526728e-02 4.16440423e-04 9.99934329e-01 -6.01076679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.37, Y:-3.40, Z:-0.60 [[ 9.93009164e-01 1.17493088e-01 1.13213974e-02 4.93700425e+01] [-1.17480435e-01 9.93073605e-01 -1.77850662e-03 -3.40337911e+00] [-1.14519432e-02 4.36030675e-04 9.99934329e-01 -6.00596960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.43, Y:-3.41, Z:-0.60 [[ 9.92886559e-01 1.18524757e-01 1.13209295e-02 4.94322982e+01] [-1.18512137e-01 9.92951006e-01 -1.78148032e-03 -3.41054826e+00] [-1.14522778e-02 4.27140313e-04 9.99934329e-01 -6.01992171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.42, Z:-0.60 [[ 9.92216838e-01 1.24006425e-01 1.13204366e-02 4.94946991e+01] [-1.23994126e-01 9.92281347e-01 -1.78460710e-03 -3.41739922e+00] [-1.14543608e-02 3.67049577e-04 9.99934329e-01 -6.03554858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:-3.42, Z:-0.61 [[ 9.91193840e-01 1.31934188e-01 1.13199307e-02 4.95564285e+01] [-1.31922369e-01 9.91258439e-01 -1.78780977e-03 -3.42204533e+00] [-1.14568501e-02 2.78713953e-04 9.99934329e-01 -6.05725183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:-3.43, Z:-0.61 [[ 9.90045850e-01 1.40289291e-01 1.13194622e-02 4.96194017e+01] [-1.40277983e-01 9.90110540e-01 -1.79077120e-03 -3.42618447e+00] [-1.14587449e-02 1.85074259e-04 9.99934329e-01 -6.08809069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:-3.43, Z:-0.61 [[ 9.88983539e-01 1.47592143e-01 1.13189613e-02 4.96818694e+01] [-1.47581277e-01 9.89048304e-01 -1.79393203e-03 -3.43496593e+00] [-1.14597697e-02 1.03702498e-04 9.99934329e-01 -6.08158007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.44, Z:-0.61 [[ 9.88237809e-01 1.52505491e-01 1.13184521e-02 4.97442015e+01] [-1.52494910e-01 9.88302622e-01 -1.79713862e-03 -3.44261182e+00] [-1.14601294e-02 4.99939968e-05 9.99934329e-01 -6.09912863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.81, Y:-3.45, Z:-0.61 [[ 9.87151838e-01 1.59383666e-01 1.13179458e-02 4.98063572e+01] [-1.59373500e-01 9.87216717e-01 -1.80032195e-03 -3.45098457e+00] [-1.14602072e-02 -2.65895068e-05 9.99934329e-01 -6.11777122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.87, Y:-3.46, Z:-0.61 [[ 9.86632488e-01 1.62567675e-01 1.13174408e-02 4.98673461e+01] [-1.62557682e-01 9.86697394e-01 -1.80349081e-03 -3.46175583e+00] [-1.14600786e-02 -6.03543098e-05 9.99934329e-01 -6.11554896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.93, Y:-3.47, Z:-0.61 [[ 9.86275093e-01 1.64722081e-01 1.13171289e-02 4.99288745e+01] [-1.64712207e-01 9.86340017e-01 -1.80544594e-03 -3.47356296e+00] [-1.14599339e-02 -8.34029163e-05 9.99934329e-01 -6.10433054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.99, Y:-3.48, Z:-0.61 [[ 9.86217278e-01 1.65067909e-01 1.13166176e-02 4.99893425e+01] [-1.65058022e-01 9.86282200e-01 -1.80864530e-03 -3.48488449e+00] [-1.14599278e-02 -8.41812638e-05 9.99934329e-01 -6.12728243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.05, Y:-3.50, Z:-0.61 [[ 9.86100798e-01 1.65762346e-01 1.13163677e-02 5.00508045e+01] [-1.65752487e-01 9.86165725e-01 -1.81020728e-03 -3.49790715e+00] [-1.14598782e-02 -9.06692473e-05 9.99934329e-01 -6.12135519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.11, Y:-3.51, Z:-0.61 [[ 9.86122960e-01 1.65630490e-01 1.13158488e-02 5.01119885e+01] [-1.65620585e-01 9.86187879e-01 -1.81344495e-03 -3.50944396e+00] [-1.14599147e-02 -8.58578001e-05 9.99934329e-01 -6.14033508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.17, Y:-3.52, Z:-0.62 [[ 9.86546909e-01 1.63086353e-01 1.13153985e-02 5.01726165e+01] [-1.63076248e-01 9.86611797e-01 -1.81625056e-03 -3.52166853e+00] [-1.14601113e-02 -5.34563557e-05 9.99934329e-01 -6.16582119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.23, Y:-3.54, Z:-0.62 [[ 9.87720590e-01 1.55820436e-01 1.13149471e-02 5.02340356e+01] [-1.55809821e-01 9.87785397e-01 -1.81905859e-03 -3.53812355e+00] [-1.14601860e-02 3.37417381e-05 9.99934329e-01 -6.15143340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.29, Y:-3.55, Z:-0.61 [[ 9.88862134e-01 1.48403721e-01 1.13144248e-02 5.02948305e+01] [-1.48392583e-01 9.88926853e-01 -1.82230109e-03 -3.55129136e+00] [-1.14595748e-02 1.23027816e-04 9.99934329e-01 -6.14889651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.57, Z:-0.61 [[ 9.90903468e-01 1.34098138e-01 1.13139707e-02 5.03547426e+01] [-1.34086034e-01 9.90968014e-01 -1.82511650e-03 -3.56653944e+00] [-1.14565278e-02 2.91468807e-04 9.99934329e-01 -6.14406274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.58, Z:-0.61 [[ 9.92760570e-01 1.19576143e-01 1.13135488e-02 5.04143714e+01] [-1.19563066e-01 9.92824925e-01 -1.82772787e-03 -3.58156975e+00] [-1.14509259e-02 4.61813585e-04 9.99934329e-01 -6.12588858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.48, Y:-3.59, Z:-0.61 [[ 9.93197585e-01 1.15890320e-01 1.13133024e-02 5.04758556e+01] [-1.15876986e-01 9.93261888e-01 -1.82925164e-03 -3.59306623e+00] [-1.14490647e-02 5.05856927e-04 9.99934329e-01 -6.12100586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.54, Y:-3.60, Z:-0.61 [[ 9.93870671e-01 1.09968673e-01 1.13127940e-02 5.05382873e+01] [-1.09954921e-01 9.93934886e-01 -1.83239060e-03 -3.60291924e+00] [-1.14456862e-02 5.77261904e-04 9.99934329e-01 -6.11475221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.60, Y:-3.61, Z:-0.61 [[ 9.93830971e-01 1.10326938e-01 1.13122915e-02 5.06003896e+01] [-1.10313174e-01 9.93895183e-01 -1.83548764e-03 -3.61051582e+00] [-1.14457357e-02 5.76269685e-04 9.99934329e-01 -6.12629551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.66, Y:-3.62, Z:-0.61 [[ 9.93340694e-01 1.14657353e-01 1.13117929e-02 5.06626562e+01] [-1.14643834e-01 9.93404958e-01 -1.83855539e-03 -3.61627550e+00] [-1.14479950e-02 5.29484591e-04 9.99934329e-01 -6.12889871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:-3.62, Z:-0.61 [[ 9.92886677e-01 1.18524687e-01 1.13113318e-02 5.07259507e+01] [-1.18511386e-01 9.92950986e-01 -1.84138770e-03 -3.62163174e+00] [-1.14498479e-02 4.87767710e-04 9.99934329e-01 -6.14295801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:-3.62, Z:-0.62 [[ 9.91862733e-01 1.26808454e-01 1.13108476e-02 5.07891194e+01] [-1.26795657e-01 9.91927144e-01 -1.84435697e-03 -3.62300235e+00] [-1.14534168e-02 3.95182588e-04 9.99934329e-01 -6.15711930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:-3.63, Z:-0.62 [[ 9.91033487e-01 1.33134160e-01 1.13103165e-02 5.08520088e+01] [-1.33121736e-01 9.91097972e-01 -1.84760801e-03 -3.62658661e+00] [-1.14556115e-02 3.25392431e-04 9.99934329e-01 -6.17356441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:-3.63, Z:-0.62 [[ 9.89963132e-01 1.40872585e-01 1.13097826e-02 5.09142315e+01] [-1.40860629e-01 9.90027705e-01 -1.85087069e-03 -3.62919577e+00] [-1.14577350e-02 2.39190654e-04 9.99934329e-01 -6.19226142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:-3.63, Z:-0.62 [[ 9.88859720e-01 1.48420192e-01 1.13093182e-02 5.09757784e+01] [-1.48408696e-01 9.88924377e-01 -1.85370417e-03 -3.63482874e+00] [-1.14591875e-02 1.54652224e-04 9.99934329e-01 -6.19571465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.04, Y:-3.64, Z:-0.62 [[ 9.87266963e-01 1.58669639e-01 1.13088571e-02 5.10384743e+01] [-1.58658783e-01 9.87331730e-01 -1.85651259e-03 -3.63841668e+00] [-1.14601656e-02 3.86240490e-05 9.99934329e-01 -6.20858216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.10, Y:-3.65, Z:-0.62 [[ 9.86138332e-01 1.65539458e-01 1.13083241e-02 5.11008847e+01] [-1.65529016e-01 9.86203167e-01 -1.85975335e-03 -3.64541662e+00] [-1.14601676e-02 -3.78816941e-05 9.99934329e-01 -6.21808727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:-3.65, Z:-0.62 [[ 9.84787778e-01 1.73393097e-01 1.13077913e-02 5.11636475e+01] [-1.73383134e-01 9.84852689e-01 -1.86298754e-03 -3.65413003e+00] [-1.14595378e-02 -1.25932936e-04 9.99934329e-01 -6.21535381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.137628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:-3.66, Z:-0.62 [[ 9.84169905e-01 1.76866457e-01 1.13072572e-02 5.12256242e+01] [-1.76856686e-01 9.84234845e-01 -1.86622356e-03 -3.66355154e+00] [-1.14590689e-02 -1.63082969e-04 9.99934329e-01 -6.24095385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:-3.67, Z:-0.62 [[ 9.83901713e-01 1.78352396e-01 1.13067181e-02 5.12867661e+01] [-1.78342686e-01 9.83966662e-01 -1.86948416e-03 -3.67368832e+00] [-1.14588606e-02 -1.77081808e-04 9.99934329e-01 -6.24171719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:-3.69, Z:-0.63 [[ 9.84320429e-01 1.76026878e-01 1.13062199e-02 5.13479610e+01] [-1.76016980e-01 9.84385350e-01 -1.87249232e-03 -3.68651296e+00] [-1.14592862e-02 -1.46954235e-04 9.99934329e-01 -6.26755794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:-3.70, Z:-0.63 [[ 9.84926963e-01 1.72600859e-01 1.13057591e-02 5.14086458e+01] [-1.72590703e-01 9.84991844e-01 -1.87527048e-03 -3.69958909e+00] [-1.14597538e-02 -1.04264452e-04 9.99934329e-01 -6.29707387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.47, Y:-3.72, Z:-0.63 [[ 9.86331949e-01 1.64382105e-01 1.13052907e-02 5.14679424e+01] [-1.64371376e-01 9.86396737e-01 -1.87809011e-03 -3.71562889e+00] [-1.14602262e-02 -5.84590023e-06 9.99934329e-01 -6.33291170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.53, Y:-3.73, Z:-0.63 [[ 9.87533358e-01 1.57003387e-01 1.13050260e-02 5.15292246e+01] [-1.56992155e-01 9.87598061e-01 -1.87968169e-03 -3.73226964e+00] [-1.14599382e-02 8.14479677e-05 9.99934329e-01 -6.31702745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.59, Y:-3.75, Z:-0.63 [[ 9.89614905e-01 1.43298807e-01 1.13044901e-02 5.15892827e+01] [-1.43286643e-01 9.89679439e-01 -1.88289934e-03 -3.75206496e+00] [-1.14576387e-02 2.43562811e-04 9.99934329e-01 -6.29263726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.65, Y:-3.77, Z:-0.63 [[ 9.91584523e-01 1.28966476e-01 1.13040291e-02 5.16480183e+01] [-1.28953348e-01 9.91648868e-01 -1.88566286e-03 -3.77210442e+00] [-1.14528150e-02 4.12101712e-04 9.99934329e-01 -6.25837020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:51.71, Y:-3.79, Z:-0.63 [[ 9.92623825e-01 1.20706960e-01 1.13036082e-02 5.17078780e+01] [-1.20693269e-01 9.92688053e-01 -1.88818256e-03 -3.78758847e+00] [-1.14488736e-02 5.09985566e-04 9.99934329e-01 -6.25787363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.77, Y:-3.80, Z:-0.62 [[ 9.93226302e-01 1.15644934e-01 1.13031666e-02 5.17679648e+01] [-1.15630885e-01 9.93290453e-01 -1.89082266e-03 -3.80398065e+00] [-1.14459915e-02 5.71019643e-04 9.99934329e-01 -6.22581979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:-3.82, Z:-0.62 [[ 9.93056150e-01 1.17097102e-01 1.13026944e-02 5.18291816e+01] [-1.17083115e-01 9.93120314e-01 -1.89364101e-03 -3.81572541e+00] [-1.14466753e-02 5.57137187e-04 9.99934329e-01 -6.24595349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.89, Y:-3.83, Z:-0.63 [[ 9.92013754e-01 1.25622344e-01 1.13021952e-02 5.18898961e+01] [-1.25608875e-01 9.92078028e-01 -1.89661585e-03 -3.82502823e+00] [-1.14509168e-02 4.61812992e-04 9.99934329e-01 -6.28589212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.95, Y:-3.83, Z:-0.63 [[ 9.90929890e-01 1.33903783e-01 1.13017697e-02 5.19514460e+01] [-1.33890822e-01 9.90994269e-01 -1.89914789e-03 -3.83495166e+00] [-1.14542921e-02 3.68719173e-04 9.99934329e-01 -6.29637260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:-3.84, Z:-0.63 [[ 9.90254741e-01 1.38808603e-01 1.13013021e-02 5.20136057e+01] [-1.38795929e-01 9.90319177e-01 -1.90192619e-03 -3.84398658e+00] [-1.14558999e-02 3.14816694e-04 9.99934329e-01 -6.29922787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:-3.85, Z:-0.63 [[ 9.89099584e-01 1.46813847e-01 1.13007647e-02 5.20750081e+01] [-1.46801659e-01 9.89164114e-01 -1.90511403e-03 -3.85063999e+00] [-1.14580080e-02 2.25376493e-04 9.99934329e-01 -6.29286184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:-3.86, Z:-0.63 [[ 9.88131621e-01 1.53193348e-01 1.13002961e-02 5.21367356e+01] [-1.53181545e-01 9.88196223e-01 -1.90788961e-03 -3.85725318e+00] [-1.14591859e-02 1.54249242e-04 9.99934329e-01 -6.28784942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:-3.87, Z:-0.63 [[ 9.87771028e-01 1.55501483e-01 1.12998213e-02 5.21989652e+01] [-1.55489798e-01 9.87835650e-01 -1.91069768e-03 -3.86537151e+00] [-1.14594826e-02 1.30324883e-04 9.99934329e-01 -6.28916354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.26, Y:-3.87, Z:-0.63 [[ 9.87550083e-01 1.56898564e-01 1.12992702e-02 5.22607247e+01] [-1.56886933e-01 9.87614716e-01 -1.91395083e-03 -3.87338981e+00] [-1.14596217e-02 1.17414448e-04 9.99934329e-01 -6.30390059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:-3.88, Z:-0.63 [[ 9.87802138e-01 1.55303811e-01 1.12987604e-02 5.23225514e+01] [-1.55292042e-01 9.87866746e-01 -1.91695559e-03 -3.88331527e+00] [-1.14593802e-02 1.38965246e-04 9.99934329e-01 -6.32601102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:-3.89, Z:-0.63 [[ 9.88302126e-01 1.52089612e-01 1.12985905e-02 5.23841055e+01] [-1.52077621e-01 9.88366692e-01 -1.91795679e-03 -3.89413361e+00] [-1.14588518e-02 1.77258005e-04 9.99934329e-01 -6.33757166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.45, Y:-3.91, Z:-0.64 [[ 9.88942411e-01 1.47869070e-01 1.12980529e-02 5.24458449e+01] [-1.47856768e-01 9.89006919e-01 -1.92111832e-03 -3.90509231e+00] [-1.14579265e-02 2.29381794e-04 9.99934329e-01 -6.35000136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:-3.92, Z:-0.64 [[ 9.89612519e-01 1.43315832e-01 1.12975064e-02 5.25080136e+01] [-1.43303196e-01 9.89676963e-01 -1.92432685e-03 -3.91760403e+00] [-1.14566683e-02 2.85369168e-04 9.99934330e-01 -6.35210930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:-3.93, Z:-0.63 [[ 9.90137212e-01 1.39644838e-01 1.12969471e-02 5.25689997e+01] [-1.39631926e-01 9.90201600e-01 -1.92760472e-03 -3.92954542e+00] [-1.14554351e-02 3.31178678e-04 9.99934330e-01 -6.33872868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:-3.94, Z:-0.63 [[ 9.89938162e-01 1.41049021e-01 1.12964303e-02 5.26317518e+01] [-1.41036166e-01 9.90002562e-01 -1.93062861e-03 -3.93863120e+00] [-1.14558082e-02 3.17997718e-04 9.99934330e-01 -6.34815644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:-3.95, Z:-0.64 [[ 9.89444311e-01 1.44472691e-01 1.12958880e-02 5.26940498e+01] [-1.44460023e-01 9.89508748e-01 -1.93379645e-03 -3.94774579e+00] [-1.14567607e-02 2.81579664e-04 9.99934330e-01 -6.36866138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.76, Y:-3.96, Z:-0.64 [[ 9.88456718e-01 1.51081871e-01 1.12953374e-02 5.27561149e+01] [-1.51069596e-01 9.88521231e-01 -1.93700713e-03 -3.95638810e+00] [-1.14583275e-02 2.08265650e-04 9.99934330e-01 -6.37318184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:-3.96, Z:-0.64 [[ 9.87836612e-01 1.55084673e-01 1.12947857e-02 5.28180722e+01] [-1.55072624e-01 9.87901168e-01 -1.94021845e-03 -3.96389862e+00] [-1.14590302e-02 1.65106760e-04 9.99934330e-01 -6.38939750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:-3.97, Z:-0.64 [[ 9.86999508e-01 1.60325938e-01 1.12944453e-02 5.28790885e+01] [-1.60314209e-01 9.87064123e-01 -1.94219840e-03 -3.97202289e+00] [-1.14597265e-02 1.06288806e-04 9.99934330e-01 -6.39862033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:-3.98, Z:-0.64 [[ 9.86594900e-01 1.62797267e-01 1.12939477e-02 5.29411068e+01] [-1.62785667e-01 9.86659538e-01 -1.94508770e-03 -3.98377027e+00] [-1.14599361e-02 8.05208072e-05 9.99934330e-01 -6.39414219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.00, Y:-3.99, Z:-0.64 [[ 9.86716616e-01 1.62057945e-01 1.12934156e-02 5.30018597e+01] [-1.62046261e-01 9.86781239e-01 -1.94817224e-03 -3.99467373e+00] [-1.14598474e-02 9.22381559e-05 9.99934330e-01 -6.40226695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:-4.01, Z:-0.64 [[ 9.86930407e-01 1.60750854e-01 1.12930877e-02 5.30636446e+01] [-1.60739063e-01 9.86995011e-01 -1.95007060e-03 -4.00783980e+00] [-1.14596968e-02 1.09343635e-04 9.99934330e-01 -6.38519891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.12, Y:-4.02, Z:-0.64 [[ 9.86964235e-01 1.60543068e-01 1.12925273e-02 5.31248841e+01] [-1.60531226e-01 9.87028829e-01 -1.95331045e-03 -4.02155695e+00] [-1.14596405e-02 1.15044301e-04 9.99934330e-01 -6.38245488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.19, Y:-4.03, Z:-0.64 [[ 9.86665785e-01 1.62367240e-01 1.12919738e-02 5.31866040e+01] [-1.62355481e-01 9.86730394e-01 -1.95650521e-03 -4.03346409e+00] [-1.14598061e-02 9.71029156e-05 9.99934330e-01 -6.39649057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:53.25, Y:-4.04, Z:-0.65 [[ 9.86256719e-01 1.64833819e-01 1.12914231e-02 5.32476821e+01] [-1.64822185e-01 9.86321351e-01 -1.95967839e-03 -4.04406521e+00] [-1.14599929e-02 7.16689537e-05 9.99934330e-01 -6.45524963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:-4.06, Z:-0.65 [[ 9.85998651e-01 1.66370595e-01 1.12909424e-02 5.33097005e+01] [-1.66359030e-01 9.86063295e-01 -1.96244426e-03 -4.05530866e+00] [-1.14600768e-02 5.66171748e-05 9.99934330e-01 -6.46349655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.37, Y:-4.07, Z:-0.65 [[ 9.86290373e-01 1.64632398e-01 1.12903926e-02 5.33709918e+01] [-1.64620683e-01 9.86354990e-01 -1.96560210e-03 -4.06781753e+00] [-1.14599369e-02 8.00222906e-05 9.99934330e-01 -6.48117905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.43, Y:-4.08, Z:-0.65 [[ 9.86748048e-01 1.61866695e-01 1.12899065e-02 5.34329359e+01] [-1.61854767e-01 9.86812627e-01 -1.96839008e-03 -4.08121494e+00] [-1.14596391e-02 1.14979883e-04 9.99934330e-01 -6.48062052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.49, Y:-4.09, Z:-0.65 [[ 9.87594314e-01 1.56620631e-01 1.12893571e-02 5.34943427e+01] [-1.56608324e-01 9.87658821e-01 -1.97153580e-03 -4.09416290e+00] [-1.14588163e-02 1.79070237e-04 9.99934330e-01 -6.48700969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:-4.11, Z:-0.65 [[ 9.88554877e-01 1.50438750e-01 1.12887937e-02 5.35552809e+01] [-1.50426003e-01 9.88619299e-01 -1.97475693e-03 -4.10938412e+00] [-1.14573992e-02 2.54027480e-04 9.99934330e-01 -6.48122617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:-4.12, Z:-0.65 [[ 9.88973040e-01 1.47664830e-01 1.12882360e-02 5.36170613e+01] [-1.47651866e-01 9.89037418e-01 -1.97793967e-03 -4.12286989e+00] [-1.14565599e-02 2.89399899e-04 9.99934330e-01 -6.47430517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:-4.14, Z:-0.65 [[ 9.88750658e-01 1.49146653e-01 1.12876870e-02 5.36791122e+01] [-1.49133750e-01 9.88815048e-01 -1.98106752e-03 -4.13542076e+00] [-1.14569044e-02 2.75406717e-04 9.99934330e-01 -6.49600802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:-4.15, Z:-0.65 [[ 9.87783524e-01 1.55423004e-01 1.12871461e-02 5.37408662e+01] [-1.55410475e-01 9.87847988e-01 -1.98414453e-03 -4.14717247e+00] [-1.14583663e-02 2.05764529e-04 9.99934330e-01 -6.51169945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:-4.16, Z:-0.65 [[ 9.87098301e-01 1.59717115e-01 1.12865794e-02 5.38016469e+01] [-1.59704830e-01 9.87162812e-01 -1.98736305e-03 -4.15808636e+00] [-1.14591074e-02 1.59201446e-04 9.99934330e-01 -6.52377221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:-4.17, Z:-0.65 [[ 9.86183352e-01 1.65272567e-01 1.12860549e-02 5.38633128e+01] [-1.65260611e-01 9.86247925e-01 -1.99033693e-03 -4.16880840e+00] [-1.14597964e-02 9.76968092e-05 9.99934330e-01 -6.52201719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.92, Y:-4.18, Z:-0.65 [[ 9.85071468e-01 1.71775550e-01 1.12855026e-02 5.39244926e+01] [-1.71763984e-01 9.85136112e-01 -1.99346417e-03 -4.18013106e+00] [-1.14601845e-02 2.52618007e-05 9.99934330e-01 -6.53230077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:-4.19, Z:-0.65 [[ 9.84205897e-01 1.76667487e-01 1.12849916e-02 5.39864252e+01] [-1.76656209e-01 9.84270592e-01 -1.99635250e-03 -4.19022507e+00] [-1.14601759e-02 -2.87419329e-05 9.99934330e-01 -6.54285827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.05, Y:-4.20, Z:-0.66 [[ 9.82953761e-01 1.83506309e-01 1.12844475e-02 5.40483690e+01] [-1.83495446e-01 9.83018527e-01 -1.99942332e-03 -4.19963626e+00] [-1.14597277e-02 -1.05304060e-04 9.99934330e-01 -6.57528269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.11, Y:-4.21, Z:-0.66 [[ 9.82414335e-01 1.86372603e-01 1.12838904e-02 5.41097525e+01] [-1.86361894e-01 9.82479127e-01 -2.00256257e-03 -4.21099511e+00] [-1.14594096e-02 -1.35541003e-04 9.99934330e-01 -6.59009253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.17, Y:-4.22, Z:-0.66 [[ 9.82338385e-01 1.86772548e-01 1.12833154e-02 5.41702552e+01] [-1.86761827e-01 9.82403174e-01 -2.00579697e-03 -4.22375398e+00] [-1.14593927e-02 -1.36921246e-04 9.99934330e-01 -6.58449225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.23, Y:-4.24, Z:-0.66 [[ 9.83068706e-01 1.82889622e-01 1.12829567e-02 5.42319837e+01] [-1.82878622e-01 9.83133449e-01 -2.00781270e-03 -4.23694926e+00] [-1.14598602e-02 -8.95937444e-05 9.99934330e-01 -6.60270647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.29, Y:-4.25, Z:-0.66 [[ 9.83766119e-01 1.79100339e-01 1.12823893e-02 5.42940499e+01] [-1.79089054e-01 9.83830812e-01 -2.01099615e-03 -4.24891406e+00] [-1.14601323e-02 -4.22025435e-05 9.99934330e-01 -6.61154809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.36, Y:-4.26, Z:-0.66 [[ 9.84564717e-01 1.74656917e-01 1.12818130e-02 5.43555934e+01] [-1.74645303e-01 9.84629352e-01 -2.01422408e-03 -4.25865390e+00] [-1.14602024e-02 1.28183197e-05 9.99934330e-01 -6.59902917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.42, Y:-4.27, Z:-0.66 [[ 9.84917438e-01 1.72656808e-01 1.12812806e-02 5.44173735e+01] [-1.72645028e-01 9.84982043e-01 -2.01720140e-03 -4.26972563e+00] [-1.14601424e-02 3.91198295e-05 9.99934330e-01 -6.59752832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.48, Y:-4.28, Z:-0.66 [[ 9.86702440e-01 1.62145121e-01 1.12807181e-02 5.44790919e+01] [-1.62132617e-01 9.86766909e-01 -2.02034207e-03 -4.28024781e+00] [-1.14590280e-02 1.64504096e-04 9.99934330e-01 -6.58930500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:-4.29, Z:-0.66 [[ 9.88454591e-01 1.51096922e-01 1.12801464e-02 5.45413149e+01] [-1.51083661e-01 9.88518909e-01 -2.02352918e-03 -4.29099992e+00] [-1.14563870e-02 2.95920886e-04 9.99934330e-01 -6.60912285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:-4.30, Z:-0.66 [[ 9.89385978e-01 1.44872900e-01 1.12795823e-02 5.46018093e+01] [-1.44859199e-01 9.89450203e-01 -2.02666876e-03 -4.29987571e+00] [-1.14541944e-02 3.71206404e-04 9.99934330e-01 -6.63491929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:-4.31, Z:-0.67 [[ 9.90744157e-01 1.35273047e-01 1.12791316e-02 5.46640473e+01] [-1.35258695e-01 9.90808240e-01 -2.02917366e-03 -4.30747677e+00] [-1.14499491e-02 4.84791318e-04 9.99934330e-01 -6.68165391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.73, Y:-4.32, Z:-0.67 [[ 9.91275600e-01 1.31322011e-01 1.12789556e-02 5.47253550e+01] [-1.31307393e-01 9.91339622e-01 -2.03015153e-03 -4.31657675e+00] [-1.14478792e-02 5.31429421e-04 9.99934330e-01 -6.65401689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.79, Y:-4.32, Z:-0.66 [[ 9.91380853e-01 1.30525095e-01 1.12784575e-02 5.47860602e+01] [-1.30510394e-01 9.91444857e-01 -2.03291496e-03 -4.32191684e+00] [-1.14473151e-02 5.43437031e-04 9.99934330e-01 -6.63435636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.85, Y:-4.33, Z:-0.66 [[ 9.91019184e-01 1.33243321e-01 1.12780019e-02 5.48485015e+01] [-1.33228767e-01 9.91083222e-01 -2.03543937e-03 -4.32813977e+00] [-1.14486472e-02 5.14605174e-04 9.99934330e-01 -6.61813666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.91, Y:-4.33, Z:-0.66 [[ 9.90247515e-01 1.38862085e-01 1.12774647e-02 5.49121379e+01] [-1.38847861e-01 9.90311626e-01 -2.03841174e-03 -4.33149056e+00] [-1.14512625e-02 4.52680309e-04 9.99934330e-01 -6.59418658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:-4.33, Z:-0.66 [[ 9.89374417e-01 1.44952044e-01 1.12768880e-02 5.49760278e+01] [-1.44938178e-01 9.89438607e-01 -2.04159714e-03 -4.33194387e+00] [-1.14537220e-02 3.85452383e-04 9.99934330e-01 -6.60312323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.04, Y:-4.34, Z:-0.66 [[ 9.88869016e-01 1.48360756e-01 1.12763144e-02 5.50388805e+01] [-1.48347075e-01 9.88933246e-01 -2.04476026e-03 -4.33637373e+00] [-1.14548844e-02 3.49191809e-04 9.99934330e-01 -6.62250398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.10, Y:-4.34, Z:-0.67 [[ 9.88358738e-01 1.51722981e-01 1.12757459e-02 5.51026363e+01] [-1.51709484e-01 9.88423006e-01 -2.04789046e-03 -4.33804267e+00] [-1.14559187e-02 3.13412842e-04 9.99934330e-01 -6.66708876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.17, Y:-4.34, Z:-0.67 [[ 9.88123646e-01 1.53246636e-01 1.12751677e-02 5.51656655e+01] [-1.53233201e-01 9.88187927e-01 -2.05106873e-03 -4.34052414e+00] [-1.14563040e-02 2.98979466e-04 9.99934330e-01 -6.70120821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.23, Y:-4.35, Z:-0.67 [[ 9.87758102e-01 1.55585394e-01 1.12745910e-02 5.52283505e+01] [-1.55572075e-01 9.87822408e-01 -2.05423406e-03 -4.34730793e+00] [-1.14569024e-02 2.75074821e-04 9.99934330e-01 -6.70358764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.29, Y:-4.35, Z:-0.67 [[ 9.86625385e-01 1.62613796e-01 1.12740108e-02 5.52907302e+01] [-1.62600899e-01 9.86689776e-01 -2.05741358e-03 -4.35281009e+00] [-1.14585150e-02 1.96732175e-04 9.99934330e-01 -6.69957110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.35, Y:-4.36, Z:-0.67 [[ 9.85177233e-01 1.71168703e-01 1.12736526e-02 5.53535803e+01] [-1.71156343e-01 9.85241729e-01 -2.05937413e-03 -4.35977944e+00] [-1.14597734e-02 9.92913487e-05 9.99934330e-01 -6.70431407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.42, Y:-4.37, Z:-0.67 [[ 9.84624417e-01 1.74320611e-01 1.12730560e-02 5.54153462e+01] [-1.74308420e-01 9.84688946e-01 -2.06263520e-03 -4.36936244e+00] [-1.14600134e-02 6.59324044e-05 9.99934330e-01 -6.70037356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.48, Y:-4.38, Z:-0.67 [[ 9.84404430e-01 1.75558679e-01 1.12724610e-02 5.54765999e+01] [-1.75546532e-01 9.84468967e-01 -2.06588144e-03 -4.37958852e+00] [-1.14600715e-02 5.48214103e-05 9.99934330e-01 -6.68542312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.54, Y:-4.39, Z:-0.67 [[ 9.84287853e-01 1.76211141e-01 1.12719108e-02 5.55380791e+01] [-1.76199002e-01 9.84352392e-01 -2.06887906e-03 -4.39143857e+00] [-1.14600919e-02 5.02730859e-05 9.99934330e-01 -6.69457219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.60, Y:-4.40, Z:-0.67 [[ 9.84178439e-01 1.76821259e-01 1.12713238e-02 5.56003367e+01] [-1.76809124e-01 9.84242978e-01 -2.07207229e-03 -4.40253481e+00] [-1.14601077e-02 4.64159845e-05 9.99934330e-01 -6.71943989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.66, Y:-4.41, Z:-0.67 [[ 9.84079055e-01 1.77373574e-01 1.12707228e-02 5.56624959e+01] [-1.77361438e-01 9.84143594e-01 -2.07533599e-03 -4.41492412e+00] [-1.14601194e-02 4.33030625e-05 9.99934330e-01 -6.74940303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.72, Y:-4.43, Z:-0.68 [[ 9.84353685e-01 1.75843129e-01 1.12701304e-02 5.57230490e+01] [-1.75830856e-01 9.84418199e-01 -2.07854822e-03 -4.43144374e+00] [-1.14600199e-02 6.43899184e-05 9.99934330e-01 -6.76105765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.78, Y:-4.45, Z:-0.68 [[ 9.84803543e-01 1.73306029e-01 1.12695425e-02 5.57840591e+01] [-1.73293553e-01 9.84868017e-01 -2.08173076e-03 -4.44607476e+00] [-1.14597885e-02 9.71567580e-05 9.99934330e-01 -6.76371289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:-4.46, Z:-0.68 [[ 9.85825805e-01 1.67393229e-01 1.12689442e-02 5.58451580e+01] [-1.67380330e-01 9.85890196e-01 -2.08496465e-03 -4.46430686e+00] [-1.14589506e-02 1.69212364e-04 9.99934330e-01 -6.76260367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.91, Y:-4.48, Z:-0.68 [[ 9.86432823e-01 1.63778232e-01 1.12683459e-02 5.59058924e+01] [-1.63765060e-01 9.86497159e-01 -2.08819315e-03 -4.48086806e+00] [-1.14581918e-02 2.14500920e-04 9.99934330e-01 -6.75817469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.97, Y:-4.50, Z:-0.68 [[ 9.86809241e-01 1.61494770e-01 1.12677429e-02 5.59659240e+01] [-1.61481412e-01 9.86873538e-01 -2.09144168e-03 -4.49804727e+00] [-1.14575942e-02 2.44322941e-04 9.99934330e-01 -6.75390458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.03, Y:-4.51, Z:-0.68 [[ 9.86516180e-01 1.63275462e-01 1.12671864e-02 5.60271425e+01] [-1.63262185e-01 9.86580495e-01 -2.09443540e-03 -4.51239428e+00] [-1.14579563e-02 2.26688930e-04 9.99934330e-01 -6.77758445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.09, Y:-4.53, Z:-0.68 [[ 9.86168402e-01 1.65363077e-01 1.12666058e-02 5.60882872e+01] [-1.65349902e-01 9.86232736e-01 -2.09755404e-03 -4.52566419e+00] [-1.14583535e-02 2.05609347e-04 9.99934330e-01 -6.78654771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.15, Y:-4.54, Z:-0.68 [[ 9.85510448e-01 1.69240165e-01 1.12660145e-02 5.61494040e+01] [-1.69227206e-01 9.85574827e-01 -2.10072546e-03 -4.53912504e+00] [-1.14590274e-02 1.63770737e-04 9.99934330e-01 -6.79910290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:-4.55, Z:-0.68 [[ 9.84902479e-01 1.72743156e-01 1.12654230e-02 5.62098609e+01] [-1.72730390e-01 9.84966896e-01 -2.10389246e-03 -4.55241638e+00] [-1.14595018e-02 1.26247989e-04 9.99934330e-01 -6.82692348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.27, Y:-4.57, Z:-0.68 [[ 9.84605708e-01 1.74426781e-01 1.12648765e-02 5.62711296e+01] [-1.74414092e-01 9.84670141e-01 -2.10681440e-03 -4.56708974e+00] [-1.14596724e-02 1.09628271e-04 9.99934330e-01 -6.83678246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.33, Y:-4.58, Z:-0.69 [[ 9.84083377e-01 1.77350000e-01 1.12642860e-02 5.63317345e+01] [-1.77337466e-01 9.84147840e-01 -2.10996725e-03 -4.58280656e+00] [-1.14599254e-02 7.88037679e-05 9.99934330e-01 -6.85124206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.39, Y:-4.60, Z:-0.69 [[ 9.83847746e-01 1.78652573e-01 1.12637015e-02 5.63932277e+01] [-1.78640088e-01 9.83912219e-01 -2.11308247e-03 -4.59578613e+00] [-1.14600012e-02 6.68027920e-05 9.99934330e-01 -6.86091119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.45, Y:-4.61, Z:-0.69 [[ 9.82977845e-01 1.83378569e-01 1.12631082e-02 5.64543710e+01] [-1.83366358e-01 9.83042370e-01 -2.11624034e-03 -4.61236579e+00] [-1.14601857e-02 1.49422419e-05 9.99934330e-01 -6.87674708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.51, Y:-4.63, Z:-0.69 [[ 9.82392589e-01 1.86488488e-01 1.12625129e-02 5.65144063e+01] [-1.86476445e-01 9.82457146e-01 -2.11940384e-03 -4.62915021e+00] [-1.14601807e-02 -1.81067480e-05 9.99934330e-01 -6.89123252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.58, Y:-4.65, Z:-0.69 [[ 9.82574408e-01 1.85528167e-01 1.12619626e-02 5.65757191e+01] [-1.85516027e-01 9.82638947e-01 -2.12232367e-03 -4.64511952e+00] [-1.14601939e-02 -3.93365099e-06 9.99934330e-01 -6.90011328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:-4.66, Z:-0.69 [[ 9.83403074e-01 1.81084442e-01 1.12613498e-02 5.66350463e+01] [-1.81071974e-01 9.83467550e-01 -2.12557036e-03 -4.66355341e+00] [-1.14600799e-02 5.11775828e-05 9.99934330e-01 -6.92274306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.69, Y:-4.68, Z:-0.69 [[ 9.83970515e-01 1.77975334e-01 1.12607839e-02 5.66949420e+01] [-1.77962628e-01 9.84034945e-01 -2.12856430e-03 -4.68282925e+00] [-1.14598368e-02 9.04458152e-05 9.99934330e-01 -6.92406608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:-4.70, Z:-0.69 [[ 9.83713754e-01 1.79389124e-01 1.12601801e-02 5.67567098e+01] [-1.79376474e-01 9.83778195e-01 -2.13175359e-03 -4.69532825e+00] [-1.14599331e-02 7.72239176e-05 9.99934330e-01 -6.92609635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.82, Y:-4.71, Z:-0.70 [[ 9.83013378e-01 1.83188211e-01 1.12595795e-02 5.68170536e+01] [-1.83175774e-01 9.83077860e-01 -2.13492128e-03 -4.70610905e+00] [-1.14601357e-02 3.61739957e-05 9.99934330e-01 -6.95629482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.657628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:56.88, Y:-4.72, Z:-0.70 [[ 9.82832394e-01 1.84156778e-01 1.12590992e-02 5.68768461e+01] [-1.84144375e-01 9.82896882e-01 -2.13745145e-03 -4.71773060e+00] [-1.14601596e-02 2.74567482e-05 9.99934330e-01 -6.98966769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.94, Y:-4.73, Z:-0.70 [[ 9.82918835e-01 1.83694873e-01 1.12586264e-02 5.69384653e+01] [-1.83682412e-01 9.82983312e-01 -2.13993882e-03 -4.72977845e+00] [-1.14601376e-02 3.53745211e-05 9.99934330e-01 -6.97893143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.00, Y:-4.74, Z:-0.70 [[ 9.83927121e-01 1.78215254e-01 1.12580468e-02 5.70001956e+01] [-1.78202399e-01 9.83991521e-01 -2.14298339e-03 -4.74034899e+00] [-1.14597350e-02 1.02328523e-04 9.99934330e-01 -6.99354305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.837628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:57.06, Y:-4.75, Z:-0.70 [[ 9.84827057e-01 1.73173146e-01 1.12574398e-02 5.70623423e+01] [-1.73159924e-01 9.84891382e-01 -2.14616759e-03 -4.75226772e+00] [-1.14590140e-02 1.64266490e-04 9.99934330e-01 -7.01258330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:57.12, Y:-4.76, Z:-0.70 [[ 9.85761056e-01 1.67774920e-01 1.12568361e-02 5.71236680e+01] [-1.67761310e-01 9.85825301e-01 -2.14932949e-03 -4.76304347e+00] [-1.14578774e-02 2.30263737e-04 9.99934330e-01 -6.98448898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.19, Y:-4.77, Z:-0.70 [[ 9.85867553e-01 1.67148029e-01 1.12563157e-02 5.71854627e+01] [-1.67134348e-01 9.85931782e-01 -2.15205110e-03 -4.77400612e+00] [-1.14576705e-02 2.40320365e-04 9.99934330e-01 -6.95127357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.25, Y:-4.79, Z:-0.69 [[ 9.85520845e-01 1.69180301e-01 1.12557008e-02 5.72471273e+01] [-1.69166715e-01 9.85585094e-01 -2.15526279e-03 -4.78562884e+00] [-1.14580789e-02 2.19966486e-04 9.99934330e-01 -6.94546197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:-4.79, Z:-0.70 [[ 9.84513234e-01 1.74948609e-01 1.12550861e-02 5.73080301e+01] [-1.74935363e-01 9.84577554e-01 -2.15846797e-03 -4.79424445e+00] [-1.14591261e-02 1.56127712e-04 9.99934330e-01 -6.95168255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.137628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:57.37, Y:-4.80, Z:-0.70 [[ 9.83661696e-01 1.79674714e-01 1.12545172e-02 5.73705592e+01] [-1.79661743e-01 9.83726073e-01 -2.16143026e-03 -4.80361871e+00] [-1.14597163e-02 1.04109983e-04 9.99934330e-01 -6.98770260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:-4.81, Z:-0.70 [[ 9.82241817e-01 1.87281509e-01 1.12538974e-02 5.74323138e+01] [-1.87269000e-01 9.82306284e-01 -2.16465263e-03 -4.81423181e+00] [-1.14601735e-02 1.87062254e-05 9.99934330e-01 -6.99238726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:-4.83, Z:-0.70 [[ 9.81778400e-01 1.89695908e-01 1.12532796e-02 5.74929601e+01] [-1.89683520e-01 9.81842891e-01 -2.16785926e-03 -4.82748198e+00] [-1.14601866e-02 -6.20430151e-06 9.99934330e-01 -7.03512002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.55, Y:-4.84, Z:-0.71 [[ 9.82368436e-01 1.86616270e-01 1.12527071e-02 5.75542992e+01] [-1.86603646e-01 9.82432882e-01 -2.17082694e-03 -4.84197543e+00] [-1.14601411e-02 3.27556902e-05 9.99934330e-01 -7.05437233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.62, Y:-4.86, Z:-0.70 [[ 9.83658255e-01 1.79693704e-01 1.12520984e-02 5.76153931e+01] [-1.79680591e-01 9.83722603e-01 -2.17397751e-03 -4.85816674e+00] [-1.14595936e-02 1.16667239e-04 9.99934330e-01 -7.03871381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.68, Y:-4.87, Z:-0.70 [[ 9.84136425e-01 1.77056211e-01 1.12514804e-02 5.76769409e+01] [-1.77042889e-01 9.84200729e-01 -2.17717139e-03 -4.86912236e+00] [-1.14591969e-02 1.50639071e-04 9.99934330e-01 -7.03725110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:-4.88, Z:-0.70 [[ 9.84531404e-01 1.74846596e-01 1.12508598e-02 5.77381347e+01] [-1.74833093e-01 9.84595671e-01 -2.18037377e-03 -4.88156104e+00] [-1.14587788e-02 1.79623833e-04 9.99934330e-01 -7.03434808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:-4.89, Z:-0.70 [[ 9.84627489e-01 1.74304735e-01 1.12502389e-02 5.77998311e+01] [-1.74291160e-01 9.84691740e-01 -2.18357242e-03 -4.89274860e+00] [-1.14586244e-02 1.89188229e-04 9.99934330e-01 -7.04693054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:-4.90, Z:-0.71 [[ 9.84482372e-01 1.75122542e-01 1.12496224e-02 5.78619397e+01] [-1.75108984e-01 9.84546628e-01 -2.18674427e-03 -4.90076542e+00] [-1.14587260e-02 1.82901241e-04 9.99934330e-01 -7.08387271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:-4.91, Z:-0.71 [[ 9.84092952e-01 1.77297833e-01 1.12490058e-02 5.79240026e+01] [-1.77284381e-01 9.84157230e-01 -2.18991169e-03 -4.91035257e+00] [-1.14590570e-02 1.60803640e-04 9.99934330e-01 -7.10825695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.99, Y:-4.92, Z:-0.71 [[ 9.83433851e-01 1.80918034e-01 1.12483928e-02 5.79865814e+01] [-1.80904783e-01 9.83498170e-01 -2.19305589e-03 -4.91973135e+00] [-1.14595371e-02 1.21837353e-04 9.99934330e-01 -7.11383810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.05, Y:-4.93, Z:-0.71 [[ 9.83334691e-01 1.81456259e-01 1.12477750e-02 5.80489514e+01] [-1.81443006e-01 9.83399010e-01 -2.19621949e-03 -4.93067407e+00] [-1.14595686e-02 1.18788693e-04 9.99934330e-01 -7.11592347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.11, Y:-4.94, Z:-0.71 [[ 9.83663512e-01 1.79665238e-01 1.12471483e-02 5.81092996e+01] [-1.79651832e-01 9.83727799e-01 -2.19942437e-03 -4.94371072e+00] [-1.14592926e-02 1.42922703e-04 9.99934330e-01 -7.12450176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:-4.96, Z:-0.71 [[ 9.84482900e-01 1.75119771e-01 1.12465683e-02 5.81711497e+01] [-1.75106034e-01 9.84547117e-01 -2.20238646e-03 -4.95701717e+00] [-1.14584578e-02 1.98869843e-04 9.99934330e-01 -7.12188374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.23, Y:-4.97, Z:-0.71 [[ 9.85191366e-01 1.71089159e-01 1.12459462e-02 5.82316505e+01] [-1.71075124e-01 9.85255519e-01 -2.20555806e-03 -4.97205305e+00] [-1.14574777e-02 2.48995114e-04 9.99934330e-01 -7.11153174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.29, Y:-4.99, Z:-0.71 [[ 9.85279391e-01 1.70581544e-01 1.12453721e-02 5.82936666e+01] [-1.70567442e-01 9.85343529e-01 -2.20848131e-03 -4.98514918e+00] [-1.14572808e-02 2.57876756e-04 9.99934330e-01 -7.11091014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.35, Y:-5.00, Z:-0.71 [[ 9.84893120e-01 1.72797850e-01 1.12447467e-02 5.83540916e+01] [-1.72783856e-01 9.84957282e-01 -2.21166113e-03 -4.99734450e+00] [-1.14577655e-02 2.35339132e-04 9.99934330e-01 -7.10923392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.42, Y:-5.01, Z:-0.71 [[ 9.84222322e-01 1.76578563e-01 1.12441680e-02 5.84152958e+01] [-1.76564782e-01 9.84286530e-01 -2.21459963e-03 -5.00974763e+00] [-1.14585339e-02 1.94334319e-04 9.99934330e-01 -7.11595088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:-5.02, Z:-0.71 [[ 9.83439404e-01 1.80888144e-01 1.12435477e-02 5.84769590e+01] [-1.80874608e-01 9.83503664e-01 -2.21774437e-03 -5.02183957e+00] [-1.14592340e-02 1.47344916e-04 9.99934330e-01 -7.13496642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.54, Y:-5.04, Z:-0.72 [[ 9.82256689e-01 1.87204147e-01 1.12429202e-02 5.85386255e+01] [-1.87190988e-01 9.82321028e-01 -2.22092096e-03 -5.03623305e+00] [-1.14599225e-02 7.69411268e-05 9.99934330e-01 -7.15758498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.60, Y:-5.05, Z:-0.72 [[ 9.80850719e-01 1.94436306e-01 1.12422941e-02 5.85998017e+01] [-1.94423586e-01 9.80915146e-01 -2.22408571e-03 -5.04876424e+00] [-1.14601796e-02 -4.27106349e-06 9.99934330e-01 -7.18654787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.66, Y:-5.06, Z:-0.72 [[ 9.79188843e-01 2.02639669e-01 1.12416680e-02 5.86615211e+01] [-2.02627452e-01 9.79253366e-01 -2.22724603e-03 -5.05959019e+00] [-1.14597696e-02 -9.69760721e-05 9.99934330e-01 -7.21612196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.72, Y:-5.07, Z:-0.72 [[ 9.79017694e-01 2.03464970e-01 1.12410265e-02 5.87225012e+01] [-2.03452770e-01 9.79082221e-01 -2.23047878e-03 -5.07089248e+00] [-1.14597135e-02 -1.03339787e-04 9.99934330e-01 -7.24564814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.78, Y:-5.08, Z:-0.72 [[ 9.79542067e-01 2.00925337e-01 1.12404325e-02 5.87848299e+01] [-2.00912935e-01 9.79606556e-01 -2.23346802e-03 -5.08237233e+00] [-1.14599617e-02 -7.05724162e-05 9.99934330e-01 -7.23794136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.85, Y:-5.09, Z:-0.72 [[ 9.81017579e-01 1.93592813e-01 1.12397973e-02 5.88469502e+01] [-1.93579892e-01 9.81081965e-01 -2.23666016e-03 -5.09427257e+00] [-1.14601638e-02 1.84041817e-05 9.99934330e-01 -7.22217788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.91, Y:-5.11, Z:-0.72 [[ 9.82197727e-01 1.87513483e-01 1.12391639e-02 5.89081611e+01] [-1.87500128e-01 9.82262025e-01 -2.23983841e-03 -5.10874878e+00] [-1.14598038e-02 9.26195181e-05 9.99934330e-01 -7.20515911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.97, Y:-5.12, Z:-0.72 [[ 9.83714077e-01 1.79388711e-01 1.12385321e-02 5.89695635e+01] [-1.79374789e-01 9.83778255e-01 -2.24300444e-03 -5.12220203e+00] [-1.14585931e-02 1.90565729e-04 9.99934330e-01 -7.20635470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.03, Y:-5.13, Z:-0.72 [[ 9.84485714e-01 1.75104506e-01 1.12379030e-02 5.90320295e+01] [-1.75090269e-01 9.84549822e-01 -2.24615180e-03 -5.13193305e+00] [-1.14575867e-02 2.43656907e-04 9.99934330e-01 -7.23277445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.09, Y:-5.14, Z:-0.73 [[ 9.84443837e-01 1.75339830e-01 1.12372705e-02 5.90941642e+01] [-1.75325572e-01 9.84507940e-01 -2.24931166e-03 -5.14382450e+00] [-1.14575759e-02 2.44140127e-04 9.99934330e-01 -7.25716528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.16, Y:-5.15, Z:-0.73 [[ 9.83863550e-01 1.78567224e-01 1.12366438e-02 5.91563154e+01] [-1.78553141e-01 9.83927692e-01 -2.25243777e-03 -5.15407269e+00] [-1.14582566e-02 2.09753372e-04 9.99934330e-01 -7.31586348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.22, Y:-5.16, Z:-0.73 [[ 9.82450853e-01 1.86182901e-01 1.12360195e-02 5.92182947e+01] [-1.86169280e-01 9.82515095e-01 -2.25554794e-03 -5.16387256e+00] [-1.14595032e-02 1.24163344e-04 9.99934330e-01 -7.33438336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.28, Y:-5.17, Z:-0.74 [[ 9.81239957e-01 1.92462755e-01 1.12353813e-02 5.92790442e+01] [-1.92449508e-01 9.81304277e-01 -2.25872240e-03 -5.17447051e+00] [-1.14600477e-02 5.41050634e-05 9.99934330e-01 -7.35066183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:-5.19, Z:-0.73 [[ 9.79804696e-01 1.99641020e-01 1.12347909e-02 5.93397531e+01] [-1.99628211e-01 9.79869105e-01 -2.26165523e-03 -5.18740681e+00] [-1.14601437e-02 -2.68007944e-05 9.99934330e-01 -7.32549291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:-5.20, Z:-0.73 [[ 9.78862334e-01 2.04211470e-01 1.12342233e-02 5.94014875e+01] [-2.04198929e-01 9.78926795e-01 -2.26447119e-03 -5.20116289e+00] [-1.14599132e-02 -7.74108051e-05 9.99934330e-01 -7.29444559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:-5.21, Z:-0.73 [[ 9.78458249e-01 2.06138936e-01 1.12335651e-02 5.94621372e+01] [-2.06126485e-01 9.78522728e-01 -2.26773150e-03 -5.21416551e+00] [-1.14597666e-02 -9.66547076e-05 9.99934330e-01 -7.30048954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:-5.23, Z:-0.73 [[ 9.78629959e-01 2.05322246e-01 1.12329570e-02 5.95236079e+01] [-2.05309706e-01 9.78694420e-01 -2.27073983e-03 -5.22867756e+00] [-1.14598657e-02 -8.40210771e-05 9.99934330e-01 -7.34609782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:-5.24, Z:-0.74 [[ 9.78556658e-01 2.05671345e-01 1.12323084e-02 5.95838574e+01] [-2.05658791e-01 9.78621117e-01 -2.27394368e-03 -5.24123200e+00] [-1.14598592e-02 -8.48402377e-05 9.99934330e-01 -7.39134771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:-5.25, Z:-0.74 [[ 9.77827322e-01 2.09111401e-01 1.12317092e-02 5.96456357e+01] [-2.09099040e-01 9.77891818e-01 -2.27689928e-03 -5.25140268e+00] [-1.14595222e-02 -1.22125299e-04 9.99934330e-01 -7.41252224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:-5.26, Z:-0.74 [[ 9.76840726e-01 2.13672785e-01 1.12310766e-02 5.97075571e+01] [-2.13660690e-01 9.76905272e-01 -2.28001556e-03 -5.25818620e+00] [-1.14588752e-02 -1.72427523e-04 9.99934330e-01 -7.44915036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:-5.27, Z:-0.74 [[ 9.77127921e-01 2.12355591e-01 1.12306860e-02 5.97693708e+01] [-2.12343387e-01 9.77192447e-01 -2.28193799e-03 -5.27092078e+00] [-1.14591238e-02 -1.55016571e-04 9.99934330e-01 -7.44590929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:-5.29, Z:-0.74 [[ 9.77580830e-01 2.10260804e-01 1.12300608e-02 5.98304159e+01] [-2.10248426e-01 9.77645323e-01 -2.28501071e-03 -5.28654866e+00] [-1.14594646e-02 -1.27319939e-04 9.99934330e-01 -7.44081107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:-5.30, Z:-0.75 [[ 9.78511746e-01 2.05885072e-01 1.12294066e-02 5.98910953e+01] [-2.05872369e-01 9.78576176e-01 -2.28822087e-03 -5.30243638e+00] [-1.14599403e-02 -7.27735509e-05 9.99934330e-01 -7.46364328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:-5.31, Z:-0.75 [[ 9.78972737e-01 2.03681849e-01 1.12287613e-02 5.99524542e+01] [-2.03668964e-01 9.79037130e-01 -2.29138336e-03 -5.31489876e+00] [-1.14600874e-02 -4.37483431e-05 9.99934330e-01 -7.47791676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.01, Y:-5.32, Z:-0.75 [[ 9.79317835e-01 2.02016109e-01 1.12281050e-02 6.00149434e+01] [-2.02003078e-01 9.79382199e-01 -2.29459476e-03 -5.32437569e+00] [-1.14601513e-02 -2.09742015e-05 9.99934330e-01 -7.46800908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:-5.33, Z:-0.75 [[ 9.79877206e-01 1.99285239e-01 1.12274496e-02 6.00763575e+01] [-1.99271992e-01 9.79941526e-01 -2.29779722e-03 -5.33283636e+00] [-1.14601611e-02 1.42428740e-05 9.99934330e-01 -7.45940766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:-5.35, Z:-0.75 [[ 9.80206592e-01 1.97658774e-01 1.12270459e-02 6.01380540e+01] [-1.97645397e-01 9.80270885e-01 -2.29976799e-03 -5.34540588e+00] [-1.14601155e-02 3.52737977e-05 9.99934330e-01 -7.46727971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.20, Y:-5.36, Z:-0.75 [[ 9.80690788e-01 1.95242277e-01 1.12263941e-02 6.01990151e+01] [-1.95228706e-01 9.80755040e-01 -2.30294535e-03 -5.36028060e+00] [-1.14599749e-02 6.67628955e-05 9.99934330e-01 -7.48681693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.26, Y:-5.37, Z:-0.75 [[ 9.80669936e-01 1.95347025e-01 1.12257350e-02 6.02610117e+01] [-1.95333424e-01 9.80734182e-01 -2.30615365e-03 -5.37339592e+00] [-1.14599623e-02 6.88142955e-05 9.99934330e-01 -7.50562120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:-5.39, Z:-0.76 [[ 9.80093189e-01 1.98220431e-01 1.12250808e-02 6.03217501e+01] [-1.98206982e-01 9.80157467e-01 -2.30933379e-03 -5.38608411e+00] [-1.14601039e-02 3.84729334e-05 9.99934330e-01 -7.55035069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:-5.40, Z:-0.76 [[ 9.78995982e-01 2.03570326e-01 1.12245149e-02 6.03831244e+01] [-2.03557197e-01 9.79060326e-01 -2.31208093e-03 -5.39751417e+00] [-1.14601483e-02 -2.13128491e-05 9.99934330e-01 -7.55702592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:-5.41, Z:-0.76 [[ 9.78330898e-01 2.06743027e-01 1.12238560e-02 6.04447830e+01] [-2.06730070e-01 9.78395277e-01 -2.31527483e-03 -5.40934256e+00] [-1.14600347e-02 -5.52036420e-05 9.99934330e-01 -7.56357909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:-5.42, Z:-0.75 [[ 9.78061207e-01 2.08015179e-01 1.12232034e-02 6.05058623e+01] [-2.08002269e-01 9.78125596e-01 -2.31843420e-03 -5.42165238e+00] [-1.14599720e-02 -6.68812181e-05 9.99934330e-01 -7.54773028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:-5.44, Z:-0.75 [[ 9.78588385e-01 2.05520865e-01 1.12226299e-02 6.05673027e+01] [-2.05507759e-01 9.78652734e-01 -2.32120680e-03 -5.43542168e+00] [-1.14601139e-02 -3.48315112e-05 9.99934330e-01 -7.53274222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.63, Y:-5.45, Z:-0.75 [[ 9.78639194e-01 2.05278823e-01 1.12219771e-02 6.06275110e+01] [-2.05265665e-01 9.78703532e-01 -2.32435891e-03 -5.44841601e+00] [-1.14601302e-02 -2.87778549e-05 9.99934330e-01 -7.53571860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.69, Y:-5.46, Z:-0.76 [[ 9.78195760e-01 2.07381619e-01 1.12213737e-02 6.06895458e+01] [-2.07368566e-01 9.78260120e-01 -2.32726822e-03 -5.45929089e+00] [-1.14600550e-02 -5.04362632e-05 9.99934330e-01 -7.55964958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.75, Y:-5.47, Z:-0.76 [[ 9.77926054e-01 2.08649776e-01 1.12207148e-02 6.07515271e+01] [-2.08636770e-01 9.77990423e-01 -2.33044046e-03 -5.47012815e+00] [-1.14599975e-02 -6.20552569e-05 9.99934330e-01 -7.63352056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.81, Y:-5.48, Z:-0.77 [[ 9.77791291e-01 2.09280437e-01 1.12200601e-02 6.08121557e+01] [-2.09267437e-01 9.77855661e-01 -2.33358858e-03 -5.48159955e+00] [-1.14599737e-02 -6.62306179e-05 9.99934330e-01 -7.68497544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.87, Y:-5.49, Z:-0.77 [[ 9.77724809e-01 2.09590843e-01 1.12194781e-02 6.08727280e+01] [-2.09577831e-01 9.77789177e-01 -2.33638301e-03 -5.49248033e+00] [-1.14599688e-02 -6.70142700e-05 9.99934330e-01 -7.72094594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.93, Y:-5.50, Z:-0.77 [[ 9.77966337e-01 2.08460977e-01 1.12189050e-02 6.09347417e+01] [-2.08447859e-01 9.78030684e-01 -2.33913184e-03 -5.50341649e+00] [-1.14600511e-02 -5.09645349e-05 9.99934330e-01 -7.71521925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:61.00, Y:-5.51, Z:-0.77 [[ 9.78816181e-01 2.04433447e-01 1.12182357e-02 6.09970713e+01] [-2.04420028e-01 9.78880465e-01 -2.34233721e-03 -5.51240498e+00] [-1.14601639e-02 -5.14505208e-07 9.99934330e-01 -7.73118610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.06, Y:-5.53, Z:-0.77 [[ 9.79398420e-01 2.01625646e-01 1.12175696e-02 6.10578550e+01] [-2.01612006e-01 9.79462658e-01 -2.34552304e-03 -5.52540426e+00] [-1.14601081e-02 3.56048434e-05 9.99934330e-01 -7.69689627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.12, Y:-5.54, Z:-0.77 [[ 9.79612240e-01 2.00584243e-01 1.12169900e-02 6.11182207e+01] [-2.00570503e-01 9.79676456e-01 -2.34829175e-03 -5.53856933e+00] [-1.14600513e-02 5.06180202e-05 9.99934330e-01 -7.71274417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.18, Y:-5.55, Z:-0.77 [[ 9.79453669e-01 2.01357155e-01 1.12163770e-02 6.11794666e+01] [-2.01343432e-01 9.79517889e-01 -2.35121588e-03 -5.55169017e+00] [-1.14600761e-02 4.45631853e-05 9.99934330e-01 -7.72227425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.917628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:-5.57, Z:-0.77 [[ 9.78848178e-01 2.04280328e-01 1.12157176e-02 6.12392472e+01] [-2.04266761e-01 9.78912431e-01 -2.35435703e-03 -5.56616372e+00] [-1.14601542e-02 1.35597800e-05 9.99934330e-01 -7.74559350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.30, Y:-5.58, Z:-0.77 [[ 9.78135820e-01 2.07664483e-01 1.12151904e-02 6.13003177e+01] [-2.07651110e-01 9.78200113e-01 -2.35686586e-03 -5.58109451e+00] [-1.14601379e-02 -2.35118128e-05 9.99934330e-01 -7.73779683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.36, Y:-5.60, Z:-0.78 [[ 9.77004471e-01 2.12923688e-01 1.12145467e-02 6.13603006e+01] [-2.12910626e-01 9.77068829e-01 -2.35992487e-03 -5.59601355e+00] [-1.14598679e-02 -8.20390019e-05 9.99934330e-01 -7.77823172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.097628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:61.42, Y:-5.61, Z:-0.78 [[ 9.76012867e-01 2.17423849e-01 1.12139639e-02 6.14213289e+01] [-2.17411051e-01 9.76077278e-01 -2.36269099e-03 -5.60887366e+00] [-1.14594007e-02 -1.32022872e-04 9.99934330e-01 -7.78723302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.48, Y:-5.62, Z:-0.77 [[ 9.74491565e-01 2.24143815e-01 1.12133651e-02 6.14812484e+01] [-2.24131429e-01 9.74556056e-01 -2.36552955e-03 -5.61993059e+00] [-1.14582717e-02 -2.08078951e-04 9.99934330e-01 -7.73616828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:61.54, Y:-5.63, Z:-0.77 [[ 9.74302098e-01 2.24965986e-01 1.12128173e-02 6.15420789e+01] [-2.24953624e-01 9.74366594e-01 -2.36812307e-03 -5.63095245e+00] [-1.14581418e-02 -2.15096616e-04 9.99934330e-01 -7.70943564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.60, Y:-5.64, Z:-0.77 [[ 9.74728625e-01 2.23110719e-01 1.12122219e-02 6.16023027e+01] [-2.23098202e-01 9.74793091e-01 -2.37093865e-03 -5.64483539e+00] [-1.14585783e-02 -1.90404784e-04 9.99934330e-01 -7.67673381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.66, Y:-5.66, Z:-0.77 [[ 9.75525330e-01 2.19601070e-01 1.12116306e-02 6.16609733e+01] [-2.19588290e-01 9.75589744e-01 -2.37373176e-03 -5.66142758e+00] [-1.14592258e-02 -1.46307328e-04 9.99934330e-01 -7.70999318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.72, Y:-5.68, Z:-0.78 [[ 9.75865696e-01 2.18083597e-01 1.12110895e-02 6.17215043e+01] [-2.18070687e-01 9.75930084e-01 -2.37628433e-03 -5.67605789e+00] [-1.14594682e-02 -1.25875638e-04 9.99934330e-01 -7.76854663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.78, Y:-5.69, Z:-0.78 [[ 9.75427511e-01 2.20035217e-01 1.12104928e-02 6.17822704e+01] [-2.20022403e-01 9.75491918e-01 -2.37909626e-03 -5.68793268e+00] [-1.14592301e-02 -1.45923621e-04 9.99934330e-01 -7.80690271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:-5.70, Z:-0.78 [[ 9.74632948e-01 2.23528420e-01 1.12099025e-02 6.18442525e+01] [-2.23515806e-01 9.74697395e-01 -2.38187445e-03 -5.69713855e+00] [-1.14586794e-02 -1.84137070e-04 9.99934330e-01 -7.83469156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:-5.71, Z:-0.78 [[ 9.74447247e-01 2.24336589e-01 1.12096940e-02 6.19047919e+01] [-2.24324016e-01 9.74511702e-01 -2.38285541e-03 -5.70924350e+00] [-1.14585396e-02 -1.92636678e-04 9.99934330e-01 -7.80662559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:-5.72, Z:-0.78 [[ 9.75028736e-01 2.21795671e-01 1.12090992e-02 6.19636723e+01] [-2.21782898e-01 9.75093152e-01 -2.38564979e-03 -5.72470367e+00] [-1.14590427e-02 -1.59909408e-04 9.99934330e-01 -7.75950497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.02, Y:-5.74, Z:-0.78 [[ 9.76142173e-01 2.16842861e-01 1.12085548e-02 6.20233407e+01] [-2.16829732e-01 9.76206517e-01 -2.38820520e-03 -5.73916450e+00] [-1.14597294e-02 -9.91201094e-05 9.99934330e-01 -7.75817801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.08, Y:-5.75, Z:-0.78 [[ 9.76688466e-01 2.14368888e-01 1.12080192e-02 6.20848283e+01] [-2.14355567e-01 9.76752771e-01 -2.39071572e-03 -5.75426976e+00] [-1.14599589e-02 -6.75168457e-05 9.99934330e-01 -7.75244496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.15, Y:-5.77, Z:-0.78 [[ 9.76833905e-01 2.13705210e-01 1.12073352e-02 6.21462967e+01] [-2.13691809e-01 9.76898193e-01 -2.39391797e-03 -5.76851844e+00] [-1.14600183e-02 -5.64554930e-05 9.99934330e-01 -7.75639653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.21, Y:-5.78, Z:-0.78 [[ 9.76772840e-01 2.13984180e-01 1.12066535e-02 6.22073622e+01] [-2.13970761e-01 9.76837124e-01 -2.39710503e-03 -5.78236186e+00] [-1.14600178e-02 -5.64690978e-05 9.99934330e-01 -7.76078155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.27, Y:-5.79, Z:-0.78 [[ 9.76454407e-01 2.15432605e-01 1.12064391e-02 6.22674610e+01] [-2.15419269e-01 9.76518708e-01 -2.39810714e-03 -5.79360963e+00] [-1.14599279e-02 -7.24406280e-05 9.99934330e-01 -7.79350499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.33, Y:-5.80, Z:-0.78 [[ 9.76508871e-01 2.15185611e-01 1.12061015e-02 6.23288533e+01] [-2.15172242e-01 9.76573166e-01 -2.39968357e-03 -5.80491719e+00] [-1.14599554e-02 -6.79296861e-05 9.99934330e-01 -7.83037564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:-5.82, Z:-0.78 [[ 9.77793899e-01 2.09269034e-01 1.12054965e-02 6.23896671e+01] [-2.09255243e-01 9.77858104e-01 -2.40250519e-03 -5.81841052e+00] [-1.14601555e-02 4.34601702e-06 9.99934330e-01 -7.84931882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117627999999996 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:-5.83, Z:-0.79 [[ 9.79724598e-01 2.00035407e-01 1.12048577e-02 6.24505069e+01] [-2.00020976e-01 9.79788662e-01 -2.40548094e-03 -5.83122717e+00] [-1.14595739e-02 1.15502272e-04 9.99934330e-01 -7.85093173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:62.51, Y:-5.84, Z:-0.78 [[ 9.80368818e-01 1.96853868e-01 1.12042617e-02 6.25107353e+01] [-1.96839198e-01 9.80432828e-01 -2.40825399e-03 -5.84442114e+00] [-1.14591001e-02 1.55539235e-04 9.99934330e-01 -7.82937398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.57, Y:-5.85, Z:-0.78 [[ 9.80692077e-01 1.95237108e-01 1.12036675e-02 6.25719052e+01] [-1.95222301e-01 9.80756055e-01 -2.41101508e-03 -5.85400955e+00] [-1.14587843e-02 1.77257641e-04 9.99934330e-01 -7.80897420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.63, Y:-5.87, Z:-0.78 [[ 9.79415048e-01 2.01545664e-01 1.12030505e-02 6.26307356e+01] [-2.01531236e-01 9.79479114e-01 -2.41387872e-03 -5.86994449e+00] [-1.14596607e-02 1.06424533e-04 9.99934330e-01 -7.82687585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.69, Y:-5.88, Z:-0.78 [[ 9.79199623e-01 2.02589741e-01 1.12024868e-02 6.26920001e+01] [-2.02575351e-01 9.79263697e-01 -2.41649172e-03 -5.88062166e+00] [-1.14597451e-02 9.68800760e-05 9.99934330e-01 -7.83947816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.75, Y:-5.89, Z:-0.79 [[ 9.77615335e-01 2.10101822e-01 1.12018586e-02 6.27513339e+01] [-2.10087892e-01 9.77679510e-01 -2.41940035e-03 -5.89464072e+00] [-1.14601480e-02 1.18680289e-05 9.99934330e-01 -7.89646219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.81, Y:-5.91, Z:-0.79 [[ 9.76436373e-01 2.15514595e-01 1.12012875e-02 6.28120422e+01] [-2.15500990e-01 9.76500618e-01 -2.42204147e-03 -5.90947452e+00] [-1.14600495e-02 -4.89191574e-05 9.99934330e-01 -7.88858034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.87, Y:-5.92, Z:-0.79 [[ 9.76024535e-01 2.17372151e-01 1.12006930e-02 6.28723503e+01] [-2.17358637e-01 9.76088799e-01 -2.42478767e-03 -5.92343006e+00] [-1.14599523e-02 -6.79151096e-05 9.99934330e-01 -7.88114583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.93, Y:-5.94, Z:-0.78 [[ 9.75800297e-01 2.18376598e-01 1.12001010e-02 6.29323217e+01] [-2.18363119e-01 9.75864568e-01 -2.42751910e-03 -5.93964259e+00] [-1.14598951e-02 -7.69151238e-05 9.99934330e-01 -7.84883710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.99, Y:-5.96, Z:-0.78 [[ 9.75845856e-01 2.18172952e-01 1.11995083e-02 6.29922294e+01] [-2.18159428e-01 9.75910118e-01 -2.43025039e-03 -5.95514387e+00] [-1.14599284e-02 -7.17285461e-05 9.99934330e-01 -7.82529958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.05, Y:-5.97, Z:-0.78 [[ 9.76241864e-01 2.16394101e-01 1.11989111e-02 6.30532572e+01] [-2.16380428e-01 9.76306095e-01 -2.43299922e-03 -5.97018207e+00] [-1.14600518e-02 -4.80294833e-05 9.99934330e-01 -7.84492344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.11, Y:-5.98, Z:-0.79 [[ 9.76481025e-01 2.15312348e-01 1.11982357e-02 6.31143527e+01] [-2.15298569e-01 9.76545233e-01 -2.43610379e-03 -5.98457021e+00] [-1.14601069e-02 -3.21550021e-05 9.99934330e-01 -7.85993927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:-6.00, Z:-0.79 [[ 9.76254301e-01 2.16338058e-01 1.11975451e-02 6.31741726e+01] [-2.16324310e-01 9.76318515e-01 -2.43927417e-03 -5.99715586e+00] [-1.14600784e-02 -4.09493221e-05 9.99934330e-01 -7.87860583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.23, Y:-6.01, Z:-0.79 [[ 9.76161353e-01 2.16757101e-01 1.11969931e-02 6.32346125e+01] [-2.16743351e-01 9.76225567e-01 -2.44180554e-03 -6.00678289e+00] [-1.14600696e-02 -4.32775957e-05 9.99934330e-01 -7.89942130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.30, Y:-6.02, Z:-0.79 [[ 9.75921075e-01 2.17836383e-01 1.11966639e-02 6.32956025e+01] [-2.17822687e-01 9.75985301e-01 -2.44331378e-03 -6.01892223e+00] [-1.14600221e-02 -5.44060116e-05 9.99934330e-01 -7.89352493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.36, Y:-6.03, Z:-0.79 [[ 9.75907284e-01 2.17898187e-01 1.11960846e-02 6.33566223e+01] [-2.17884465e-01 9.75971504e-01 -2.44596543e-03 -6.03122943e+00] [-1.14600310e-02 -5.24174295e-05 9.99934330e-01 -7.89398399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:-6.04, Z:-0.79 [[ 9.76217021e-01 2.16506325e-01 1.11954742e-02 6.34179506e+01] [-2.16492479e-01 9.76281215e-01 -2.44875642e-03 -6.04482744e+00] [-1.14601024e-02 -3.32182579e-05 9.99934330e-01 -7.90425009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:-6.06, Z:-0.79 [[ 9.76205558e-01 2.16558042e-01 1.11947797e-02 6.34776555e+01] [-2.16544163e-01 9.76269744e-01 -2.45192718e-03 -6.05970229e+00] [-1.14601093e-02 -3.05792612e-05 9.99934330e-01 -7.87481823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:-6.07, Z:-0.79 [[ 9.75891582e-01 2.17968596e-01 1.11942247e-02 6.35380290e+01] [-2.17954781e-01 9.75955782e-01 -2.45445845e-03 -6.07215993e+00] [-1.14600632e-02 -4.45494549e-05 9.99934330e-01 -7.86519196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.60, Y:-6.09, Z:-0.79 [[ 9.74992662e-01 2.21954962e-01 1.11938898e-02 6.35984862e+01] [-2.21941392e-01 9.75056915e-01 -2.45598496e-03 -6.08558501e+00] [-1.14597977e-02 -8.98201606e-05 9.99934330e-01 -7.88779238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:-6.10, Z:-0.79 [[ 9.74222901e-01 2.25309673e-01 1.11932838e-02 6.36588212e+01] [-2.25296292e-01 9.74287193e-01 -2.45874349e-03 -6.09993340e+00] [-1.14594518e-02 -1.26441125e-04 9.99934330e-01 -7.90892546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:-6.11, Z:-0.79 [[ 9.73596881e-01 2.27999642e-01 1.11926821e-02 6.37192143e+01] [-2.27986407e-01 9.73661203e-01 -2.46147980e-03 -6.11443316e+00] [-1.14590968e-02 -1.55290318e-04 9.99934330e-01 -7.91887240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:-6.13, Z:-0.79 [[ 9.74418716e-01 2.24461363e-01 1.11920739e-02 6.37794030e+01] [-2.24447863e-01 9.74482983e-01 -2.46424175e-03 -6.13010149e+00] [-1.14596127e-02 -1.10833801e-04 9.99934330e-01 -7.92661245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.84, Y:-6.15, Z:-0.79 [[ 9.75789246e-01 2.18426403e-01 1.11916439e-02 6.38390796e+01] [-2.18412484e-01 9.75853424e-01 -2.46619322e-03 -6.14708882e+00] [-1.14600857e-02 -3.79099193e-05 9.99934330e-01 -7.91090625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.90, Y:-6.16, Z:-0.79 [[ 9.78122621e-01 2.07727946e-01 1.11910631e-02 6.38991803e+01] [-2.07713294e-01 9.78186635e-01 -2.46882611e-03 -6.16477790e+00] [-1.14597925e-02 9.02820884e-05 9.99934330e-01 -7.88439639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.96, Y:-6.18, Z:-0.79 [[ 9.79374346e-01 2.01744055e-01 1.11904494e-02 6.39587118e+01] [-2.01728980e-01 9.79438262e-01 -2.47160450e-03 -6.17739340e+00] [-1.14589859e-02 1.63188093e-04 9.99934330e-01 -7.88874061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:-6.19, Z:-0.79 [[ 9.80973594e-01 1.93818456e-01 1.11898890e-02 6.40203067e+01] [-1.93802836e-01 9.81037379e-01 -2.47413920e-03 -6.18666850e+00] [-1.14572332e-02 2.58433006e-04 9.99934330e-01 -7.88525437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.08, Y:-6.20, Z:-0.79 [[ 9.81218741e-01 1.92573579e-01 1.11892257e-02 6.40793389e+01] [-1.92557844e-01 9.81282498e-01 -2.47713511e-03 -6.20078872e+00] [-1.14568222e-02 2.76038202e-04 9.99934330e-01 -7.90708751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:64.14, Y:-6.21, Z:-0.79 [[ 9.81424246e-01 1.91523533e-01 1.11886235e-02 6.41399960e+01] [-1.91507699e-01 9.81487978e-01 -2.47985230e-03 -6.21276531e+00] [-1.14564495e-02 2.91079640e-04 9.99934330e-01 -7.93080022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.20, Y:-6.22, Z:-0.79 [[ 9.81439503e-01 1.91445371e-01 1.11880199e-02 6.42022738e+01] [-1.91429501e-01 9.81503226e-01 -2.48257235e-03 -6.22073521e+00] [-1.14563546e-02 2.94777508e-04 9.99934330e-01 -7.90972077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:-6.23, Z:-0.79 [[ 9.81063079e-01 1.93365145e-01 1.11873148e-02 6.42636631e+01] [-1.93349363e-01 9.81126824e-01 -2.48574608e-03 -6.23022583e+00] [-1.14568312e-02 2.75613517e-04 9.99934330e-01 -7.91935776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.33, Y:-6.24, Z:-0.79 [[ 9.80218050e-01 1.97604236e-01 1.11866628e-02 6.43266185e+01] [-1.97588696e-01 9.80281854e-01 -2.48867666e-03 -6.23591187e+00] [-1.14578556e-02 2.29087668e-04 9.99934330e-01 -7.90713719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.39, Y:-6.24, Z:-0.79 [[ 9.79016540e-01 2.03473557e-01 1.11859547e-02 6.43895076e+01] [-2.03458364e-01 9.79080428e-01 -2.49185546e-03 -6.24305652e+00] [-1.14589760e-02 1.63691679e-04 9.99934330e-01 -7.90428843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.45, Y:-6.25, Z:-0.79 [[ 9.78159732e-01 2.07553435e-01 1.11852563e-02 6.44523436e+01] [-2.07538472e-01 9.78223675e-01 -2.49498619e-03 -6.25192109e+00] [-1.14595255e-02 1.19124021e-04 9.99934330e-01 -7.90904648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.52, Y:-6.25, Z:-0.80 [[ 9.78154337e-01 2.07578895e-01 1.11845602e-02 6.45159175e+01] [-2.07563899e-01 9.78218272e-01 -2.49810271e-03 -6.25200972e+00] [-1.14594946e-02 1.22019076e-04 9.99934330e-01 -7.97642876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.58, Y:-6.27, Z:-0.79 [[ 9.76207811e-01 2.16548447e-01 1.11839338e-02 6.45769114e+01] [-2.16534006e-01 9.76271873e-01 -2.50090415e-03 -6.26820059e+00] [-1.14601269e-02 1.97001716e-05 9.99934330e-01 -7.89377048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.64, Y:-6.28, Z:-0.79 [[ 9.75950316e-01 2.17706032e-01 1.11832287e-02 6.46391252e+01] [-2.17691631e-01 9.76014387e-01 -2.50405304e-03 -6.27672232e+00] [-1.14601396e-02 9.33605644e-06 9.99934330e-01 -7.91276296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:64.70, Y:-6.29, Z:-0.80 [[ 9.76156600e-01 2.16779249e-01 1.11825181e-02 6.47008262e+01] [-2.16764751e-01 9.76220650e-01 -2.50722226e-03 -6.28845137e+00] [-1.14601189e-02 2.34657978e-05 9.99934330e-01 -7.95733305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:-6.30, Z:-0.79 [[ 9.76711537e-01 2.14265116e-01 1.11818136e-02 6.47626765e+01] [-2.14250417e-01 9.76775541e-01 -2.51036042e-03 -6.29995984e+00] [-1.14600047e-02 5.61897490e-05 9.99934330e-01 -7.94435909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.457628 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:64.82, Y:-6.31, Z:-0.80 [[ 9.77429949e-01 2.10963688e-01 1.11810868e-02 6.48233555e+01] [-2.10948736e-01 9.77493894e-01 -2.51359369e-03 -6.31300225e+00] [-1.14597210e-02 9.82256329e-05 9.99934330e-01 -7.98874418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.88, Y:-6.32, Z:-0.80 [[ 9.78705461e-01 2.04964921e-01 1.11804464e-02 6.48845937e+01] [-2.04949545e-01 9.78769305e-01 -2.51643899e-03 -6.32454033e+00] [-1.14588594e-02 1.71425190e-04 9.99934330e-01 -7.99227066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.95, Y:-6.34, Z:-0.80 [[ 9.80642531e-01 1.95487182e-01 1.11797698e-02 6.49455965e+01] [-1.95471154e-01 9.80706215e-01 -2.51944127e-03 -6.33726396e+00] [-1.14565882e-02 2.85348764e-04 9.99934330e-01 -8.00863947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:-6.35, Z:-0.81 [[ 9.82919229e-01 1.83697620e-01 1.11791426e-02 6.50056439e+01] [-1.83680798e-01 9.82982707e-01 -2.52222125e-03 -6.35057263e+00] [-1.14522299e-02 4.25745944e-04 9.99934330e-01 -8.05121993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:-6.36, Z:-0.80 [[ 9.84162947e-01 1.76913354e-01 1.11785262e-02 6.50662166e+01] [-1.76896062e-01 9.84226299e-01 -2.52494985e-03 -6.36236335e+00] [-1.14488968e-02 5.07524809e-04 9.99934330e-01 -8.03193609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:-6.37, Z:-0.80 [[ 9.85607519e-01 1.68679795e-01 1.11779148e-02 6.51273108e+01] [-1.68661945e-01 9.85670716e-01 -2.52765368e-03 -6.37239479e+00] [-1.14441074e-02 6.05985629e-04 9.99934330e-01 -8.00700985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:-6.38, Z:-0.80 [[ 9.85897329e-01 1.66977616e-01 1.11772847e-02 6.51887047e+01] [-1.66959624e-01 9.85960486e-01 -2.53043698e-03 -6.38431630e+00] [-1.14428874e-02 6.28595804e-04 9.99934330e-01 -7.98653661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.25, Y:-6.39, Z:-0.80 [[ 9.84996803e-01 1.72210288e-01 1.11765525e-02 6.52496830e+01] [-1.72192595e-01 9.85060044e-01 -2.53366698e-03 -6.39178287e+00] [-1.14458988e-02 5.71134295e-04 9.99934330e-01 -7.97199195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.31, Y:-6.40, Z:-0.80 [[ 9.83829286e-01 1.78759710e-01 1.11759673e-02 6.53116716e+01] [-1.78742409e-01 9.83892636e-01 -2.53624552e-03 -6.40016102e+00] [-1.14493304e-02 4.97613292e-04 9.99934330e-01 -7.96180211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.38, Y:-6.41, Z:-0.80 [[ 9.81846051e-01 1.89350060e-01 1.11753011e-02 6.53752817e+01] [-1.89333410e-01 9.81909574e-01 -2.53917772e-03 -6.40605199e+00] [-1.14539286e-02 3.77223755e-04 9.99934330e-01 -7.95921798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.44, Y:-6.41, Z:-0.80 [[ 9.79925748e-01 1.99049383e-01 1.11745933e-02 6.54380628e+01] [-1.99033326e-01 9.79989424e-01 -2.54228884e-03 -6.41240177e+00] [-1.14570243e-02 2.67137823e-04 9.99934330e-01 -7.97665484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.50, Y:-6.42, Z:-0.80 [[ 9.77879498e-01 2.08870346e-01 1.11743711e-02 6.55005314e+01] [-2.08854917e-01 9.77943329e-01 -2.54326490e-03 -6.41929340e+00] [-1.14591143e-02 1.53184249e-04 9.99934330e-01 -7.99620117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.56, Y:-6.43, Z:-0.80 [[ 9.76601960e-01 2.14764431e-01 1.11736333e-02 6.55618185e+01] [-2.14749351e-01 9.76665875e-01 -2.54650250e-03 -6.42975089e+00] [-1.14598045e-02 8.73888421e-05 9.99934330e-01 -8.01199045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.62, Y:-6.44, Z:-0.80 [[ 9.74476369e-01 2.24211879e-01 1.11731773e-02 6.56235981e+01] [-2.24197396e-01 9.74540421e-01 -2.54850135e-03 -6.44183825e+00] [-1.14601172e-02 -2.15429290e-05 9.99934330e-01 -8.01439561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.68, Y:-6.46, Z:-0.80 [[ 9.73407868e-01 2.28806246e-01 1.11724556e-02 6.56848204e+01] [-2.28792029e-01 9.73471980e-01 -2.55166151e-03 -6.45530520e+00] [-1.14599086e-02 -7.23613963e-05 9.99934330e-01 -8.01986967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:-6.47, Z:-0.80 [[ 9.72974537e-01 2.30642023e-01 1.11717403e-02 6.57453262e+01] [-2.30627891e-01 9.73038668e-01 -2.55478958e-03 -6.47115521e+00] [-1.14597771e-02 -9.07696885e-05 9.99934330e-01 -8.04024049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.81, Y:-6.49, Z:-0.80 [[ 9.72935666e-01 2.30805969e-01 1.11711115e-02 6.58057957e+01] [-2.30791816e-01 9.72999793e-01 -2.55753587e-03 -6.48973951e+00] [-1.14597837e-02 -8.98832486e-05 9.99934330e-01 -8.04427191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.87, Y:-6.51, Z:-0.81 [[ 9.72406838e-01 2.33023954e-01 1.11703996e-02 6.58651272e+01] [-2.33009912e-01 9.72470989e-01 -2.56064169e-03 -6.50866190e+00] [-1.14595804e-02 -1.12828328e-04 9.99934330e-01 -8.05241164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:-6.53, Z:-0.81 [[ 9.71891298e-01 2.35164924e-01 1.11697412e-02 6.59248005e+01] [-2.35150991e-01 9.71955472e-01 -2.56351044e-03 -6.52539156e+00] [-1.14593388e-02 -1.35122215e-04 9.99934330e-01 -8.07316029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:-6.55, Z:-0.81 [[ 9.71473031e-01 2.36886895e-01 1.11691372e-02 6.59841802e+01] [-2.36873045e-01 9.71537223e-01 -2.56613928e-03 -6.54676830e+00] [-1.14591173e-02 -1.52732431e-04 9.99934330e-01 -8.07098957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.04, Y:-6.56, Z:-0.81 [[ 9.71398791e-01 2.37191155e-01 1.11689112e-02 6.60437901e+01] [-2.37177313e-01 9.71462985e-01 -2.56712234e-03 -6.56310165e+00] [-1.14590826e-02 -1.55312821e-04 9.99934330e-01 -8.08827885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.10, Y:-6.58, Z:-0.81 [[ 9.71602111e-01 2.36356952e-01 1.11682430e-02 6.61019797e+01] [-2.36343022e-01 9.71666286e-01 -2.57002621e-03 -6.58489542e+00] [-1.14592488e-02 -1.42493408e-04 9.99934331e-01 -8.10301998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.16, Y:-6.61, Z:-0.81 [[ 9.72641712e-01 2.32041771e-01 1.11676530e-02 6.61612164e+01] [-2.32027527e-01 9.72705818e-01 -2.57258728e-03 -6.60692320e+00] [-1.14597888e-02 -8.89972111e-05 9.99934331e-01 -8.08124144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.22, Y:-6.63, Z:-0.81 [[ 9.74809915e-01 2.22757559e-01 1.11668859e-02 6.62178609e+01] [-2.22742666e-01 9.74873874e-01 -2.57591287e-03 -6.63254678e+00] [-1.14601094e-02 2.36834724e-05 9.99934331e-01 -8.09342780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.28, Y:-6.65, Z:-0.81 [[ 9.76365892e-01 2.15835491e-01 1.11662743e-02 6.62773760e+01] [-2.15820114e-01 9.76429736e-01 -2.57856155e-03 -6.65313736e+00] [-1.14596273e-02 1.07712966e-04 9.99934331e-01 -8.07770330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.34, Y:-6.68, Z:-0.81 [[ 9.78031355e-01 2.08158593e-01 1.11655514e-02 6.63366489e+01] [-2.08142679e-01 9.78095067e-01 -2.58168789e-03 -6.67775241e+00] [-1.14583713e-02 2.00943920e-04 9.99934331e-01 -8.08508227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:-6.69, Z:-0.81 [[ 9.79896156e-01 1.99195559e-01 1.11648168e-02 6.63968856e+01] [-1.99179027e-01 9.79959710e-01 -2.58486067e-03 -6.69426196e+00] [-1.14559634e-02 3.09097687e-04 9.99934331e-01 -8.12381498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:-6.72, Z:-0.81 [[ 9.78485340e-01 2.06014079e-01 1.11641234e-02 6.64538104e+01] [-2.05997956e-01 9.78549000e-01 -2.58785205e-03 -6.72010683e+00] [-1.14577758e-02 2.32388692e-04 9.99934331e-01 -8.05354934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:-6.74, Z:-0.81 [[ 9.77458989e-01 2.10830030e-01 1.11634940e-02 6.65115456e+01] [-2.10814190e-01 9.77522719e-01 -2.59056435e-03 -6.73996933e+00] [-1.14587378e-02 1.78747465e-04 9.99934331e-01 -8.07838334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:-6.76, Z:-0.81 [[ 9.76291861e-01 2.16170286e-01 1.11628949e-02 6.65710389e+01] [-2.16154765e-01 9.76355669e-01 -2.59314337e-03 -6.76156818e+00] [-1.14595163e-02 1.18751835e-04 9.99934331e-01 -8.09512786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:66.63, Y:-6.78, Z:-0.81 [[ 9.75288085e-01 2.20654837e-01 1.11621571e-02 6.66305746e+01] [-2.20639573e-01 9.75351956e-01 -2.59631540e-03 -6.78268989e+00] [-1.14599213e-02 6.93418997e-05 9.99934331e-01 -8.12777598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.69, Y:-6.80, Z:-0.81 [[ 9.74348973e-01 2.24765438e-01 1.11614160e-02 6.66893349e+01] [-2.24750407e-01 9.74412899e-01 -2.59949744e-03 -6.80152647e+00] [-1.14601049e-02 2.42848674e-05 9.99934331e-01 -8.11401450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.75, Y:-6.82, Z:-0.81 [[ 9.73253332e-01 2.29463266e-01 1.11607303e-02 6.67477841e+01] [-2.29448509e-01 9.73317322e-01 -2.60243830e-03 -6.82263338e+00] [-1.14600961e-02 -2.79811736e-05 9.99934331e-01 -8.12031212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:-6.84, Z:-0.81 [[ 9.72656428e-01 2.31980444e-01 1.11600565e-02 6.68059419e+01] [-2.31965820e-01 9.72720448e-01 -2.60532456e-03 -6.84461532e+00] [-1.14599995e-02 -5.46659664e-05 9.99934331e-01 -8.10371176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:-6.86, Z:-0.81 [[ 9.71736273e-01 2.35805178e-01 1.11594260e-02 6.68669421e+01] [-2.35790775e-01 9.71800344e-01 -2.60802215e-03 -6.86127438e+00] [-1.14597192e-02 -9.69799862e-05 9.99934331e-01 -8.10535958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.93, Y:-6.87, Z:-0.81 [[ 9.69999629e-01 2.42850167e-01 1.11586984e-02 6.69288330e+01] [-2.42836193e-01 9.70063794e-01 -2.61113146e-03 -6.87380729e+00] [-1.14587631e-02 -1.76939298e-04 9.99934331e-01 -8.12069281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.99, Y:-6.88, Z:-0.82 [[ 9.70336412e-01 2.41501028e-01 1.11579740e-02 6.69906872e+01] [-2.41486929e-01 9.70400551e-01 -2.61422337e-03 -6.88270459e+00] [-1.14590418e-02 -1.57828764e-04 9.99934331e-01 -8.17438974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:-6.90, Z:-0.82 [[ 9.70986415e-01 2.38874226e-01 1.11573255e-02 6.70504503e+01] [-2.38859922e-01 9.71050508e-01 -2.61698853e-03 -6.89573559e+00] [-1.14594577e-02 -1.23977584e-04 9.99934331e-01 -8.21963736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:-6.91, Z:-0.82 [[ 9.71834431e-01 2.35400438e-01 1.11567314e-02 6.71103602e+01] [-2.35385876e-01 9.71898466e-01 -2.61951856e-03 -6.91456776e+00] [-1.14598460e-02 -8.03986700e-05 9.99934331e-01 -8.19624688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:-6.93, Z:-0.82 [[ 9.71826674e-01 2.35432476e-01 1.11563829e-02 6.71721701e+01] [-2.35417899e-01 9.71890705e-01 -2.62100197e-03 -6.92844727e+00] [-1.14598538e-02 -7.92526055e-05 9.99934331e-01 -8.19647236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:67.23, Y:-6.94, Z:-0.82 [[ 9.72777777e-01 2.31471271e-01 1.11556376e-02 6.72323359e+01] [-2.31456397e-01 9.72841739e-01 -2.62417021e-03 -6.94170621e+00] [-1.14600899e-02 -2.93092335e-05 9.99934331e-01 -8.24420790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.29, Y:-6.96, Z:-0.82 [[ 9.73480621e-01 2.28497367e-01 1.11549897e-02 6.72926527e+01] [-2.28482267e-01 9.73544531e-01 -2.62692178e-03 -6.95781986e+00] [-1.14601239e-02 8.54011964e-06 9.99934331e-01 -8.18121125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.35, Y:-6.97, Z:-0.81 [[ 9.74863935e-01 2.22521658e-01 1.11543363e-02 6.73523502e+01] [-2.22506134e-01 9.74927744e-01 -2.62969307e-03 -6.97394108e+00] [-1.14598356e-02 8.16846897e-05 9.99934331e-01 -8.12629234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:-6.99, Z:-0.81 [[ 9.76110565e-01 2.16987929e-01 1.11536836e-02 6.74140861e+01] [-2.16972011e-01 9.76174276e-01 -2.63245859e-03 -6.98795303e+00] [-1.14591508e-02 1.49533473e-04 9.99934331e-01 -8.13187739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.48, Y:-7.00, Z:-0.81 [[ 9.76287444e-01 2.16190746e-01 1.11529346e-02 6.74753391e+01] [-2.16174740e-01 9.76351133e-01 -2.63562800e-03 -7.00246955e+00] [-1.14589787e-02 1.62147778e-04 9.99934331e-01 -8.14907887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:-7.02, Z:-0.82 [[ 9.75640974e-01 2.19089749e-01 1.11521858e-02 6.75351208e+01] [-2.19073897e-01 9.75704701e-01 -2.63879290e-03 -7.01538450e+00] [-1.14593726e-02 1.31361688e-04 9.99934331e-01 -8.18950117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217628 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:-7.03, Z:-0.82 [[ 9.74324099e-01 2.24873723e-01 1.11515870e-02 6.75958869e+01] [-2.24858220e-01 9.74387913e-01 -2.64132073e-03 -7.02718951e+00] [-1.14599352e-02 6.59764304e-05 9.99934331e-01 -8.20597697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27762799999999 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:-7.04, Z:-0.82 [[ 9.73876026e-01 2.26806399e-01 1.11509451e-02 6.76562598e+01] [-2.26790992e-01 9.73939862e-01 -2.64402818e-03 -7.04125319e+00] [-1.14600324e-02 4.60217603e-05 9.99934331e-01 -8.22749981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337628 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:67.72, Y:-7.06, Z:-0.82 [[ 9.73891551e-01 2.26739758e-01 1.11502657e-02 6.77170268e+01] [-2.26724313e-01 9.73955379e-01 -2.64689014e-03 -7.05565028e+00] [-1.14600165e-02 4.97476150e-05 9.99934331e-01 -8.23086866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397628 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:67.78, Y:-7.07, Z:-0.82 [[ 9.74553767e-01 2.23876403e-01 1.11495479e-02 6.77778771e+01] [-2.23860736e-01 9.74617540e-01 -2.64990998e-03 -7.07007341e+00] [-1.14597973e-02 8.65337409e-05 9.99934331e-01 -8.21710736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.457628 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:67.84, Y:-7.09, Z:-0.82 [[ 9.75330194e-01 2.20469307e-01 1.11488911e-02 6.78376196e+01] [-2.20453386e-01 9.75393904e-01 -2.65267058e-03 -7.08687089e+00] [-1.14593929e-02 1.29418913e-04 9.99934331e-01 -8.22670219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517628 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:-7.10, Z:-0.82 [[ 9.75025748e-01 2.21811876e-01 1.11482409e-02 6.78973834e+01] [-2.21796012e-01 9.75089472e-01 -2.65540026e-03 -7.10228070e+00] [-1.14595317e-02 1.16448250e-04 9.99934331e-01 -8.19587805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577628 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:67.96, Y:-7.12, Z:-0.82 [[ 9.74690445e-01 2.23280693e-01 1.11475927e-02 6.79571753e+01] [-2.23264894e-01 9.74754185e-01 -2.65811889e-03 -7.11635766e+00] [-1.14596693e-02 1.01976988e-04 9.99934331e-01 -8.20653483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637628 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:68.02, Y:-7.13, Z:-0.82 [[ 9.73956171e-01 2.26462191e-01 1.11469053e-02 6.80179448e+01] [-2.26446566e-01 9.74019954e-01 -2.66099815e-03 -7.13134367e+00] [-1.14599237e-02 6.75171283e-05 9.99934331e-01 -8.23478582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697628 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:68.08, Y:-7.14, Z:-0.83 [[ 9.72973870e-01 2.30646074e-01 1.11461768e-02 6.80781565e+01] [-2.30630689e-01 9.73037712e-01 -2.66404645e-03 -7.14490191e+00] [-1.14601022e-02 2.13971557e-05 9.99934331e-01 -8.25773613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757628 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:68.14, Y:-7.16, Z:-0.83 [[ 9.72246485e-01 2.33693280e-01 1.11455301e-02 6.81382582e+01] [-2.33678064e-01 9.72310368e-01 -2.66674900e-03 -7.15767885e+00] [-1.14601158e-02 -1.17285617e-05 9.99934331e-01 -8.28813162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.817628 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:68.20, Y:-7.17, Z:-0.83 [[ 9.72038765e-01 2.34555815e-01 1.11449377e-02 6.81989468e+01] [-2.34540627e-01 9.72102654e-01 -2.66922260e-03 -7.17029627e+00] [-1.14601052e-02 -1.93528418e-05 9.99934331e-01 -8.32214012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877628 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:68.26, Y:-7.18, Z:-0.83 [[ 9.73173780e-01 2.29801216e-01 1.11443022e-02 6.82599616e+01] [-2.29785686e-01 9.73237587e-01 -2.67187340e-03 -7.18458178e+00] [-1.14600535e-02 3.93960216e-05 9.99934331e-01 -8.33859335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937628 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:68.32, Y:-7.20, Z:-0.83 [[ 9.74640343e-01 2.23499493e-01 1.11435854e-02 6.83205813e+01] [-2.23483516e-01 9.74704039e-01 -2.67485933e-03 -7.19798598e+00] [-1.14595274e-02 1.16618154e-04 9.99934331e-01 -8.31147362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997628 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:-7.21, Z:-0.83 [[ 9.76154413e-01 2.16791134e-01 1.11429657e-02 6.83814632e+01] [-2.16774690e-01 9.76217990e-01 -2.67743840e-03 -7.21429237e+00] [-1.14584085e-02 1.98080361e-04 9.99934331e-01 -8.29051887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057628 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:-7.23, Z:-0.83 [[ 9.78549008e-01 2.05712638e-01 1.11422648e-02 6.84403213e+01] [-2.05695442e-01 9.78612385e-01 -2.68035228e-03 -7.22974412e+00] [-1.14553407e-02 3.30942981e-04 9.99934331e-01 -8.27113951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117628 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:-7.24, Z:-0.83 [[ 9.79724708e-01 2.00038381e-01 1.11419310e-02 6.85015082e+01] [-2.00020802e-01 9.79787981e-01 -2.68173894e-03 -7.24400142e+00] [-1.14531808e-02 3.98747920e-04 9.99934331e-01 -8.27100861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177628 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:-7.26, Z:-0.83 [[ 9.79621926e-01 2.00541161e-01 1.11411675e-02 6.85635184e+01] [-2.00523578e-01 9.79685197e-01 -2.68490737e-03 -7.25670206e+00] [-1.14532713e-02 3.96127366e-04 9.99934331e-01 -8.29468657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237628 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:68.62, Y:-7.27, Z:-0.83 [[ 9.79135396e-01 2.02903345e-01 1.11404111e-02 6.86244586e+01] [-2.02885879e-01 9.79198700e-01 -2.68804231e-03 -7.27051189e+00] [-1.14540888e-02 3.71725287e-04 9.99934331e-01 -8.30256343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297628 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:68.69, Y:-7.28, Z:-0.83 [[ 9.78026860e-01 2.08181100e-01 1.11396497e-02 6.86854485e+01] [-2.08163940e-01 9.78090247e-01 -2.69119398e-03 -7.28198153e+00] [-1.14558384e-02 3.13186636e-04 9.99934331e-01 -8.29858767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:68.75, Y:-7.29, Z:-0.83 [[ 9.76859178e-01 2.13593234e-01 1.11389456e-02 6.87478617e+01] [-2.13576392e-01 9.76922651e-01 -2.69410497e-03 -7.29318838e+00] [-1.14573309e-02 2.52745361e-04 9.99934331e-01 -8.29024571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417628 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:68.81, Y:-7.31, Z:-0.83 [[ 9.75679103e-01 2.18920600e-01 1.11381851e-02 6.88093062e+01] [-2.18904069e-01 9.75742657e-01 -2.69724541e-03 -7.30609986e+00] [-1.14584849e-02 1.93451937e-04 9.99934331e-01 -8.29983357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:68.87, Y:-7.32, Z:-0.83 [[ 9.75051341e-01 2.21699887e-01 1.11374347e-02 6.88708283e+01] [-2.21683501e-01 9.75114933e-01 -2.70034056e-03 -7.31951194e+00] [-1.14589441e-02 1.63985174e-04 9.99934331e-01 -8.31338315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.93, Y:-7.33, Z:-0.84 [[ 9.75643717e-01 2.19078324e-01 1.11366569e-02 6.89331426e+01] [-2.19061731e-01 9.75707256e-01 -2.70354447e-03 -7.32838645e+00] [-1.14584049e-02 1.98080843e-04 9.99934331e-01 -8.35602635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:-7.35, Z:-0.83 [[ 9.74809846e-01 2.22759414e-01 1.11358393e-02 6.89921305e+01] [-2.22743023e-01 9.74873437e-01 -2.70690776e-03 -7.34991297e+00] [-1.14590231e-02 1.58289820e-04 9.99934331e-01 -8.30692486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:-7.36, Z:-0.83 [[ 9.74524176e-01 2.24005892e-01 1.11350892e-02 6.90534572e+01] [-2.23989547e-01 9.74587779e-01 -2.70999005e-03 -7.36346235e+00] [-1.14591756e-02 1.46807239e-04 9.99934331e-01 -8.32920720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:69.11, Y:-7.38, Z:-0.83 [[ 9.73916716e-01 2.26632427e-01 1.11343093e-02 6.91132831e+01] [-2.26616217e-01 9.73980353e-01 -2.71319050e-03 -7.37744124e+00] [-1.14594954e-02 1.19206527e-04 9.99934331e-01 -8.34918836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77762799999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:69.17, Y:-7.39, Z:-0.83 [[ 9.73528740e-01 2.28293310e-01 1.11335897e-02 6.91742400e+01] [-2.28277175e-01 9.73592396e-01 -2.71614004e-03 -7.39309658e+00] [-1.14596549e-02 1.02695987e-04 9.99934331e-01 -8.34040934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:-7.41, Z:-0.83 [[ 9.73438304e-01 2.28678659e-01 1.11328225e-02 6.92345893e+01] [-2.28662513e-01 9.73501957e-01 -2.71928129e-03 -7.40876590e+00] [-1.14596660e-02 1.01393408e-04 9.99934331e-01 -8.34689934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:69.30, Y:-7.42, Z:-0.84 [[ 9.73116302e-01 2.30045081e-01 1.11321139e-02 6.92957999e+01] [-2.30028991e-01 9.73179969e-01 -2.72217893e-03 -7.42450698e+00] [-1.14597741e-02 8.82877668e-05 9.99934331e-01 -8.36868398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.957628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:69.36, Y:-7.44, Z:-0.84 [[ 9.72446399e-01 2.32860674e-01 1.11313436e-02 6.93561415e+01] [-2.32844733e-01 9.72510104e-01 -2.72532513e-03 -7.44133472e+00] [-1.14599652e-02 5.83578846e-05 9.99934331e-01 -8.42279966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.42, Y:-7.46, Z:-0.84 [[ 9.70926489e-01 2.39118906e-01 1.11311049e-02 6.94166364e+01] [-2.39103364e-01 9.70990293e-01 -2.72629961e-03 -7.45694313e+00] [-1.14601046e-02 -1.44481125e-05 9.99934331e-01 -8.42202468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:69.48, Y:-7.47, Z:-0.84 [[ 9.69322477e-01 2.45540321e-01 1.11304397e-02 6.94771897e+01] [-2.45525171e-01 9.69386374e-01 -2.72901286e-03 -7.47444490e+00] [-1.14597792e-02 -8.75095905e-05 9.99934331e-01 -8.44389260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.54, Y:-7.49, Z:-0.84 [[ 9.68757396e-01 2.47760446e-01 1.11296741e-02 6.95369124e+01] [-2.47745407e-01 9.68821319e-01 -2.73213144e-03 -7.49195964e+00] [-1.14595797e-02 -1.10553094e-04 9.99934331e-01 -8.41199805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.60, Y:-7.51, Z:-0.84 [[ 9.69640079e-01 2.44283160e-01 1.11290030e-02 6.95959348e+01] [-2.44267860e-01 9.69703941e-01 -2.73486251e-03 -7.51180861e+00] [-1.14599189e-02 -6.66254359e-05 9.99934331e-01 -8.38915219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.66, Y:-7.53, Z:-0.84 [[ 9.70587315e-01 2.40492045e-01 1.11283254e-02 6.96556927e+01] [-2.40476464e-01 9.70651109e-01 -2.73761676e-03 -7.52976761e+00] [-1.14600965e-02 -1.90042436e-05 9.99934331e-01 -8.38586241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.72, Y:-7.55, Z:-0.84 [[ 9.71571322e-01 2.36485386e-01 1.11278471e-02 6.97158375e+01] [-2.36469519e-01 9.71635045e-01 -2.73955970e-03 -7.54691307e+00] [-1.14600720e-02 3.02809847e-05 9.99934331e-01 -8.38507235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:-7.56, Z:-0.84 [[ 9.72106085e-01 2.34277501e-01 1.11270742e-02 6.97778394e+01] [-2.34261454e-01 9.72169763e-01 -2.74269510e-03 -7.55817480e+00] [-1.14599569e-02 5.95460050e-05 9.99934331e-01 -8.40890509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:-7.57, Z:-0.84 [[ 9.73785382e-01 2.27196467e-01 1.11262980e-02 6.98396726e+01] [-2.27179921e-01 9.73848933e-01 -2.74584065e-03 -7.56958457e+00] [-1.14591787e-02 1.46187996e-04 9.99934331e-01 -8.44027815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:-7.58, Z:-0.84 [[ 9.74493292e-01 2.24140685e-01 1.11255168e-02 6.99005952e+01] [-2.24123904e-01 9.74556781e-01 -2.74900227e-03 -7.58450528e+00] [-1.14586110e-02 1.85390024e-04 9.99934331e-01 -8.44945717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:-7.60, Z:-0.85 [[ 9.77220086e-01 2.11936650e-01 1.11247441e-02 6.99616251e+01] [-2.11919040e-01 9.77283350e-01 -2.75212553e-03 -7.60021255e+00] [-1.14553034e-02 3.31887250e-04 9.99934331e-01 -8.48579717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:-7.61, Z:-0.85 [[ 9.78760456e-01 2.04705220e-01 1.11239468e-02 7.00221605e+01] [-2.04687107e-01 9.78823578e-01 -2.75534428e-03 -7.61449768e+00] [-1.14524148e-02 4.19893530e-04 9.99934331e-01 -8.48235505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:-7.63, Z:-0.85 [[ 9.80030372e-01 1.98536504e-01 1.11232111e-02 7.00827139e+01] [-1.98517959e-01 9.80093369e-01 -2.75831108e-03 -7.62549394e+00] [-1.14494109e-02 4.95071465e-04 9.99934331e-01 -8.50171004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.14, Y:-7.64, Z:-0.85 [[ 9.80111663e-01 1.98134841e-01 1.11225908e-02 7.01433351e+01] [-1.98116242e-01 9.80174644e-01 -2.76081007e-03 -7.63828915e+00] [-1.14490942e-02 5.02336245e-04 9.99934331e-01 -8.47508900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:-7.65, Z:-0.84 [[ 9.79192295e-01 2.02629597e-01 1.11219013e-02 7.02062798e+01] [-2.02611256e-01 9.79255350e-01 -2.76358521e-03 -7.64796235e+00] [-1.14511655e-02 4.52658959e-04 9.99934331e-01 -8.44348931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:-7.65, Z:-0.85 [[ 9.77820674e-01 2.09148393e-01 1.11211138e-02 7.02685596e+01] [-2.09130436e-01 9.77883841e-01 -2.76675066e-03 -7.65255407e+00] [-1.14538189e-02 3.79622627e-04 9.99934331e-01 -8.45808156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.33, Y:-7.66, Z:-0.85 [[ 9.77000546e-01 2.12946624e-01 1.11206277e-02 7.03303228e+01] [-2.12928891e-01 9.77063776e-01 -2.76870276e-03 -7.66304294e+00] [-1.14551484e-02 3.37121169e-04 9.99934331e-01 -8.46449200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.39, Y:-7.67, Z:-0.85 [[ 9.76334346e-01 2.15980540e-01 1.11198619e-02 7.03930315e+01] [-2.15962969e-01 9.76397621e-01 -2.77177522e-03 -7.67324659e+00] [-1.14560562e-02 3.04700965e-04 9.99934331e-01 -8.47268031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.46, Y:-7.68, Z:-0.85 [[ 9.75977281e-01 2.17588403e-01 1.11190800e-02 7.04551993e+01] [-2.17570900e-01 9.76040575e-01 -2.77490837e-03 -7.68234617e+00] [-1.14564611e-02 2.89059287e-04 9.99934331e-01 -8.50867158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:-7.69, Z:-0.86 [[ 9.75866683e-01 2.18083930e-01 1.11182862e-02 7.05175009e+01] [-2.18066423e-01 9.75929976e-01 -2.77808518e-03 -7.69347096e+00] [-1.14565245e-02 2.86515867e-04 9.99934331e-01 -8.55216428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:-7.71, Z:-0.86 [[ 9.76637921e-01 2.14603756e-01 1.11175022e-02 7.05771854e+01] [-2.14585988e-01 9.76701141e-01 -2.78121901e-03 -7.70679896e+00] [-1.14553371e-02 3.30583752e-04 9.99934331e-01 -8.56400100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:-7.72, Z:-0.86 [[ 9.77706296e-01 2.09682652e-01 1.11168762e-02 7.06384279e+01] [-2.09664537e-01 9.77769417e-01 -2.78371898e-03 -7.72254212e+00] [-1.14534391e-02 3.90844873e-04 9.99934331e-01 -8.55546269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:-7.73, Z:-0.86 [[ 9.79840700e-01 1.99470885e-01 1.11161123e-02 7.06995353e+01] [-1.99452078e-01 9.79903619e-01 -2.78676629e-03 -7.73305275e+00] [-1.14485974e-02 5.13455344e-04 9.99934331e-01 -8.55175223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:-7.75, Z:-0.85 [[ 9.80144206e-01 1.97974198e-01 1.11154069e-02 7.07594638e+01] [-1.97955263e-01 9.80207086e-01 -2.78957696e-03 -7.74991875e+00] [-1.14476649e-02 5.33834401e-04 9.99934331e-01 -8.54812914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:-7.76, Z:-0.86 [[ 9.80750685e-01 1.94947560e-01 1.11149465e-02 7.08210089e+01] [-1.94928411e-01 9.80813500e-01 -2.79141007e-03 -7.76255827e+00] [-1.14458682e-02 5.71058478e-04 9.99934331e-01 -8.55347304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:-7.77, Z:-0.86 [[ 9.79988114e-01 1.98745490e-01 1.11142210e-02 7.08820839e+01] [-1.98726552e-01 9.80050993e-01 -2.79429583e-03 -7.77247259e+00] [-1.14478570e-02 5.29685883e-04 9.99934331e-01 -8.56586033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:-7.78, Z:-0.86 [[ 9.77966541e-01 2.08465663e-01 1.11135509e-02 7.09441655e+01] [-2.08447320e-01 9.78029597e-01 -2.79695857e-03 -7.77979317e+00] [-1.14524515e-02 4.18742013e-04 9.99934331e-01 -8.61768157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.01, Y:-7.79, Z:-0.86 [[ 9.76444524e-01 2.15482235e-01 1.11129361e-02 7.10056898e+01] [-2.15464317e-01 9.76507702e-01 -2.79939918e-03 -7.79176251e+00] [-1.14550884e-02 3.39016817e-04 9.99934331e-01 -8.64317587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.07, Y:-7.80, Z:-0.86 [[ 9.74045799e-01 2.26078066e-01 1.11126060e-02 7.10677425e+01] [-2.26060821e-01 9.74109163e-01 -2.80070888e-03 -7.80108738e+00] [-1.14580701e-02 2.15893891e-04 9.99934331e-01 -8.62529342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.13, Y:-7.82, Z:-0.86 [[ 9.72476118e-01 2.32737468e-01 1.11117844e-02 7.11281479e+01] [-2.32720619e-01 9.72539589e-01 -2.80396459e-03 -7.81502513e+00] [-1.14592379e-02 1.40847252e-04 9.99934331e-01 -8.63728316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:-7.83, Z:-0.86 [[ 9.70438843e-01 2.41091263e-01 1.11110235e-02 7.11883019e+01] [-2.41074926e-01 9.70502448e-01 -2.80697653e-03 -7.83148186e+00] [-1.14600130e-02 4.54098784e-05 9.99934331e-01 -8.62116914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:-7.85, Z:-0.86 [[ 9.68891051e-01 2.47238129e-01 1.11103284e-02 7.12477587e+01] [-2.47222164e-01 9.68954750e-01 -2.80972509e-03 -7.84828502e+00] [-1.14600767e-02 -2.44019377e-05 9.99934331e-01 -8.61236618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.31, Y:-7.86, Z:-0.87 [[ 9.69546910e-01 2.44653561e-01 1.11096379e-02 7.13090185e+01] [-2.44637395e-01 9.69610559e-01 -2.81245261e-03 -7.86034931e+00] [-1.14600988e-02 8.97186070e-06 9.99934331e-01 -8.67300412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.36, Y:-7.89, Z:-0.86 [[ 9.68010644e-01 2.50663090e-01 1.11088928e-02 7.13648033e+01] [-2.50647286e-01 9.68074383e-01 -2.81539264e-03 -7.88975051e+00] [-1.14599496e-02 -5.90837860e-05 9.99934331e-01 -8.60987340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.42, Y:-7.91, Z:-0.86 [[ 9.68297234e-01 2.49553749e-01 1.11082140e-02 7.14246541e+01] [-2.49537841e-01 9.68360947e-01 -2.81806858e-03 -7.90988651e+00] [-1.14600202e-02 -4.31917162e-05 9.99934331e-01 -8.63231304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.48, Y:-7.93, Z:-0.87 [[ 9.69238090e-01 2.45874258e-01 1.11074169e-02 7.14828609e+01] [-2.45858072e-01 9.69301733e-01 -2.82120689e-03 -7.93445413e+00] [-1.14601006e-02 3.57308593e-06 9.99934331e-01 -8.67257572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:-7.96, Z:-0.87 [[ 9.71024073e-01 2.38723462e-01 1.11067167e-02 7.15398143e+01] [-2.38706776e-01 9.71087586e-01 -2.82396076e-03 -7.96292299e+00] [-1.14597404e-02 9.08853521e-05 9.99934331e-01 -8.68914606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.60, Y:-7.99, Z:-0.87 [[ 9.72567801e-01 2.32354319e-01 1.11060227e-02 7.15989353e+01] [-2.32337185e-01 9.72631195e-01 -2.82668740e-03 -7.98669428e+00] [-1.14588571e-02 1.68803094e-04 9.99934331e-01 -8.68855105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.66, Y:-8.01, Z:-0.87 [[ 9.74932430e-01 2.22223830e-01 1.11052179e-02 7.16560314e+01] [-2.22206002e-01 9.74995633e-01 -2.82984560e-03 -8.01314062e+00] [-1.14563981e-02 2.91262177e-04 9.99934331e-01 -8.69083716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.71, Y:-8.04, Z:-0.87 [[ 9.76588424e-01 2.14829560e-01 1.11044759e-02 7.17134930e+01] [-2.14811221e-01 9.76651481e-01 -2.83275436e-03 -8.03958799e+00] [-1.14537622e-02 3.81069089e-04 9.99934331e-01 -8.67716541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.77, Y:-8.06, Z:-0.87 [[ 9.77246270e-01 2.11816984e-01 1.11037847e-02 7.17710395e+01] [-2.11798419e-01 9.77309260e-01 -2.83546111e-03 -8.06026139e+00] [-1.14524304e-02 4.19179744e-04 9.99934331e-01 -8.67228705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.83, Y:-8.08, Z:-0.87 [[ 9.77284242e-01 2.11641748e-01 1.11031530e-02 7.18314957e+01] [-2.11623144e-01 9.77347221e-01 -2.83793238e-03 -8.07781862e+00] [-1.14522607e-02 4.23782436e-04 9.99934331e-01 -8.66614331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.89, Y:-8.09, Z:-0.87 [[ 9.76096192e-01 2.17055201e-01 1.11023793e-02 7.18912989e+01] [-2.17036913e-01 9.76159263e-01 -2.84095614e-03 -8.09391482e+00] [-1.14543347e-02 3.63420339e-04 9.99934331e-01 -8.67242434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.95, Y:-8.11, Z:-0.87 [[ 9.75469526e-01 2.19854399e-01 1.11016627e-02 7.19518624e+01] [-2.19836259e-01 9.75532640e-01 -2.84375378e-03 -8.10928566e+00] [-1.14552461e-02 3.33447163e-04 9.99934331e-01 -8.65312204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:-8.12, Z:-0.87 [[ 9.74721735e-01 2.23146389e-01 1.11008573e-02 7.20129292e+01] [-2.23128427e-01 9.74784899e-01 -2.84689427e-03 -8.12260106e+00] [-1.14562222e-02 2.98012898e-04 9.99934331e-01 -8.66815415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.07, Y:-8.14, Z:-0.87 [[ 9.74541996e-01 2.23930095e-01 1.11000597e-02 7.20748854e+01] [-2.23912149e-01 9.74605165e-01 -2.85000039e-03 -8.13542373e+00] [-1.14563764e-02 2.92006841e-04 9.99934331e-01 -8.68878680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.14, Y:-8.15, Z:-0.87 [[ 9.74604832e-01 2.23656496e-01 1.10992630e-02 7.21362325e+01] [-2.23638497e-01 9.74667986e-01 -2.85309988e-03 -8.15078950e+00] [-1.14562107e-02 2.98422435e-04 9.99934331e-01 -8.66967307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:-8.16, Z:-0.87 [[ 9.74794710e-01 2.22827507e-01 1.10984701e-02 7.21975460e+01] [-2.22809419e-01 9.74857838e-01 -2.85618086e-03 -8.16362107e+00] [-1.14558663e-02 3.11346320e-04 9.99934331e-01 -8.66958584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:-8.18, Z:-0.87 [[ 9.75164696e-01 2.21202751e-01 1.10976596e-02 7.22581039e+01] [-2.21184521e-01 9.75227785e-01 -2.85932681e-03 -8.17769970e+00] [-1.14552369e-02 3.33684043e-04 9.99934331e-01 -8.69715734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.32, Y:-8.19, Z:-0.87 [[ 9.76067054e-01 2.17186472e-01 1.10969106e-02 7.23193825e+01] [-2.17167950e-01 9.76130057e-01 -2.86223069e-03 -8.19256507e+00] [-1.14536657e-02 3.83835754e-04 9.99934331e-01 -8.70676070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:-8.21, Z:-0.87 [[ 9.76504611e-01 2.15210645e-01 1.10960935e-02 7.23800294e+01] [-2.15191960e-01 9.76567565e-01 -2.86539489e-03 -8.20676724e+00] [-1.14527485e-02 4.10281222e-04 9.99934331e-01 -8.72058517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-8.22, Z:-0.87 [[ 9.75825288e-01 2.18270247e-01 1.10953390e-02 7.24408765e+01] [-2.18251726e-01 9.75888291e-01 -2.86831324e-03 -8.22086396e+00] [-1.14538789e-02 3.77395699e-04 9.99934331e-01 -8.74367115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:-8.24, Z:-0.88 [[ 9.75084894e-01 2.21554420e-01 1.10945554e-02 7.25018751e+01] [-2.21536077e-01 9.75147949e-01 -2.87134096e-03 -8.23719305e+00] [-1.14549913e-02 3.41956912e-04 9.99934331e-01 -8.75105641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:-8.25, Z:-0.88 [[ 9.73713934e-01 2.27504071e-01 1.10937813e-02 7.25616142e+01] [-2.27486080e-01 9.73777090e-01 -2.87432883e-03 -8.25387646e+00] [-1.14567916e-02 2.75093221e-04 9.99934331e-01 -8.77007065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.62, Y:-8.27, Z:-0.88 [[ 9.72493368e-01 2.32666269e-01 1.10930692e-02 7.26206115e+01] [-2.32648581e-01 9.72556610e-01 -2.87707436e-03 -8.27076741e+00] [-1.14580360e-02 2.17148919e-04 9.99934331e-01 -8.78609124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.68, Y:-8.29, Z:-0.88 [[ 9.70234089e-01 2.41914802e-01 1.10924181e-02 7.26803069e+01] [-2.41897688e-01 9.70297489e-01 -2.87958261e-03 -8.28982741e+00] [-1.14595591e-02 1.10638918e-04 9.99934331e-01 -8.77500440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.74, Y:-8.31, Z:-0.88 [[ 9.67931168e-01 2.50970577e-01 1.10915969e-02 7.27394445e+01] [-2.50954021e-01 9.67994716e-01 -2.88274201e-03 -8.30834640e+00] [-1.14600907e-02 6.81499584e-06 9.99934331e-01 -8.79399862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.80, Y:-8.33, Z:-0.88 [[ 9.66807661e-01 2.55264450e-01 1.10908367e-02 7.27992636e+01] [-2.55248142e-01 9.66871273e-01 -2.88566377e-03 -8.32719186e+00] [-1.14600188e-02 -4.10336295e-05 9.99934331e-01 -8.80687042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.86, Y:-8.35, Z:-0.88 [[ 9.66538274e-01 2.56282611e-01 1.10900336e-02 7.28572339e+01] [-2.56266335e-01 9.66601894e-01 -2.88874725e-03 -8.34892723e+00] [-1.14599831e-02 -4.99174761e-05 9.99934331e-01 -8.78599850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.92, Y:-8.36, Z:-0.88 [[ 9.66310182e-01 2.57141320e-01 1.10893619e-02 7.29174345e+01] [-2.57125071e-01 9.66373809e-01 -2.89132327e-03 -8.36425589e+00] [-1.14599476e-02 -5.74378555e-05 9.99934331e-01 -8.78053290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.98, Y:-8.38, Z:-0.88 [[ 9.66862498e-01 2.55056762e-01 1.10885974e-02 7.29780634e+01] [-2.55040342e-01 9.66926081e-01 -2.89425230e-03 -8.37908303e+00] [-1.14600527e-02 -2.96956717e-05 9.99934331e-01 -8.78395938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.04, Y:-8.39, Z:-0.88 [[ 9.68071107e-01 2.50430414e-01 1.10877727e-02 7.30378855e+01] [-2.50413654e-01 9.68134602e-01 -2.89740826e-03 -8.39350720e+00] [-1.14600556e-02 2.83675431e-05 9.99934331e-01 -8.81891234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.10, Y:-8.41, Z:-0.88 [[ 9.70416799e-01 2.41181080e-01 1.10870105e-02 7.30986227e+01] [-2.41163682e-01 9.70480122e-01 -2.90032187e-03 -8.40889039e+00] [-1.14592261e-02 1.40736794e-04 9.99934331e-01 -8.82589690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.16, Y:-8.42, Z:-0.88 [[ 9.72884849e-01 2.31024169e-01 1.10861888e-02 7.31598121e+01] [-2.31006074e-01 9.72947976e-01 -2.90345954e-03 -8.42384816e+00] [-1.14570542e-02 2.63754858e-04 9.99934331e-01 -8.81611252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.22, Y:-8.44, Z:-0.88 [[ 9.74895628e-01 2.22386214e-01 1.10853675e-02 7.32211181e+01] [-2.22367524e-01 9.74958582e-01 -2.90659162e-03 -8.43923509e+00] [-1.14541601e-02 3.68597729e-04 9.99934331e-01 -8.81820553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.28, Y:-8.45, Z:-0.88 [[ 9.77596662e-01 2.10194906e-01 1.10845524e-02 7.32818852e+01] [-2.10175396e-01 9.77659366e-01 -2.90969680e-03 -8.45315109e+00] [-1.14485199e-02 5.14809680e-04 9.99934331e-01 -8.82118610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.34, Y:-8.47, Z:-0.88 [[ 9.78754961e-01 2.04733669e-01 1.10838011e-02 7.33427453e+01] [-2.04713777e-01 9.78817545e-01 -2.91255599e-03 -8.46789948e+00] [-1.14453172e-02 5.81671839e-04 9.99934331e-01 -8.81449223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.40, Y:-8.48, Z:-0.88 [[ 9.79644209e-01 2.00435503e-01 1.10829725e-02 7.34033097e+01] [-2.00415301e-01 9.79706694e-01 -2.91570552e-03 -8.47991771e+00] [-1.14424733e-02 6.35156763e-04 9.99934331e-01 -8.82093270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.47, Y:-8.49, Z:-0.88 [[ 9.79436433e-01 2.01448403e-01 1.10822094e-02 7.34655391e+01] [-2.01428233e-01 9.79498927e-01 -2.91860304e-03 -8.48937743e+00] [-1.14429602e-02 6.26316289e-04 9.99934331e-01 -8.84520126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.53, Y:-8.50, Z:-0.89 [[ 9.79018281e-01 2.03470903e-01 1.10814077e-02 7.35263241e+01] [-2.03450828e-01 9.79080806e-01 -2.92164376e-03 -8.50066983e+00] [-1.14440631e-02 6.05821067e-04 9.99934331e-01 -8.85303187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.59, Y:-8.51, Z:-0.89 [[ 9.78465386e-01 2.06113336e-01 1.10806670e-02 7.35893582e+01] [-2.06093398e-01 9.78527955e-01 -2.92445052e-03 -8.50922422e+00] [-1.14455106e-02 5.77821296e-04 9.99934331e-01 -8.85878047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.65, Y:-8.52, Z:-0.88 [[ 9.77584064e-01 2.10253739e-01 1.10798755e-02 7.36518400e+01] [-2.10234032e-01 9.77646706e-01 -2.92744620e-03 -8.51872106e+00] [-1.14477103e-02 5.32457856e-04 9.99934331e-01 -8.83225524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.71, Y:-8.53, Z:-0.88 [[ 9.77150634e-01 2.12259022e-01 1.10790445e-02 7.37130238e+01] [-2.12239408e-01 9.77213306e-01 -2.93058765e-03 -8.53233199e+00] [-1.14486334e-02 5.12215734e-04 9.99934331e-01 -8.83110744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.77, Y:-8.54, Z:-0.88 [[ 9.76049517e-01 2.17266227e-01 1.10782158e-02 7.37740054e+01] [-2.17246899e-01 9.76112277e-01 -2.93371693e-03 -8.54306828e+00] [-1.14509801e-02 4.56744965e-04 9.99934331e-01 -8.82962326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:-8.55, Z:-0.89 [[ 9.73279782e-01 2.29355087e-01 1.10774490e-02 7.38374222e+01] [-2.29336506e-01 9.73342768e-01 -2.93660936e-03 -8.54975783e+00] [-1.14556812e-02 3.17679056e-04 9.99934331e-01 -8.86213386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:-8.56, Z:-0.89 [[ 9.69612676e-01 2.44394286e-01 1.10766364e-02 7.39002522e+01] [-2.44376648e-01 9.69675932e-01 -2.93967136e-03 -8.55823367e+00] [-1.14591866e-02 1.43471343e-04 9.99934331e-01 -8.89898549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:-8.57, Z:-0.89 [[ 9.66085326e-01 2.57985403e-01 1.10758111e-02 7.39626519e+01] [-2.57968619e-01 9.66148814e-01 -2.94277748e-03 -8.56890500e+00] [-1.14600754e-02 -1.42375605e-05 9.99934331e-01 -8.92565640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:-8.58, Z:-0.89 [[ 9.63422144e-01 2.67759438e-01 1.10749781e-02 7.40236098e+01] [-2.67743262e-01 9.63485790e-01 -2.94590930e-03 -8.58337395e+00] [-1.14593790e-02 -1.27096499e-04 9.99934331e-01 -8.94354699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.08, Y:-8.60, Z:-0.89 [[ 9.62662841e-01 2.70476648e-01 1.10741359e-02 7.40834771e+01] [-2.70460616e-01 9.62726523e-01 -2.94907155e-03 -8.60095199e+00] [-1.14590194e-02 -1.56156031e-04 9.99934331e-01 -8.94438017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.14, Y:-8.62, Z:-0.90 [[ 9.63635578e-01 2.66990362e-01 1.10733558e-02 7.41432486e+01] [-2.66974065e-01 9.63699193e-01 -2.95199792e-03 -8.62257381e+00] [-1.14595391e-02 -1.11648591e-04 9.99934331e-01 -8.95247743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.20, Y:-8.64, Z:-0.90 [[ 9.65158548e-01 2.61431400e-01 1.10725165e-02 7.42026359e+01] [-2.61414701e-01 9.65222058e-01 -2.95514256e-03 -8.64397831e+00] [-1.14600043e-02 -4.23375021e-05 9.99934331e-01 -8.95515280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.26, Y:-8.67, Z:-0.90 [[ 9.67331308e-01 2.53273684e-01 1.10716863e-02 7.42604014e+01] [-2.53256414e-01 9.67394665e-01 -2.95824981e-03 -8.66982664e+00] [-1.14599371e-02 5.76320867e-05 9.99934331e-01 -8.95277574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:-8.69, Z:-0.90 [[ 9.68816943e-01 2.47530135e-01 1.10708428e-02 7.43181992e+01] [-2.47512453e-01 9.68880186e-01 -2.96140331e-03 -8.69415610e+00] [-1.14593568e-02 1.28886245e-04 9.99934331e-01 -8.98493799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:-8.72, Z:-0.90 [[ 9.69510086e-01 2.44801239e-01 1.10701077e-02 7.43755038e+01] [-2.44783348e-01 9.69573270e-01 -2.96414872e-03 -8.71647128e+00] [-1.14589078e-02 1.63994069e-04 9.99934331e-01 -9.01194119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.43, Y:-8.74, Z:-0.90 [[ 9.71045186e-01 2.38639299e-01 1.10694377e-02 7.44333708e+01] [-2.38620978e-01 9.71108247e-01 -2.96664845e-03 -8.74159250e+00] [-1.14575812e-02 2.39349643e-04 9.99934331e-01 -9.02744572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.49, Y:-8.77, Z:-0.90 [[ 9.73353589e-01 2.29042081e-01 1.10687090e-02 7.44903771e+01] [-2.29023108e-01 9.73416457e-01 -2.96936472e-03 -8.76729549e+00] [-1.14545730e-02 3.55251659e-04 9.99934331e-01 -9.01700460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:-8.79, Z:-0.90 [[ 9.75035650e-01 2.21772364e-01 1.10679866e-02 7.45496869e+01] [-2.21752892e-01 9.75098365e-01 -2.97205499e-03 -8.78990560e+00] [-1.14514953e-02 4.43501533e-04 9.99934331e-01 -9.00553891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:-8.81, Z:-0.90 [[ 9.76244011e-01 2.16391194e-01 1.10671342e-02 7.46084303e+01] [-2.16371340e-01 9.76306607e-01 -2.97522584e-03 -8.80897008e+00] [-1.14487289e-02 5.09935747e-04 9.99934331e-01 -8.97264689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:-8.82, Z:-0.90 [[ 9.76288269e-01 2.16191468e-01 1.10663846e-02 7.46680513e+01] [-2.16171570e-01 9.76350851e-01 -2.97801116e-03 -8.82372708e+00] [-1.14484947e-02 5.15159614e-04 9.99934331e-01 -8.98022624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:-8.84, Z:-0.90 [[ 9.76039503e-01 2.17311851e-01 1.10655937e-02 7.47287726e+01] [-2.17291992e-01 9.76102097e-01 -2.98094734e-03 -8.83811542e+00] [-1.14489444e-02 5.05057473e-04 9.99934331e-01 -9.00660747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.79, Y:-8.85, Z:-0.90 [[ 9.75534843e-01 2.19566257e-01 1.10647416e-02 7.47894379e+01] [-2.19546506e-01 9.75597472e-01 -2.98410691e-03 -8.84995834e+00] [-1.14499431e-02 4.81874917e-04 9.99934331e-01 -9.03727479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.85, Y:-8.86, Z:-0.91 [[ 9.74629602e-01 2.23550280e-01 1.10639548e-02 7.48528063e+01] [-2.23530753e-01 9.74692300e-01 -2.98702090e-03 -8.85808085e+00] [-1.14517010e-02 4.38104839e-04 9.99934331e-01 -9.05064340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.91, Y:-8.87, Z:-0.90 [[ 9.73814929e-01 2.27072876e-01 1.10631210e-02 7.49142913e+01] [-2.27053541e-01 9.73877687e-01 -2.99010618e-03 -8.87239480e+00] [-1.14530987e-02 3.99889255e-04 9.99934331e-01 -9.04665291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.98, Y:-8.88, Z:-0.90 [[ 9.72576506e-01 2.32319963e-01 1.10622865e-02 7.49750592e+01] [-2.32300931e-01 9.72639357e-01 -2.99319013e-03 -8.88357116e+00] [-1.14549931e-02 3.41326944e-04 9.99934331e-01 -9.03623779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.04, Y:-8.89, Z:-0.91 [[ 9.70813159e-01 2.39581817e-01 1.10617711e-02 7.50374006e+01] [-2.39563234e-01 9.70876144e-01 -2.99509361e-03 -8.89332278e+00] [-1.14571797e-02 2.57682626e-04 9.99934331e-01 -9.05655618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.10, Y:-8.91, Z:-0.91 [[ 9.68951025e-01 2.47005196e-01 1.10609542e-02 7.50982661e+01] [-2.46987061e-01 9.69014140e-01 -2.99810752e-03 -8.90744623e+00] [-1.14587692e-02 1.73106782e-04 9.99934331e-01 -9.06849985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.16, Y:-8.92, Z:-0.91 [[ 9.65420524e-01 2.60462827e-01 1.10601449e-02 7.51599354e+01] [-2.60445537e-01 9.65483876e-01 -3.00109016e-03 -8.92036891e+00] [-1.14600640e-02 1.67486617e-05 9.99934331e-01 -9.08987529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.22, Y:-8.93, Z:-0.91 [[ 9.62115761e-01 2.72416874e-01 1.10593461e-02 7.52211065e+01] [-2.72400338e-01 9.62179314e-01 -3.00403094e-03 -8.93364291e+00] [-1.14594227e-02 -1.22344093e-04 9.99934331e-01 -9.14377917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.28, Y:-8.95, Z:-0.92 [[ 9.60791134e-01 2.77052531e-01 1.10585534e-02 7.52815123e+01] [-2.77036268e-01 9.60854757e-01 -3.00694628e-03 -8.95107116e+00] [-1.14587457e-02 -1.74573029e-04 9.99934331e-01 -9.16021087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:-8.97, Z:-0.92 [[ 9.60343464e-01 2.78600356e-01 1.10576814e-02 7.53399759e+01] [-2.78584158e-01 9.60407104e-01 -3.01014947e-03 -8.97235258e+00] [-1.14585045e-02 -1.89717496e-04 9.99934331e-01 -9.17213442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:-8.99, Z:-0.92 [[ 9.60956598e-01 2.76478139e-01 1.10569229e-02 7.53978688e+01] [-2.76461769e-01 9.61020194e-01 -3.01293305e-03 -8.99379417e+00] [-1.14589363e-02 -1.61518566e-04 9.99934331e-01 -9.20304484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:-9.02, Z:-0.92 [[ 9.61886003e-01 2.73227142e-01 1.10565003e-02 7.54550826e+01] [-2.73210539e-01 9.61949538e-01 -3.01448312e-03 -9.01844296e+00] [-1.14594339e-02 -1.21163270e-04 9.99934331e-01 -9.22295899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.51, Y:-9.04, Z:-0.92 [[ 9.62281690e-01 2.71830314e-01 1.10557641e-02 7.55135968e+01] [-2.71813588e-01 9.62345193e-01 -3.01718057e-03 -9.04180734e+00] [-1.14596226e-02 -1.01729302e-04 9.99934331e-01 -9.22313984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.57, Y:-9.07, Z:-0.92 [[ 9.62632482e-01 2.70585465e-01 1.10549158e-02 7.55708800e+01] [-2.70568621e-01 9.62695954e-01 -3.02028575e-03 -9.06602170e+00] [-1.14597681e-02 -8.36881450e-05 9.99934331e-01 -9.23119517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.63, Y:-9.09, Z:-0.92 [[ 9.62438086e-01 2.71276126e-01 1.10541597e-02 7.56289809e+01] [-2.71259296e-01 9.62501561e-01 -3.02305027e-03 -9.08728991e+00] [-1.14597274e-02 -8.90448714e-05 9.99934331e-01 -9.23869142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.69, Y:-9.11, Z:-0.92 [[ 9.61313243e-01 2.75235654e-01 1.10536273e-02 7.56890910e+01] [-2.75219063e-01 9.61376782e-01 -3.02499582e-03 -9.10549753e+00] [-1.14592873e-02 -1.34200402e-04 9.99934331e-01 -9.22355515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:-9.12, Z:-0.92 [[ 9.60332070e-01 2.78639825e-01 1.10527656e-02 7.57501784e+01] [-2.78623423e-01 9.60395657e-01 -3.02814104e-03 -9.11736953e+00] [-1.14587888e-02 -1.71538435e-04 9.99934331e-01 -9.23616998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:-9.13, Z:-0.92 [[ 9.60527782e-01 2.77964445e-01 1.10520228e-02 7.58114365e+01] [-2.77947967e-01 9.60591350e-01 -3.03084958e-03 -9.13001887e+00] [-1.14589459e-02 -1.60672048e-04 9.99934331e-01 -9.24665209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:-9.15, Z:-0.92 [[ 9.61297368e-01 2.75291196e-01 1.10511706e-02 7.58700782e+01] [-2.75274505e-01 9.61360880e-01 -3.03395371e-03 -9.14654077e+00] [-1.14593839e-02 -1.25573812e-04 9.99934331e-01 -9.22258478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:-9.17, Z:-0.92 [[ 9.61794717e-01 2.73548539e-01 1.10507720e-02 7.59302406e+01] [-2.73531717e-01 9.61858194e-01 -3.03540512e-03 -9.16517848e+00] [-1.14596062e-02 -1.03300025e-04 9.99934331e-01 -9.20723406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.99, Y:-9.18, Z:-0.92 [[ 9.62243099e-01 2.71967126e-01 1.10498990e-02 7.59902259e+01] [-2.71950163e-01 9.62306540e-01 -3.03857971e-03 -9.18202964e+00] [-1.14597838e-02 -8.11694731e-05 9.99934331e-01 -9.24062548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:-9.20, Z:-0.93 [[ 9.62641882e-01 2.70552258e-01 1.10491464e-02 7.60490886e+01] [-2.70535170e-01 9.62705288e-01 -3.04131375e-03 -9.19977065e+00] [-1.14599060e-02 -6.14867245e-05 9.99934331e-01 -9.25941304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.11, Y:-9.22, Z:-0.92 [[ 9.63150238e-01 2.68736954e-01 1.10484589e-02 7.61090742e+01] [-2.68719718e-01 9.63213605e-01 -3.04380925e-03 -9.21700728e+00] [-1.14600100e-02 -3.72931593e-05 9.99934331e-01 -9.23106573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.17, Y:-9.23, Z:-0.92 [[ 9.63169088e-01 2.68669418e-01 1.10477035e-02 7.61691744e+01] [-2.68652146e-01 9.63232445e-01 -3.04654849e-03 -9.23304860e+00] [-1.14600209e-02 -3.36479315e-05 9.99934331e-01 -9.22072492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.23, Y:-9.25, Z:-0.92 [[ 9.63076565e-01 2.69000920e-01 1.10469465e-02 7.62301682e+01] [-2.68983639e-01 9.63139919e-01 -3.04929126e-03 -9.24947263e+00] [-1.14600173e-02 -3.47469076e-05 9.99934331e-01 -9.21282285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:-9.27, Z:-0.92 [[ 9.63730266e-01 2.66649507e-01 1.10460748e-02 7.62896844e+01] [-2.66632035e-01 9.63793567e-01 -3.05244549e-03 -9.26582232e+00] [-1.14600690e-02 -3.50330455e-06 9.99934331e-01 -9.24600782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:-9.28, Z:-0.93 [[ 9.64628950e-01 2.63379934e-01 1.10453222e-02 7.63489415e+01] [-2.63362216e-01 9.64692184e-01 -3.05516635e-03 -9.28288305e+00] [-1.14600055e-02 3.81813654e-05 9.99934331e-01 -9.25749105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.41, Y:-9.30, Z:-0.93 [[ 9.64892276e-01 2.62413631e-01 1.10445630e-02 7.64093956e+01] [-2.62395818e-01 9.64955483e-01 -3.05790852e-03 -9.29856406e+00] [-1.14599485e-02 5.25051610e-05 9.99934331e-01 -9.27172067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:-9.31, Z:-0.93 [[ 9.65043111e-01 2.61858414e-01 1.10438139e-02 7.64682349e+01] [-2.61840534e-01 9.65106298e-01 -3.06061144e-03 -9.31345139e+00] [-1.14599012e-02 6.19038429e-05 9.99934331e-01 -9.29656366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:-9.33, Z:-0.93 [[ 9.65025221e-01 2.61924351e-01 1.10433922e-02 7.65286290e+01] [-2.61906458e-01 9.65088405e-01 -3.06213229e-03 -9.32895756e+00] [-1.14598968e-02 6.26991393e-05 9.99934331e-01 -9.29651954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.59, Y:-9.34, Z:-0.93 [[ 9.64809516e-01 2.62717830e-01 1.10426296e-02 7.65878131e+01] [-2.62699957e-01 9.64872706e-01 -3.06488017e-03 -9.34406170e+00] [-1.14599305e-02 5.61272386e-05 9.99934331e-01 -9.31765056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:-9.36, Z:-0.93 [[ 9.63897068e-01 2.66046072e-01 1.10422071e-02 7.66479679e+01] [-2.66028400e-01 9.63960314e-01 -3.06640153e-03 -9.35955934e+00] [-1.14600535e-02 1.81547577e-05 9.99934331e-01 -9.30564020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:-9.37, Z:-0.93 [[ 9.63285792e-01 2.68250944e-01 1.10414569e-02 7.67085100e+01] [-2.68233386e-01 9.63349070e-01 -3.06910027e-03 -9.37498077e+00] [-1.14600663e-02 -5.26669928e-06 9.99934331e-01 -9.29451883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:-9.39, Z:-0.93 [[ 9.63131734e-01 2.68803584e-01 1.10406939e-02 7.67684752e+01] [-2.68786032e-01 9.63195013e-01 -3.07184271e-03 -9.39314922e+00] [-1.14600636e-02 -8.99510479e-06 9.99934331e-01 -9.30022817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:-9.41, Z:-0.93 [[ 9.63222061e-01 2.68479765e-01 1.10398239e-02 7.68289081e+01] [-2.68462155e-01 9.63285324e-01 -3.07496613e-03 -9.41171922e+00] [-1.14600666e-02 -1.89970413e-06 9.99934331e-01 -9.30448501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.89, Y:-9.43, Z:-0.93 [[ 9.64166882e-01 2.65066719e-01 1.10389464e-02 7.68876759e+01] [-2.65048849e-01 9.64230072e-01 -3.07811326e-03 -9.42671437e+00] [-1.14599895e-02 4.19548239e-05 9.99934331e-01 -9.34410978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:-9.45, Z:-0.93 [[ 9.64198493e-01 2.64951723e-01 1.10385687e-02 7.69446749e+01] [-2.64933830e-01 9.64261677e-01 -3.07946721e-03 -9.44957565e+00] [-1.14599789e-02 4.47273720e-05 9.99934331e-01 -9.31664691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:-9.47, Z:-0.93 [[ 9.63777652e-01 2.66478523e-01 1.10378942e-02 7.70047671e+01] [-2.66460702e-01 9.63840856e-01 -3.08188288e-03 -9.46679544e+00] [-1.14600290e-02 2.90848115e-05 9.99934331e-01 -9.30885114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:-9.48, Z:-0.93 [[ 9.63097645e-01 2.68925839e-01 1.10371751e-02 7.70641239e+01] [-2.68908149e-01 9.63160887e-01 -3.08445589e-03 -9.48358033e+00] [-1.14600653e-02 2.64586746e-06 9.99934331e-01 -9.31411123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:-9.50, Z:-0.93 [[ 9.61897237e-01 2.73188403e-01 1.10364292e-02 7.71241023e+01] [-2.73170964e-01 9.61960547e-01 -3.08712257e-03 -9.49976166e+00] [-1.14599756e-02 -4.53373299e-05 9.99934331e-01 -9.33829534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:-9.52, Z:-0.94 [[ 9.60976225e-01 2.76410761e-01 1.10356646e-02 7.71839981e+01] [-2.76393502e-01 9.61039585e-01 -3.08985328e-03 -9.51522684e+00] [-1.14597793e-02 -8.09104644e-05 9.99934331e-01 -9.35859265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:-9.53, Z:-0.94 [[ 9.60623520e-01 2.77634081e-01 1.10349066e-02 7.72446653e+01] [-2.77616872e-01 9.60686894e-01 -3.09255823e-03 -9.53063499e+00] [-1.14596897e-02 -9.26920728e-05 9.99934331e-01 -9.36639076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.30, Y:-9.55, Z:-0.94 [[ 9.60763374e-01 2.77149759e-01 1.10340314e-02 7.73048857e+01] [-2.77132483e-01 9.60826729e-01 -3.09567769e-03 -9.54752328e+00] [-1.14597586e-02 -8.36747672e-05 9.99934331e-01 -9.35435896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.36, Y:-9.57, Z:-0.93 [[ 9.61805092e-01 2.73512762e-01 1.10332704e-02 7.73641361e+01] [-2.73495215e-01 9.61868373e-01 -3.09838769e-03 -9.56549658e+00] [-1.14600024e-02 -3.75015919e-05 9.99934331e-01 -9.33547935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.42, Y:-9.59, Z:-0.93 [[ 9.63656548e-01 2.66916356e-01 1.10324990e-02 7.74226343e+01] [-2.66898344e-01 9.63719698e-01 -3.10113181e-03 -9.58589354e+00] [-1.14599794e-02 4.38702603e-05 9.99934331e-01 -9.30496290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.48, Y:-9.60, Z:-0.93 [[ 9.64442736e-01 2.64061564e-01 1.10317303e-02 7.74820256e+01] [-2.64043334e-01 9.64505824e-01 -3.10386401e-03 -9.60397928e+00] [-1.14597793e-02 8.06442573e-05 9.99934331e-01 -9.29481853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.54, Y:-9.62, Z:-0.93 [[ 9.64495178e-01 2.63869987e-01 1.10309676e-02 7.75419812e+01] [-2.63851713e-01 9.64558253e-01 -3.10657222e-03 -9.62115695e+00] [-1.14597420e-02 8.57342301e-05 9.99934331e-01 -9.29878068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.60, Y:-9.64, Z:-0.93 [[ 9.63630197e-01 2.67011571e-01 1.10301623e-02 7.76011339e+01] [-2.66993470e-01 9.63693322e-01 -3.10942884e-03 -9.63770204e+00] [-1.14599472e-02 5.13582125e-05 9.99934331e-01 -9.30974929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:-9.65, Z:-0.94 [[ 9.62998721e-01 2.69280183e-01 1.10293692e-02 7.76613269e+01] [-2.69262199e-01 9.63061879e-01 -3.11223947e-03 -9.65225675e+00] [-1.14600294e-02 2.72904191e-05 9.99934331e-01 -9.35254182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:-9.67, Z:-0.94 [[ 9.62667410e-01 2.70462246e-01 1.10286296e-02 7.77216205e+01] [-2.70444309e-01 9.62730582e-01 -3.11485823e-03 -9.66759621e+00] [-1.14600505e-02 1.59424015e-05 9.99934331e-01 -9.36699107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.78, Y:-9.68, Z:-0.94 [[ 9.63336187e-01 2.68070472e-01 1.10278585e-02 7.77820098e+01] [-2.68052347e-01 9.63399305e-01 -3.11758578e-03 -9.68333766e+00] [-1.14599639e-02 4.72398458e-05 9.99934331e-01 -9.36125234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.84, Y:-9.70, Z:-0.94 [[ 9.64505545e-01 2.63832255e-01 1.10270239e-02 7.78421945e+01] [-2.63813819e-01 9.64568573e-01 -3.12053484e-03 -9.69952300e+00] [-1.14596185e-02 1.00691862e-04 9.99934331e-01 -9.36048943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.90, Y:-9.72, Z:-0.94 [[ 9.65382424e-01 2.60605443e-01 1.10262511e-02 7.79025691e+01] [-2.60586766e-01 9.65445381e-01 -3.12326322e-03 -9.71704144e+00] [-1.14591826e-02 1.41848304e-04 9.99934331e-01 -9.35875388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.537628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:77.96, Y:-9.73, Z:-0.94 [[ 9.66426714e-01 2.56705761e-01 1.10253769e-02 7.79625193e+01] [-2.56686794e-01 9.66489584e-01 -3.12634618e-03 -9.73443519e+00] [-1.14584630e-02 1.91315815e-04 9.99934331e-01 -9.37223625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.02, Y:-9.75, Z:-0.94 [[ 9.66456647e-01 2.56593082e-01 1.10244983e-02 7.80229000e+01] [-2.56574072e-01 9.66519504e-01 -3.12944130e-03 -9.75060401e+00] [-1.14583856e-02 1.95868916e-04 9.99934331e-01 -9.35786929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:78.08, Y:-9.77, Z:-0.94 [[ 9.66258893e-01 2.57336807e-01 1.10236194e-02 7.80828146e+01] [-2.57317811e-01 9.66321754e-01 -3.13253430e-03 -9.76672629e+00] [-1.14584796e-02 1.90265516e-04 9.99934331e-01 -9.39419545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.14, Y:-9.78, Z:-0.94 [[ 9.65562210e-01 2.59938678e-01 1.10228452e-02 7.81427762e+01] [-2.59919820e-01 9.65625112e-01 -3.13525633e-03 -9.78450216e+00] [-1.14589105e-02 1.62229102e-04 9.99934331e-01 -9.36745978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.20, Y:-9.80, Z:-0.94 [[ 9.64917859e-01 2.62320494e-01 1.10219672e-02 7.82035607e+01] [-2.62301756e-01 9.64980798e-01 -3.13833985e-03 -9.80046727e+00] [-1.14592375e-02 1.37158828e-04 9.99934331e-01 -9.36400030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.26, Y:-9.82, Z:-0.94 [[ 9.64315683e-01 2.64525612e-01 1.10210750e-02 7.82632622e+01] [-2.64506982e-01 9.64378654e-01 -3.14146988e-03 -9.81630554e+00] [-1.14594887e-02 1.14217390e-04 9.99934331e-01 -9.38481257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.32, Y:-9.83, Z:-0.94 [[ 9.63296343e-01 2.68213924e-01 1.10203013e-02 7.83240142e+01] [-2.68195505e-01 9.63359375e-01 -3.14418153e-03 -9.83390246e+00] [-1.14598239e-02 7.31832883e-05 9.99934331e-01 -9.37627371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.38, Y:-9.85, Z:-0.94 [[ 9.61897433e-01 2.73188398e-01 1.10194192e-02 7.83832143e+01] [-2.73170269e-01 9.61960550e-01 -3.14726997e-03 -9.85095777e+00] [-1.14600442e-02 1.71731890e-05 9.99934331e-01 -9.37965979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.44, Y:-9.87, Z:-0.94 [[ 9.60003555e-01 2.79770914e-01 1.10186036e-02 7.84437149e+01] [-2.79753185e-01 9.60066785e-01 -3.15012294e-03 -9.86724764e+00] [-1.14599081e-02 -5.83602338e-05 9.99934331e-01 -9.38052544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.50, Y:-9.88, Z:-0.94 [[ 9.58671165e-01 2.84303020e-01 1.10177418e-02 7.85038342e+01] [-2.84285556e-01 9.58734468e-01 -3.15313434e-03 -9.88445492e+00] [-1.14595344e-02 -1.09365867e-04 9.99934331e-01 -9.38672956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.56, Y:-9.90, Z:-0.94 [[ 9.58030624e-01 2.86454101e-01 1.10168814e-02 7.85646713e+01] [-2.86436744e-01 9.58093957e-01 -3.15613768e-03 -9.90127102e+00] [-1.14592961e-02 -1.31963085e-04 9.99934331e-01 -9.40161851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.62, Y:-9.92, Z:-0.94 [[ 9.58323899e-01 2.85471458e-01 1.10159882e-02 7.86248042e+01] [-2.85454000e-01 9.58387204e-01 -3.15925204e-03 -9.91848133e+00] [-1.14594584e-02 -1.16971169e-04 9.99934331e-01 -9.41727668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.68, Y:-9.94, Z:-0.94 [[ 9.59601627e-01 2.81146556e-01 1.10150886e-02 7.86845593e+01] [-2.81128777e-01 9.59664843e-01 -3.16238540e-03 -9.93828307e+00] [-1.14598871e-02 -6.20282237e-05 9.99934331e-01 -9.41269003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.74, Y:-9.96, Z:-0.94 [[ 9.60922123e-01 2.76599640e-01 1.10141927e-02 7.87446691e+01] [-2.76581526e-01 9.60985244e-01 -3.16550269e-03 -9.95701208e+00] [-1.14600536e-02 -4.52066748e-06 9.99934331e-01 -9.41836666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.80, Y:-9.98, Z:-0.94 [[ 9.63587835e-01 2.67165104e-01 1.10132746e-02 7.88031196e+01] [-2.67146335e-01 9.63650764e-01 -3.16869383e-03 -9.97710865e+00] [-1.14595149e-02 1.11158879e-04 9.99934331e-01 -9.43182443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.86, Y:-10.00, Z:-0.95 [[ 9.66646569e-01 2.55877192e-01 1.10124279e-02 7.88629626e+01] [-2.55857655e-01 9.66709264e-01 -3.17163368e-03 -9.99717574e+00] [-1.14573648e-02 2.48234842e-04 9.99934331e-01 -9.45463206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.92, Y:-10.02, Z:-0.95 [[ 9.68769760e-01 2.47717377e-01 1.10115342e-02 7.89227511e+01] [-2.47697277e-01 9.68832277e-01 -3.17473347e-03 -1.00160419e+01] [-1.14547664e-02 3.48058746e-04 9.99934331e-01 -9.45626827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.98, Y:-10.03, Z:-0.94 [[ 9.71715374e-01 2.35898277e-01 1.10106501e-02 7.89824556e+01] [-2.35877383e-01 9.71777630e-01 -3.17779670e-03 -1.00342161e+01] [-1.14495402e-02 4.90750587e-04 9.99934331e-01 -9.43505509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:-10.05, Z:-0.94 [[ 9.73102756e-01 2.30108257e-01 1.10098672e-02 7.90431872e+01] [-2.30086961e-01 9.73164875e-01 -3.18050699e-03 -1.00506726e+01] [-1.14462769e-02 5.61733239e-04 9.99934331e-01 -9.43541505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.10, Y:-10.06, Z:-0.94 [[ 9.73793008e-01 2.27169498e-01 1.10089775e-02 7.91044520e+01] [-2.27147981e-01 9.73855051e-01 -3.18358352e-03 -1.00642675e+01] [-1.14443614e-02 5.99484368e-04 9.99934331e-01 -9.43381987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.17, Y:-10.07, Z:-0.94 [[ 9.72719249e-01 2.31724157e-01 1.10080980e-02 7.91666159e+01] [-2.31702896e-01 9.72781380e-01 -3.18662183e-03 -1.00743615e+01] [-1.14468900e-02 5.49080224e-04 9.99934331e-01 -9.43811567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.23, Y:-10.08, Z:-0.94 [[ 9.70493369e-01 2.40876444e-01 1.10072307e-02 7.92297576e+01] [-2.40855735e-01 9.70555687e-01 -3.18961475e-03 -1.00820499e+01] [-1.14514334e-02 4.44345324e-04 9.99934331e-01 -9.43932750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.29, Y:-10.09, Z:-0.94 [[ 9.68335907e-01 2.49408162e-01 1.10063743e-02 7.92928080e+01] [-2.49387969e-01 9.68398394e-01 -3.19256699e-03 -1.00904596e+01] [-1.14548075e-02 3.46619909e-04 9.99934331e-01 -9.44864880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.36, Y:-10.10, Z:-0.95 [[ 9.66903203e-01 2.54906015e-01 1.10054709e-02 7.93557859e+01] [-2.54886142e-01 9.66965792e-01 -3.19567838e-03 -1.01003127e+01] [-1.14565115e-02 2.84769648e-04 9.99934331e-01 -9.47817201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:-10.11, Z:-0.95 [[ 9.66114791e-01 2.57878094e-01 1.10045352e-02 7.94160801e+01] [-2.57858377e-01 9.66177429e-01 -3.19889734e-03 -1.01146691e+01] [-1.14572591e-02 2.52890454e-04 9.99934331e-01 -9.49606320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.48, Y:-10.12, Z:-0.95 [[ 9.64456287e-01 2.64013238e-01 1.10036708e-02 7.94788840e+01] [-2.63993885e-01 9.64519039e-01 -3.20186787e-03 -1.01246193e+01] [-1.14585855e-02 1.83159796e-04 9.99934331e-01 -9.48428524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.54, Y:-10.13, Z:-0.95 [[ 9.63764435e-01 2.66527773e-01 1.10027523e-02 7.95403630e+01] [-2.66508548e-01 9.63827226e-01 -3.20502106e-03 -1.01332787e+01] [-1.14589794e-02 1.56557773e-04 9.99934331e-01 -9.48654699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.60, Y:-10.14, Z:-0.95 [[ 9.63992072e-01 2.65703298e-01 1.10019025e-02 7.96016212e+01] [-2.65683986e-01 9.64054837e-01 -3.20793551e-03 -1.01445684e+01] [-1.14587964e-02 1.69395090e-04 9.99934331e-01 -9.49183665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.66, Y:-10.16, Z:-0.95 [[ 9.64253454e-01 2.64753191e-01 1.10010666e-02 7.96631111e+01] [-2.64733785e-01 9.64316190e-01 -3.21079971e-03 -1.01593228e+01] [-1.14585761e-02 1.83670725e-04 9.99934331e-01 -9.49244902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.72, Y:-10.17, Z:-0.95 [[ 9.64568021e-01 2.63604871e-01 1.10001818e-02 7.97241175e+01] [-2.63585355e-01 9.64630723e-01 -3.21382786e-03 -1.01713031e+01] [-1.14582940e-02 2.00468737e-04 9.99934331e-01 -9.49675515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.79, Y:-10.19, Z:-0.95 [[ 9.64093903e-01 2.65333676e-01 1.09993643e-02 7.97858808e+01] [-2.65314241e-01 9.64156630e-01 -3.21662358e-03 -1.01854200e+01] [-1.14585885e-02 1.82839201e-04 9.99934332e-01 -9.50931875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.397628 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.85, Y:-10.20, Z:-0.96 [[ 9.65178747e-01 2.61359941e-01 1.09985064e-02 7.98487921e+01] [-2.61340214e-01 9.65241383e-01 -3.21955426e-03 -1.01951808e+01] [-1.14576760e-02 2.33093339e-04 9.99934332e-01 -9.60281068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.91, Y:-10.21, Z:-0.96 [[ 9.64021990e-01 2.65594912e-01 1.09975341e-02 7.99072636e+01] [-2.65575422e-01 9.64084700e-01 -3.22287187e-03 -1.02143788e+01] [-1.14585328e-02 1.86244581e-04 9.99934332e-01 -9.56413428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.97, Y:-10.23, Z:-0.96 [[ 9.64175792e-01 2.65036062e-01 1.09967484e-02 7.99665016e+01] [-2.65016506e-01 9.64238481e-01 -3.22555071e-03 -1.02318330e+01] [-1.14583752e-02 1.95678080e-04 9.99934332e-01 -9.57085861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.03, Y:-10.25, Z:-0.96 [[ 9.63863347e-01 2.66170129e-01 1.09959523e-02 8.00253578e+01] [-2.66150615e-01 9.63926049e-01 -3.22826244e-03 -1.02492499e+01] [-1.14585519e-02 1.85024383e-04 9.99934332e-01 -9.55853895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.09, Y:-10.27, Z:-0.95 [[ 9.62841176e-01 2.69844341e-01 1.09955239e-02 8.00852068e+01] [-2.69825050e-01 9.62903947e-01 -3.22972073e-03 -1.02658052e+01] [-1.14591552e-02 1.42840308e-04 9.99934332e-01 -9.53689020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.15, Y:-10.28, Z:-0.95 [[ 9.62169143e-01 2.72230887e-01 1.09947164e-02 8.01452712e+01] [-2.72211721e-01 9.62231952e-01 -3.23246726e-03 -1.02830784e+01] [-1.14594449e-02 1.17289570e-04 9.99934332e-01 -9.53287488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:-10.30, Z:-0.95 [[ 9.62238695e-01 2.71984976e-01 1.09939077e-02 8.02055884e+01] [-2.71965762e-01 9.62301490e-01 -3.23521547e-03 -1.03016153e+01] [-1.14593838e-02 1.23083019e-04 9.99934332e-01 -9.53082574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.26, Y:-10.32, Z:-0.95 [[ 9.63082709e-01 2.68981133e-01 1.09929704e-02 8.02645695e+01] [-2.68961687e-01 9.63145432e-01 -3.23839712e-03 -1.03221917e+01] [-1.14588970e-02 1.62156408e-04 9.99934332e-01 -9.53015053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:-10.34, Z:-0.95 [[ 9.63816424e-01 2.66340148e-01 1.09921040e-02 8.03244064e+01] [-2.66320496e-01 9.63879083e-01 -3.24133555e-03 -1.03428528e+01] [-1.14583569e-02 1.96629855e-04 9.99934332e-01 -9.54382590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:-10.36, Z:-0.96 [[ 9.64959389e-01 2.62168975e-01 1.09911875e-02 8.03824608e+01] [-2.62149018e-01 9.65021951e-01 -3.24444025e-03 -1.03647137e+01] [-1.14573288e-02 2.49424076e-04 9.99934332e-01 -9.58140234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.44, Y:-10.39, Z:-0.96 [[ 9.65608649e-01 2.59767488e-01 1.09903906e-02 8.04406184e+01] [-2.59747344e-01 9.65671152e-01 -3.24713729e-03 -1.03866535e+01] [-1.14566039e-02 2.80739076e-04 9.99934332e-01 -9.62500773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:80.50, Y:-10.41, Z:-0.97 [[ 9.66534886e-01 2.56299711e-01 1.09896023e-02 8.04999807e+01] [-2.56279313e-01 9.66597306e-01 -3.24980320e-03 -1.04056536e+01] [-1.14554436e-02 3.24640445e-04 9.99934332e-01 -9.72024671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:-10.43, Z:-0.96 [[ 9.65221845e-01 2.61201144e-01 1.09887695e-02 8.05572085e+01] [-2.61181030e-01 9.65284357e-01 -3.25261664e-03 -1.04291006e+01] [-1.14568745e-02 2.69438491e-04 9.99934332e-01 -9.63794416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-10.45, Z:-0.96 [[ 9.63592558e-01 2.67149109e-01 1.09880094e-02 8.06154490e+01] [-2.67129352e-01 9.63655184e-01 -3.25518259e-03 -1.04514425e+01] [-1.14582713e-02 2.01449889e-04 9.99934332e-01 -9.62588019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.67, Y:-10.47, Z:-0.96 [[ 9.60762113e-01 2.77155991e-01 1.09871869e-02 8.06736768e+01] [-2.77136855e-01 9.60824932e-01 -3.25795623e-03 -1.04739463e+01] [-1.14597252e-02 8.51664876e-05 9.99934332e-01 -9.62880826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:-10.50, Z:-0.96 [[ 9.57320545e-01 2.88819439e-01 1.09866054e-02 8.07319133e+01] [-2.88801046e-01 9.57383585e-01 -3.25991624e-03 -1.04972615e+01] [-1.14599228e-02 -5.21583300e-05 9.99934332e-01 -9.63694899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:-10.52, Z:-0.96 [[ 9.55549524e-01 2.94625903e-01 1.09856789e-02 8.07908068e+01] [-2.94607857e-01 9.55612664e-01 -3.26303544e-03 -1.05207563e+01] [-1.14594286e-02 -1.18475346e-04 9.99934332e-01 -9.63447718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:-10.55, Z:-0.96 [[ 9.54455737e-01 2.98150265e-01 1.09847523e-02 8.08485015e+01] [-2.98132416e-01 9.54518934e-01 -3.26615170e-03 -1.05476844e+01] [-1.14589580e-02 -1.57513516e-04 9.99934332e-01 -9.64855383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:-10.58, Z:-0.97 [[ 9.54841573e-01 2.96912321e-01 1.09838338e-02 8.09059538e+01] [-2.96894355e-01 9.54904736e-01 -3.26923767e-03 -1.05751471e+01] [-1.14591918e-02 -1.39434209e-04 9.99934332e-01 -9.67522308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.96, Y:-10.60, Z:-0.97 [[ 9.55587683e-01 2.94502217e-01 1.09829029e-02 8.09637822e+01] [-2.94484055e-01 9.55650790e-01 -3.27236187e-03 -1.06009087e+01] [-1.14595377e-02 -1.07261095e-04 9.99934332e-01 -9.68811157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.02, Y:-10.63, Z:-0.97 [[ 9.57087948e-01 2.89589462e-01 1.09819670e-02 8.10210663e+01] [-2.89570941e-01 9.57150950e-01 -3.27549973e-03 -1.06302810e+01] [-1.14599504e-02 -4.51172126e-05 9.99934332e-01 -9.71433146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:-10.66, Z:-0.97 [[ 9.57979043e-01 2.86627930e-01 1.09810366e-02 8.10784743e+01] [-2.86609178e-01 9.58041977e-01 -3.27861606e-03 -1.06582474e+01] [-1.14600369e-02 -6.42039785e-06 9.99934332e-01 -9.72695502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.14, Y:-10.68, Z:-0.97 [[ 9.55853537e-01 2.93638302e-01 1.09801100e-02 8.11386304e+01] [-2.93619976e-01 9.55916597e-01 -3.28171610e-03 -1.06767623e+01] [-1.14597070e-02 -8.71397053e-05 9.99934332e-01 -9.72486707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.20, Y:-10.69, Z:-0.98 [[ 9.55384471e-01 2.95160923e-01 1.09791791e-02 8.11981051e+01] [-2.95142662e-01 9.55447549e-01 -3.28482769e-03 -1.06934797e+01] [-1.14595825e-02 -1.02150786e-04 9.99934332e-01 -9.75026881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:-10.71, Z:-0.98 [[ 9.57005016e-01 2.89863544e-01 1.09783756e-02 8.12579949e+01] [-2.89844903e-01 9.57067983e-01 -3.28751101e-03 -1.07122724e+01] [-1.14599814e-02 -3.58616810e-05 9.99934332e-01 -9.76507949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:-10.73, Z:-0.97 [[ 9.58600542e-01 2.84542610e-01 1.09774570e-02 8.13173223e+01] [-2.84523585e-01 9.58663393e-01 -3.29057539e-03 -1.07296576e+01] [-1.14599951e-02 3.10019323e-05 9.99934332e-01 -9.74244207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:-10.75, Z:-0.97 [[ 9.60792488e-01 2.77051095e-01 1.09766313e-02 8.13771700e+01] [-2.77031548e-01 9.60855179e-01 -3.29332741e-03 -1.07482398e+01] [-1.14593730e-02 1.23331071e-04 9.99934332e-01 -9.72115848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.44, Y:-10.76, Z:-0.97 [[ 9.63830973e-01 2.66288170e-01 1.09756881e-02 8.14387380e+01] [-2.66267887e-01 9.63893431e-01 -3.29646776e-03 -1.07631287e+01] [-1.14572040e-02 2.54764441e-04 9.99934332e-01 -9.73808908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.50, Y:-10.78, Z:-0.97 [[ 9.66239218e-01 2.57412758e-01 1.09747603e-02 8.14991872e+01] [-2.57391866e-01 9.66301475e-01 -3.29955380e-03 -1.07802243e+01] [-1.14542743e-02 3.63344252e-04 9.99934332e-01 -9.74715550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:-10.80, Z:-0.98 [[ 9.66375705e-01 2.56899927e-01 1.09738401e-02 8.15598376e+01] [-2.56878968e-01 9.66437938e-01 -3.30261161e-03 -1.07952792e+01] [-1.14539760e-02 3.72614912e-04 9.99934332e-01 -9.75675188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:-10.81, Z:-0.98 [[ 9.64728660e-01 2.63017506e-01 1.09729048e-02 8.16212364e+01] [-2.62996906e-01 9.64791013e-01 -3.30571609e-03 -1.08101065e+01] [-1.14560211e-02 3.03279046e-04 9.99934332e-01 -9.76400779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.257628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:-10.82, Z:-0.98 [[ 9.60015864e-01 2.79730507e-01 1.09719696e-02 8.16834387e+01] [-2.79710958e-01 9.60078555e-01 -3.30881725e-03 -1.08225582e+01] [-1.14595298e-02 1.07536933e-04 9.99934332e-01 -9.80007056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.74, Y:-10.84, Z:-0.98 [[ 9.55619819e-01 2.94398366e-01 1.09710341e-02 8.17441750e+01] [-2.94379744e-01 9.55682791e-01 -3.31191625e-03 -1.08388548e+01] [-1.14598512e-02 -6.47173822e-05 9.99934332e-01 -9.78816295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.80, Y:-10.86, Z:-0.98 [[ 9.53441317e-01 3.01379018e-01 1.09701066e-02 8.18043597e+01] [-3.01360821e-01 9.53504413e-01 -3.31498526e-03 -1.08559546e+01] [-1.14591121e-02 -1.45316436e-04 9.99934332e-01 -9.79461192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.86, Y:-10.88, Z:-0.98 [[ 9.53235530e-01 3.02029308e-01 1.09691568e-02 8.18637474e+01] [-3.02011118e-01 9.53298628e-01 -3.31812531e-03 -1.08758877e+01] [-1.14590532e-02 -1.49852365e-04 9.99934332e-01 -9.79296962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:-10.90, Z:-0.98 [[ 9.54448304e-01 2.98174668e-01 1.09682171e-02 8.19224326e+01] [-2.98156188e-01 9.54511318e-01 -3.32122848e-03 -1.08989388e+01] [-1.14595936e-02 -1.00300925e-04 9.99934332e-01 -9.81271358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:-10.92, Z:-0.98 [[ 9.56800623e-01 2.90537928e-01 1.09672585e-02 8.19802543e+01] [-2.90518908e-01 9.56863476e-01 -3.32439118e-03 -1.09225730e+01] [-1.14600308e-02 -5.41640735e-06 9.99934332e-01 -9.80147331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:-10.95, Z:-0.98 [[ 9.59529107e-01 2.81395852e-01 1.09666682e-02 8.20377451e+01] [-2.81376211e-01 9.59591769e-01 -3.32633712e-03 -1.09471546e+01] [-1.14595420e-02 1.05957730e-04 9.99934332e-01 -9.83095079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.10, Y:-10.97, Z:-0.98 [[ 9.60089348e-01 2.79478435e-01 1.09658017e-02 8.20976365e+01] [-2.79458636e-01 9.60151960e-01 -3.32919148e-03 -1.09672945e+01] [-1.14592732e-02 1.31833296e-04 9.99934332e-01 -9.84229963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:-10.98, Z:-0.99 [[ 9.59311696e-01 2.82136210e-01 1.09648721e-02 8.21585875e+01] [-2.82116550e-01 9.59374352e-01 -3.33225010e-03 -1.09843345e+01] [-1.14595655e-02 1.03294597e-04 9.99934332e-01 -9.85960280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:-11.00, Z:-0.99 [[ 9.59882528e-01 2.80188017e-01 1.09639277e-02 8.22177048e+01] [-2.80168195e-01 9.59945133e-01 -3.33535471e-03 -1.10016074e+01] [-1.14592954e-02 1.29804885e-04 9.99934332e-01 -9.88640775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.28, Y:-11.02, Z:-0.99 [[ 9.61086428e-01 2.76030230e-01 1.09631083e-02 8.22776959e+01] [-2.76010106e-01 9.61148937e-01 -3.33804566e-03 -1.10197679e+01] [-1.14585814e-02 1.82221687e-04 9.99934332e-01 -9.89004826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.34, Y:-11.04, Z:-0.99 [[ 9.64240791e-01 2.64800922e-01 1.09621633e-02 8.23379256e+01] [-2.64780035e-01 9.64303049e-01 -3.34114634e-03 -1.10372986e+01] [-1.14555861e-02 3.19107613e-04 9.99934332e-01 -9.87846750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.40, Y:-11.06, Z:-0.99 [[ 9.67202736e-01 2.53769029e-01 1.09612049e-02 8.23985678e+01] [-2.53747397e-01 9.67264738e-01 -3.34428762e-03 -1.10553180e+01] [-1.14510636e-02 4.53226931e-04 9.99934332e-01 -9.86341121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.46, Y:-11.07, Z:-0.99 [[ 9.68757966e-01 2.47765768e-01 1.09602522e-02 8.24594765e+01] [-2.47743716e-01 9.68819821e-01 -3.34740708e-03 -1.10711269e+01] [-1.14478824e-02 5.27493673e-04 9.99934332e-01 -9.85403373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.52, Y:-11.08, Z:-0.99 [[ 9.68316030e-01 2.49487395e-01 1.09593113e-02 8.25211675e+01] [-2.49465418e-01 9.68377911e-01 -3.35048465e-03 -1.10847743e+01] [-1.14486587e-02 5.10358822e-04 9.99934332e-01 -9.86822101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:-11.10, Z:-0.99 [[ 9.66999834e-01 2.54541224e-01 1.09583621e-02 8.25816858e+01] [-2.54519536e-01 9.67061818e-01 -3.35358614e-03 -1.10998429e+01] [-1.14510395e-02 4.53800005e-04 9.99934332e-01 -9.88518638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:-11.11, Z:-0.99 [[ 9.64056014e-01 2.65473042e-01 1.09574848e-02 8.26430849e+01] [-2.65452024e-01 9.64118228e-01 -3.35645039e-03 -1.11125238e+01] [-1.14553579e-02 3.27119668e-04 9.99934332e-01 -9.91696633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:-11.13, Z:-1.00 [[ 9.60905045e-01 2.76661252e-01 1.09565343e-02 8.27043708e+01] [-2.76640924e-01 9.60967488e-01 -3.35955024e-03 -1.11269277e+01] [-1.14583306e-02 1.97183017e-04 9.99934332e-01 -9.95245974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:-11.14, Z:-1.00 [[ 9.58445229e-01 2.85066163e-01 1.09555887e-02 8.27649074e+01] [-2.85046347e-01 9.58507837e-01 -3.36263090e-03 -1.11442083e+01] [-1.14595899e-02 1.00047000e-04 9.99934332e-01 -9.97079968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-11.16, Z:-1.00 [[ 9.57775487e-01 2.87308394e-01 1.09546283e-02 8.28243588e+01] [-2.87288689e-01 9.57838129e-01 -3.36575668e-03 -1.11640349e+01] [-1.14597709e-02 7.64984263e-05 9.99934332e-01 -9.98019582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-11.18, Z:-1.00 [[ 9.58104142e-01 2.86210533e-01 1.09536765e-02 8.28833884e+01] [-2.86190721e-01 9.58166751e-01 -3.36885155e-03 -1.11844400e+01] [-1.14596494e-02 9.28700475e-05 9.99934332e-01 -9.98682360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-11.21, Z:-0.99 [[ 9.59576180e-01 2.81235830e-01 1.09527327e-02 8.29411264e+01] [-2.81215658e-01 9.59638674e-01 -3.37191720e-03 -1.12086794e+01] [-1.14589698e-02 1.55531489e-04 9.99934332e-01 -9.94488959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:-11.23, Z:-0.99 [[ 9.61048126e-01 2.76164003e-01 1.09518603e-02 8.30000680e+01] [-2.76143469e-01 9.61110501e-01 -3.37474850e-03 -1.12316610e+01] [-1.14579320e-02 2.19011034e-04 9.99934332e-01 -9.94074751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:-11.25, Z:-1.00 [[ 9.61741918e-01 2.73738125e-01 1.09509142e-02 8.30596464e+01] [-2.73717399e-01 9.61804230e-01 -3.37781549e-03 -1.12528766e+01] [-1.14572725e-02 2.51130983e-04 9.99934332e-01 -9.99102730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:-11.27, Z:-1.00 [[ 9.61812806e-01 2.73488984e-01 1.09499419e-02 8.31178760e+01] [-2.73468206e-01 9.61875101e-01 -3.38096452e-03 -1.12743460e+01] [-1.14571330e-02 2.57394006e-04 9.99934332e-01 -1.00236709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.757628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:83.18, Y:-11.29, Z:-1.01 [[ 9.61311554e-01 2.75245733e-01 1.09490938e-02 8.31765621e+01] [-2.75225038e-01 9.61373876e-01 -3.38370902e-03 -1.12933008e+01] [-1.14575242e-02 2.39333832e-04 9.99934332e-01 -1.00842091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.24, Y:-11.31, Z:-1.01 [[ 9.60931931e-01 2.76568184e-01 1.09482568e-02 8.32369899e+01] [-2.76547543e-01 9.60994271e-01 -3.38641505e-03 -1.13119031e+01] [-1.14577867e-02 2.26400840e-04 9.99934332e-01 -1.00696344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.30, Y:-11.33, Z:-1.01 [[ 9.60867310e-01 2.76792646e-01 1.09473110e-02 8.32966186e+01] [-2.76771985e-01 9.60929643e-01 -3.38946952e-03 -1.13321738e+01] [-1.14577759e-02 2.26921452e-04 9.99934332e-01 -1.00616981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:-11.35, Z:-1.00 [[ 9.61399327e-01 2.74939105e-01 1.09463722e-02 8.33557648e+01] [-2.74918289e-01 9.61461609e-01 -3.39249878e-03 -1.13504551e+01] [-1.14572472e-02 2.52188119e-04 9.99934332e-01 -1.00358773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.42, Y:-11.37, Z:-1.00 [[ 9.62201554e-01 2.72118293e-01 1.09455493e-02 8.34163366e+01] [-2.72097265e-01 9.62263764e-01 -3.39515167e-03 -1.13659782e+01] [-1.14563884e-02 2.88566184e-04 9.99934332e-01 -1.00264522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:-11.38, Z:-1.00 [[ 9.62782315e-01 2.70056341e-01 1.09447084e-02 8.34767317e+01] [-2.70035149e-01 9.62844470e-01 -3.39786048e-03 -1.13841141e+01] [-1.14556657e-02 3.15944026e-04 9.99934332e-01 -1.00220996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.54, Y:-11.40, Z:-1.00 [[ 9.63680260e-01 2.66834389e-01 1.09437482e-02 8.35377665e+01] [-2.66812954e-01 9.63742331e-01 -3.40095025e-03 -1.14007216e+01] [-1.14544439e-02 3.57494842e-04 9.99934332e-01 -1.00332339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.60, Y:-11.41, Z:-1.01 [[ 9.63077957e-01 2.69000192e-01 1.09427933e-02 8.35991039e+01] [-2.68978862e-01 9.63140065e-01 -3.40401982e-03 -1.14147067e+01] [-1.14551246e-02 3.34956368e-04 9.99934332e-01 -1.00581048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.66, Y:-11.43, Z:-1.01 [[ 9.62198938e-01 2.72127691e-01 1.09418373e-02 8.36599257e+01] [-2.72106527e-01 9.62261103e-01 -3.40708988e-03 -1.14290298e+01] [-1.14560680e-02 3.00952898e-04 9.99934332e-01 -1.01007964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.72, Y:-11.44, Z:-1.01 [[ 9.61537477e-01 2.74455779e-01 1.09409957e-02 8.37198324e+01] [-2.74434735e-01 9.61599683e-01 -3.40979047e-03 -1.14449329e+01] [-1.14566947e-02 2.76052066e-04 9.99934332e-01 -1.01114207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:83.78, Y:-11.46, Z:-1.01 [[ 9.61214971e-01 2.75583178e-01 1.09404016e-02 8.37801743e+01] [-2.75562186e-01 9.61277193e-01 -3.41169560e-03 -1.14638134e+01] [-1.14569644e-02 2.64611901e-04 9.99934332e-01 -1.01390813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.84, Y:-11.48, Z:-1.01 [[ 9.59844501e-01 2.80319214e-01 1.09394323e-02 8.38393390e+01] [-2.80298494e-01 9.59906815e-01 -3.41480089e-03 -1.14831082e+01] [-1.14580699e-02 2.11371472e-04 9.99934332e-01 -1.01039243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:-11.50, Z:-1.01 [[ 9.58010757e-01 2.86523535e-01 1.09385981e-02 8.38980204e+01] [-2.86503188e-01 9.58073194e-01 -3.41747093e-03 -1.15027344e+01] [-1.14591634e-02 1.40030694e-04 9.99934332e-01 -1.01023918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.96, Y:-11.52, Z:-1.01 [[ 9.56174591e-01 2.92592751e-01 1.09377144e-02 8.39569651e+01] [-2.92572767e-01 9.56237145e-01 -3.42029680e-03 -1.15233344e+01] [-1.14598028e-02 7.03235244e-05 9.99934332e-01 -1.01231778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.02, Y:-11.54, Z:-1.01 [[ 9.55918883e-01 2.93427124e-01 1.09367626e-02 8.40158597e+01] [-2.93407161e-01 9.55981443e-01 -3.42333766e-03 -1.15444116e+01] [-1.14598422e-02 6.35086581e-05 9.99934332e-01 -1.01400938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.07, Y:-11.57, Z:-1.02 [[ 9.57830543e-01 2.87125511e-01 1.09358032e-02 8.40732698e+01] [-2.87105101e-01 9.57892959e-01 -3.42639967e-03 -1.15673157e+01] [-1.14591356e-02 1.42185376e-04 9.99934332e-01 -1.01695103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.13, Y:-11.59, Z:-1.01 [[ 9.60757217e-01 2.77175030e-01 1.09349178e-02 8.41317989e+01] [-2.77153941e-01 9.60819407e-01 -3.42922287e-03 -1.15922078e+01] [-1.14569762e-02 2.63995051e-04 9.99934332e-01 -1.01454630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.19, Y:-11.61, Z:-1.01 [[ 9.60936908e-01 2.76551455e-01 1.09339355e-02 8.41926663e+01] [-2.76530290e-01 9.60999073e-01 -3.43235206e-03 -1.16097734e+01] [-1.14567239e-02 2.74709408e-04 9.99934332e-01 -1.01491689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.25, Y:-11.63, Z:-1.02 [[ 9.60484272e-01 2.78119460e-01 1.09329627e-02 8.42528547e+01] [-2.78098362e-01 9.60546459e-01 -3.43544789e-03 -1.16274461e+01] [-1.14570835e-02 2.59254647e-04 9.99934332e-01 -1.01735431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.31, Y:-11.64, Z:-1.02 [[ 9.60113910e-01 2.79395366e-01 1.09319880e-02 8.43133368e+01] [-2.79374315e-01 9.60176113e-01 -3.43854688e-03 -1.16449310e+01] [-1.14573478e-02 2.47280034e-04 9.99934332e-01 -1.01952198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.957628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:-11.66, Z:-1.02 [[ 9.59627931e-01 2.81060043e-01 1.09310123e-02 8.43743093e+01] [-2.81039065e-01 9.59690158e-01 -3.44164559e-03 -1.16596330e+01] [-1.14576940e-02 2.30657743e-04 9.99934332e-01 -1.02251872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:-11.68, Z:-1.02 [[ 9.58617495e-01 2.84487296e-01 1.09305454e-02 8.44338878e+01] [-2.84466524e-01 9.58679791e-01 -3.44312793e-03 -1.16766767e+01] [-1.14584191e-02 1.91268419e-04 9.99934332e-01 -1.02232829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:-11.69, Z:-1.02 [[ 9.57259497e-01 2.89023861e-01 1.09299407e-02 8.44943477e+01] [-2.89003362e-01 9.57321884e-01 -3.44504655e-03 -1.16931549e+01] [-1.14591720e-02 1.39013935e-04 9.99934332e-01 -1.02325271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:-11.71, Z:-1.02 [[ 9.56319233e-01 2.92119978e-01 1.09289927e-02 8.45532322e+01] [-2.92099646e-01 9.56381675e-01 -3.44805115e-03 -1.17102420e+01] [-1.14595330e-02 1.05082722e-04 9.99934332e-01 -1.02387555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:-11.73, Z:-1.02 [[ 9.54929193e-01 2.96632438e-01 1.09285415e-02 8.46134500e+01] [-2.96612385e-01 9.54991725e-01 -3.44948085e-03 -1.17297025e+01] [-1.14598946e-02 5.24692166e-05 9.99934332e-01 -1.02297644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.67, Y:-11.75, Z:-1.02 [[ 9.53676985e-01 3.00633990e-01 1.09276104e-02 8.46724806e+01] [-3.00614166e-01 9.53739589e-01 -3.45242776e-03 -1.17496985e+01] [-1.14600118e-02 7.50640279e-06 9.99934332e-01 -1.02440958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:-11.77, Z:-1.03 [[ 9.52430731e-01 3.04559204e-01 1.09267488e-02 8.47317679e+01] [-3.04539606e-01 9.52493407e-01 -3.45515273e-03 -1.17702683e+01] [-1.14599547e-02 -3.68341195e-05 9.99934332e-01 -1.02507863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:-11.79, Z:-1.03 [[ 9.51560071e-01 3.07268708e-01 1.09257386e-02 8.47895793e+01] [-3.07249252e-01 9.51622791e-01 -3.45834419e-03 -1.17911268e+01] [-1.14598228e-02 -6.61027614e-05 9.99934332e-01 -1.02841715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:-11.81, Z:-1.03 [[ 9.50756248e-01 3.09747002e-01 1.09248052e-02 8.48490603e+01] [-3.09727677e-01 9.50819008e-01 -3.46129009e-03 -1.18119743e+01] [-1.14596367e-02 -9.28713580e-05 9.99934332e-01 -1.03025177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:-11.83, Z:-1.03 [[ 9.50393718e-01 3.10857607e-01 1.09238094e-02 8.49079079e+01] [-3.10838319e-01 9.50456489e-01 -3.46443003e-03 -1.18332169e+01] [-1.14595500e-02 -1.02966012e-04 9.99934332e-01 -1.03155717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:-11.86, Z:-1.03 [[ 9.52571828e-01 3.04117748e-01 1.09228143e-02 8.49655160e+01] [-3.04097980e-01 9.52634450e-01 -3.46756460e-03 -1.18578624e+01] [-1.14599971e-02 -1.85014106e-05 9.99934332e-01 -1.03042975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.02, Y:-11.88, Z:-1.03 [[ 9.55802556e-01 2.93806376e-01 1.09218951e-02 8.50242942e+01] [-2.93785898e-01 9.55864950e-01 -3.47045737e-03 -1.18813411e+01] [-1.14594992e-02 1.08373264e-04 9.99934332e-01 -1.02638169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:-11.90, Z:-1.03 [[ 9.56541930e-01 2.91390236e-01 1.09208974e-02 8.50847964e+01] [-2.91369565e-01 9.56604260e-01 -3.47359404e-03 -1.19002227e+01] [-1.14591484e-02 1.40621208e-04 9.99934332e-01 -1.02587476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:-11.92, Z:-1.03 [[ 9.59004484e-01 2.83180428e-01 1.09199040e-02 8.51459058e+01] [-2.83159188e-01 9.59066623e-01 -3.47671416e-03 -1.19166956e+01] [-1.14574529e-02 2.42113308e-04 9.99934332e-01 -1.02865442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:-11.93, Z:-1.03 [[ 9.61247215e-01 2.75471539e-01 1.09189024e-02 8.52056081e+01] [-2.75449765e-01 9.61309168e-01 -3.47985701e-03 -1.19343425e+01] [-1.14550426e-02 3.37393749e-04 9.99934332e-01 -1.03046000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:-11.95, Z:-1.03 [[ 9.61964281e-01 2.72956993e-01 1.09179783e-02 8.52660283e+01] [-2.72935025e-01 9.62026165e-01 -3.48275402e-03 -1.19513397e+01] [-1.14540228e-02 3.70386294e-04 9.99934332e-01 -1.02979858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:-11.96, Z:-1.03 [[ 9.61503905e-01 2.74574325e-01 1.09169869e-02 8.53279885e+01] [-2.74552425e-01 9.61565814e-01 -3.48585870e-03 -1.19635043e+01] [-1.14545287e-02 3.54381508e-04 9.99934332e-01 -1.03142901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:-11.98, Z:-1.03 [[ 9.59432821e-01 2.81725935e-01 1.09160106e-02 8.53888982e+01] [-2.81704462e-01 9.59494879e-01 -3.48891332e-03 -1.19770173e+01] [-1.14567737e-02 2.72289043e-04 9.99934332e-01 -1.03087302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.45, Y:-11.99, Z:-1.03 [[ 9.56593185e-01 2.91222135e-01 1.09154084e-02 8.54495862e+01] [-2.91201257e-01 9.56655446e-01 -3.49079656e-03 -1.19902639e+01] [-1.14588821e-02 1.60691562e-04 9.99934332e-01 -1.03137402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.51, Y:-12.00, Z:-1.03 [[ 9.52949868e-01 3.02931381e-01 1.09145200e-02 8.55117912e+01] [-3.02911236e-01 9.53012370e-01 -3.49357198e-03 -1.20033831e+01] [-1.14599852e-02 2.30682110e-05 9.99934332e-01 -1.03200359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.57, Y:-12.02, Z:-1.03 [[ 9.49591047e-01 3.13301353e-01 1.09135381e-02 8.55725786e+01] [-3.13281855e-01 9.49653754e-01 -3.49663670e-03 -1.20190616e+01] [-1.14595834e-02 -9.86385581e-05 9.99934332e-01 -1.03148777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.63, Y:-12.04, Z:-1.03 [[ 9.47932102e-01 3.18285480e-01 1.09125579e-02 8.56329277e+01] [-3.18266277e-01 9.47994899e-01 -3.49969294e-03 -1.20362448e+01] [-1.14589507e-02 -1.55627897e-04 9.99934332e-01 -1.03205070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.69, Y:-12.06, Z:-1.03 [[ 9.47763193e-01 3.18788123e-01 1.09115609e-02 8.56933677e+01] [-3.18768918e-01 9.47825990e-01 -3.50279875e-03 -1.20552742e+01] [-1.14589117e-02 -1.58442742e-04 9.99934332e-01 -1.03254720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.75, Y:-12.07, Z:-1.04 [[ 9.48486843e-01 3.16628598e-01 1.09105709e-02 8.57531331e+01] [-3.16609214e-01 9.48549585e-01 -3.50587991e-03 -1.20732316e+01] [-1.14592793e-02 -1.29106296e-04 9.99934332e-01 -1.03597588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.81, Y:-12.09, Z:-1.04 [[ 9.50377285e-01 3.10908337e-01 1.09097123e-02 8.58116886e+01] [-3.10888545e-01 9.50439899e-01 -3.50854942e-03 -1.20939647e+01] [-1.14598632e-02 -5.72589292e-05 9.99934332e-01 -1.04152179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:-12.12, Z:-1.04 [[ 9.53580359e-01 3.00941016e-01 1.09088619e-02 8.58689948e+01] [-3.00920540e-01 9.53642753e-01 -3.51119166e-03 -1.21185901e+01] [-1.14598187e-02 6.55028015e-05 9.99934332e-01 -1.04218308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.93, Y:-12.14, Z:-1.04 [[ 9.57245724e-01 2.89070302e-01 1.09079961e-02 8.59254839e+01] [-2.89049021e-01 9.57307848e-01 -3.51387929e-03 -1.21426527e+01] [-1.14580684e-02 2.10700331e-04 9.99934332e-01 -1.04365440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.98, Y:-12.16, Z:-1.04 [[ 9.59717781e-01 2.80754009e-01 1.09072064e-02 8.59836986e+01] [-2.80732162e-01 9.59779709e-01 -3.51632888e-03 -1.21648205e+01] [-1.14557388e-02 3.12679722e-04 9.99934332e-01 -1.04204544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.04, Y:-12.19, Z:-1.04 [[ 9.63256166e-01 2.68362834e-01 1.09063241e-02 8.60408041e+01] [-2.68340160e-01 9.63317795e-01 -3.51906328e-03 -1.21886967e+01] [-1.14506419e-02 4.63154647e-04 9.99934332e-01 -1.04098622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.10, Y:-12.21, Z:-1.04 [[ 9.66012348e-01 2.58265782e-01 1.09054505e-02 8.60990001e+01] [-2.58242434e-01 9.66073725e-01 -3.52176846e-03 -1.22099059e+01] [-1.14450215e-02 5.85821740e-04 9.99934332e-01 -1.03961419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.757628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:86.16, Y:-12.23, Z:-1.04 [[ 9.67393633e-01 2.53042781e-01 1.09045749e-02 8.61578688e+01] [-2.53019071e-01 9.67454871e-01 -3.52447770e-03 -1.22279612e+01] [-1.14415277e-02 6.50491891e-04 9.99934332e-01 -1.04020326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.22, Y:-12.24, Z:-1.04 [[ 9.66865362e-01 2.55053879e-01 1.09036506e-02 8.62182779e+01] [-2.55030264e-01 9.66926637e-01 -3.52733481e-03 -1.22431321e+01] [-1.14426906e-02 6.29696964e-04 9.99934332e-01 -1.03764297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.28, Y:-12.26, Z:-1.04 [[ 9.65561559e-01 2.59946158e-01 1.09027990e-02 8.62790795e+01] [-2.59922824e-01 9.65622941e-01 -3.52996516e-03 -1.22572385e+01] [-1.14455937e-02 5.74512368e-04 9.99934332e-01 -1.03926605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.34, Y:-12.27, Z:-1.04 [[ 9.62699753e-01 2.70352243e-01 1.09018975e-02 8.63402896e+01] [-2.70329541e-01 9.62761372e-01 -3.53274692e-03 -1.22678360e+01] [-1.14510119e-02 4.53869627e-04 9.99934332e-01 -1.03959416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.40, Y:-12.28, Z:-1.04 [[ 9.59613524e-01 2.81110392e-01 1.09010166e-02 8.64022547e+01] [-2.81088351e-01 9.59675382e-01 -3.53546323e-03 -1.22779009e+01] [-1.14552927e-02 3.28529563e-04 9.99934332e-01 -1.03984732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:86.46, Y:-12.29, Z:-1.04 [[ 9.57437075e-01 2.88436178e-01 1.09004376e-02 8.64645375e+01] [-2.88414590e-01 9.57499093e-01 -3.53724747e-03 -1.22882112e+01] [-1.14574292e-02 2.42846640e-04 9.99934332e-01 -1.04177345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.53, Y:-12.30, Z:-1.04 [[ 9.56494360e-01 2.91547148e-01 1.08995259e-02 8.65280875e+01] [-2.91525730e-01 9.56556437e-01 -3.54005440e-03 -1.22976847e+01] [-1.14581044e-02 2.08549827e-04 9.99934332e-01 -1.04010425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.59, Y:-12.31, Z:-1.04 [[ 9.55125543e-01 2.96000706e-01 1.08986210e-02 8.65883521e+01] [-2.95979545e-01 9.55187708e-01 -3.54283805e-03 -1.23149925e+01] [-1.14589114e-02 1.58086225e-04 9.99934332e-01 -1.04220573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.65, Y:-12.33, Z:-1.04 [[ 9.53665753e-01 3.00670704e-01 1.08977300e-02 8.66490456e+01] [-3.00649816e-01 9.53728010e-01 -3.54557656e-03 -1.23290123e+01] [-1.14595214e-02 1.04894403e-04 9.99934332e-01 -1.04087295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.71, Y:-12.34, Z:-1.04 [[ 9.50869429e-01 3.09400368e-01 1.08968614e-02 8.67102630e+01] [-3.09380022e-01 9.50931865e-01 -3.54824410e-03 -1.23431469e+01] [-1.14600008e-02 2.64561307e-06 9.99934332e-01 -1.04256966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.77, Y:-12.36, Z:-1.04 [[ 9.49048378e-01 3.14941988e-01 1.08958639e-02 8.67707385e+01] [-3.14921971e-01 9.49110921e-01 -3.55130461e-03 -1.23570011e+01] [-1.14598384e-02 -6.09870678e-05 9.99934332e-01 -1.04489720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.83, Y:-12.38, Z:-1.04 [[ 9.47028195e-01 3.20965570e-01 1.08949590e-02 8.68281139e+01] [-3.20945919e-01 9.47090854e-01 -3.55407853e-03 -1.23812819e+01] [-1.14592529e-02 -1.30880065e-04 9.99934332e-01 -1.04321854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.89, Y:-12.40, Z:-1.05 [[ 9.47071348e-01 3.20838247e-01 1.08940683e-02 8.68862900e+01] [-3.20818556e-01 9.47133994e-01 -3.55680674e-03 -1.24021532e+01] [-1.14593021e-02 -1.26469507e-04 9.99934332e-01 -1.04543228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.94, Y:-12.42, Z:-1.05 [[ 9.47714548e-01 3.18933339e-01 1.08931781e-02 8.69434137e+01] [-3.18913491e-01 9.47777144e-01 -3.55953100e-03 -1.24248323e+01] [-1.14595583e-02 -1.00562147e-04 9.99934332e-01 -1.04873548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.00, Y:-12.45, Z:-1.05 [[ 9.48063862e-01 3.17893490e-01 1.08923647e-02 8.70026001e+01] [-3.17873544e-01 9.48126427e-01 -3.56201817e-03 -1.24464721e+01] [-1.14596813e-02 -8.53738848e-05 9.99934332e-01 -1.04946753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.06, Y:-12.47, Z:-1.05 [[ 9.50856137e-01 3.09441408e-01 1.08913756e-02 8.70584115e+01] [-3.09420872e-01 9.50918511e-01 -3.56504020e-03 -1.24742701e+01] [-1.14599817e-02 1.98214272e-05 9.99934332e-01 -1.04678265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.12, Y:-12.50, Z:-1.04 [[ 9.54028913e-01 2.99516662e-01 1.08905032e-02 8.71153617e+01] [-2.99495447e-01 9.54091059e-01 -3.56770322e-03 -1.25005307e+01] [-1.14591183e-02 1.42035910e-04 9.99934332e-01 -1.04330840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:-12.52, Z:-1.05 [[ 9.57255386e-01 2.89038999e-01 1.08895916e-02 8.71738969e+01] [-2.89017072e-01 9.57317285e-01 -3.57048350e-03 -1.25207377e+01] [-1.14568032e-02 2.70586693e-04 9.99934332e-01 -1.04577357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:-12.55, Z:-1.04 [[ 9.57492072e-01 2.88254000e-01 1.08886522e-02 8.72291989e+01] [-2.88231990e-01 9.57553942e-01 -3.57334596e-03 -1.25488552e+01] [-1.14565031e-02 2.82992547e-04 9.99934332e-01 -1.04233134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:-12.57, Z:-1.04 [[ 9.58224108e-01 2.85811152e-01 1.08877996e-02 8.72866444e+01] [-2.85788954e-01 9.58285910e-01 -3.57594194e-03 -1.25711272e+01] [-1.14556690e-02 3.14940926e-04 9.99934332e-01 -1.04471108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.34, Y:-12.59, Z:-1.05 [[ 9.58022937e-01 2.86484773e-01 1.08870203e-02 8.73442840e+01] [-2.86462592e-01 9.58084745e-01 -3.57831287e-03 -1.25940884e+01] [-1.14558202e-02 3.09381757e-04 9.99934332e-01 -1.04736902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:87.40, Y:-12.62, Z:-1.05 [[ 9.57549795e-01 2.88062288e-01 1.08861419e-02 8.74019952e+01] [-2.88040178e-01 9.57611629e-01 -3.58098315e-03 -1.26173091e+01] [-1.14562423e-02 2.93323426e-04 9.99934332e-01 -1.04916566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.46, Y:-12.64, Z:-1.05 [[ 9.56509678e-01 2.91497420e-01 1.08852718e-02 8.74602219e+01] [-2.91475503e-01 9.56571581e-01 -3.58362609e-03 -1.26378942e+01] [-1.14571594e-02 2.54982963e-04 9.99934332e-01 -1.04623916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.52, Y:-12.66, Z:-1.05 [[ 9.55502373e-01 2.94782540e-01 1.08843716e-02 8.75195027e+01] [-2.94760805e-01 9.55564339e-01 -3.58635810e-03 -1.26581682e+01] [-1.14579131e-02 2.18487536e-04 9.99934332e-01 -1.04672357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.58, Y:-12.68, Z:-1.05 [[ 9.53698658e-01 3.00566837e-01 1.08833424e-02 8.75774440e+01] [-3.00545441e-01 9.53760742e-01 -3.58947863e-03 -1.26788056e+01] [-1.14589830e-02 1.52341994e-04 9.99934332e-01 -1.04754472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:-12.70, Z:-1.05 [[ 9.51188995e-01 3.08417038e-01 1.08823937e-02 8.76367496e+01] [-3.08396122e-01 9.51251243e-01 -3.59235251e-03 -1.26995252e+01] [-1.14598333e-02 6.09181501e-05 9.99934332e-01 -1.04849819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-12.72, Z:-1.05 [[ 9.48565024e-01 3.16395307e-01 1.08813734e-02 8.76943498e+01] [-3.16374879e-01 9.48627434e-01 -3.59544056e-03 -1.27224227e+01] [-1.14599498e-02 -3.20840204e-05 9.99934332e-01 -1.04816405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:-12.74, Z:-1.05 [[ 9.47679994e-01 3.19036432e-01 1.08804295e-02 8.77523658e+01] [-3.19016145e-01 9.47742450e-01 -3.59829473e-03 -1.27443466e+01] [-1.14598320e-02 -6.10007396e-05 9.99934332e-01 -1.05006144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.81, Y:-12.77, Z:-1.05 [[ 9.48353996e-01 3.17027341e-01 1.08795293e-02 8.78089706e+01] [-3.17006891e-01 9.48416398e-01 -3.60101435e-03 -1.27693270e+01] [-1.14599440e-02 -3.38494101e-05 9.99934332e-01 -1.05270195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.87, Y:-12.80, Z:-1.05 [[ 9.50304827e-01 3.11130818e-01 1.08788943e-02 8.78653849e+01] [-3.11109959e-01 9.50367093e-01 -3.60293173e-03 -1.27977919e+01] [-1.14599263e-02 3.93510496e-05 9.99934332e-01 -1.05023675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.92, Y:-12.82, Z:-1.05 [[ 9.52014451e-01 3.05859697e-01 1.08780144e-02 8.79222372e+01] [-3.05838462e-01 9.52076591e-01 -3.60558639e-03 -1.28241682e+01] [-1.14595064e-02 1.05655148e-04 9.99934332e-01 -1.04885065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:-12.85, Z:-1.05 [[ 9.51953696e-01 3.06048767e-01 1.08771449e-02 8.79814983e+01] [-3.06027515e-01 9.52015830e-01 -3.60820767e-03 -1.28467619e+01] [-1.14595016e-02 1.06141017e-04 9.99934332e-01 -1.04730038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:-12.86, Z:-1.05 [[ 9.50487376e-01 3.10572790e-01 1.08761294e-02 8.80394318e+01] [-3.10551799e-01 9.50549599e-01 -3.61126598e-03 -1.28647769e+01] [-1.14598614e-02 5.48611826e-05 9.99934332e-01 -1.05053512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:-12.88, Z:-1.05 [[ 9.50058090e-01 3.11883545e-01 1.08756282e-02 8.80984868e+01] [-3.11862623e-01 9.50120336e-01 -3.61277479e-03 -1.28825903e+01] [-1.14599205e-02 4.06439952e-05 9.99934332e-01 -1.05409439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.16, Y:-12.90, Z:-1.06 [[ 9.50981255e-01 3.09057266e-01 1.08747293e-02 8.81575287e+01] [-3.09036127e-01 9.51043427e-01 -3.61547846e-03 -1.29013890e+01] [-1.14597297e-02 7.75680139e-05 9.99934332e-01 -1.05623447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:-12.92, Z:-1.05 [[ 9.54732530e-01 2.97266810e-01 1.08738398e-02 8.82166956e+01] [-2.97244873e-01 9.54794425e-01 -3.61815167e-03 -1.29208314e+01] [-1.14578380e-02 2.22173966e-04 9.99934332e-01 -1.05283539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:-12.94, Z:-1.05 [[ 9.57615417e-01 2.87844562e-01 1.08729367e-02 8.82757785e+01] [-2.87821986e-01 9.57677082e-01 -3.62086347e-03 -1.29413540e+01] [-1.14550082e-02 3.37924443e-04 9.99934332e-01 -1.05083512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.33, Y:-12.96, Z:-1.05 [[ 9.60797535e-01 2.77037716e-01 1.08720403e-02 8.83337855e+01] [-2.77014416e-01 9.60858930e-01 -3.62355309e-03 -1.29600023e+01] [-1.14503579e-02 4.69788978e-04 9.99934332e-01 -1.04946325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:-12.98, Z:-1.05 [[ 9.62099728e-01 2.72481064e-01 1.08712206e-02 8.83931537e+01] [-2.72457446e-01 9.62161001e-01 -3.62601081e-03 -1.29763086e+01] [-1.14478837e-02 5.26639028e-04 9.99934332e-01 -1.05128565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:-12.99, Z:-1.05 [[ 9.60933933e-01 2.76564289e-01 1.08706012e-02 8.84541857e+01] [-2.76540910e-01 9.60995298e-01 -3.62786675e-03 -1.29919450e+01] [-1.14499350e-02 4.79974325e-04 9.99934332e-01 -1.05369232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:-13.01, Z:-1.06 [[ 9.57762798e-01 2.87353918e-01 1.08695946e-02 8.85150585e+01] [-2.87331196e-01 9.57824410e-01 -3.63088021e-03 -1.30066663e+01] [-1.14545106e-02 3.54348378e-04 9.99934332e-01 -1.05889530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.58, Y:-13.02, Z:-1.06 [[ 9.54673023e-01 2.97458048e-01 1.08687027e-02 8.85758331e+01] [-2.97435948e-01 9.54734861e-01 -3.63354798e-03 -1.30234868e+01] [-1.14575574e-02 2.36107345e-04 9.99934332e-01 -1.05749242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:-13.04, Z:-1.06 [[ 9.50302885e-01 3.11137140e-01 1.08676821e-02 8.86370289e+01] [-3.11115896e-01 9.50365022e-01 -3.63659798e-03 -1.30395867e+01] [-1.14597456e-02 7.47609101e-05 9.99934332e-01 -1.05964328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.70, Y:-13.06, Z:-1.06 [[ 9.46448637e-01 3.22671495e-01 1.08666554e-02 8.86970654e+01] [-3.22650973e-01 9.46511015e-01 -3.63966337e-03 -1.30570870e+01] [-1.14598246e-02 -6.13824948e-05 9.99934332e-01 -1.06019997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.76, Y:-13.08, Z:-1.06 [[ 9.44167308e-01 3.29287157e-01 1.08656143e-02 8.87555197e+01] [-3.29267037e-01 9.44229818e-01 -3.64276876e-03 -1.30784349e+01] [-1.14591539e-02 -1.38305439e-04 9.99934332e-01 -1.06095485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:-13.10, Z:-1.06 [[ 9.43472328e-01 3.31273188e-01 1.08646508e-02 8.88142167e+01] [-3.31253166e-01 9.43534869e-01 -3.64563998e-03 -1.31026318e+01] [-1.14588797e-02 -1.59389540e-04 9.99934332e-01 -1.06254084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.87, Y:-13.12, Z:-1.06 [[ 9.43379269e-01 3.31538136e-01 1.08636260e-02 8.88742843e+01] [-3.31518097e-01 9.43441805e-01 -3.64869143e-03 -1.31228917e+01] [-1.14588792e-02 -1.59388743e-04 9.99934332e-01 -1.06326875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.93, Y:-13.15, Z:-1.06 [[ 9.43708768e-01 3.30599100e-01 1.08626005e-02 8.89309267e+01] [-3.30578962e-01 9.43771272e-01 -3.65174184e-03 -1.31479484e+01] [-1.14590728e-02 -1.44766400e-04 9.99934332e-01 -1.06464490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.99, Y:-13.17, Z:-1.07 [[ 9.44401669e-01 3.28614533e-01 1.08616817e-02 8.89891467e+01] [-3.28594233e-01 9.44464121e-01 -3.65447252e-03 -1.31729147e+01] [-1.14593815e-02 -1.17796030e-04 9.99934332e-01 -1.06550648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.05, Y:-13.20, Z:-1.07 [[ 9.46105560e-01 3.23676250e-01 1.08606381e-02 8.90453763e+01] [-3.23655589e-01 9.46167893e-01 -3.65757148e-03 -1.31999471e+01] [-1.14598561e-02 -5.46575015e-05 9.99934332e-01 -1.06652821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:-13.22, Z:-1.07 [[ 9.47008871e-01 3.21023779e-01 1.08596738e-02 8.91038285e+01] [-3.21002910e-01 9.47071134e-01 -3.66043234e-03 -1.32234474e+01] [-1.14599694e-02 -1.95249869e-05 9.99934332e-01 -1.06648543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.16, Y:-13.24, Z:-1.07 [[ 9.47479224e-01 3.19632932e-01 1.08586296e-02 8.91636670e+01] [-3.19611936e-01 9.47541444e-01 -3.66352728e-03 -1.32439374e+01] [-1.14599855e-02 5.68358927e-07 9.99934332e-01 -1.06643158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.22, Y:-13.26, Z:-1.07 [[ 9.48826112e-01 3.15612297e-01 1.08575958e-02 8.92227478e+01] [-3.15591002e-01 9.48888231e-01 -3.66658860e-03 -1.32641660e+01] [-1.14598653e-02 5.23954680e-05 9.99934332e-01 -1.06682226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:-13.28, Z:-1.07 [[ 9.51197188e-01 3.08392679e-01 1.08565714e-02 8.92813314e+01] [-3.08370879e-01 9.51259131e-01 -3.66961924e-03 -1.32835704e+01] [-1.14590964e-02 1.42681033e-04 9.99934332e-01 -1.06768027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.34, Y:-13.30, Z:-1.07 [[ 9.54030305e-01 2.99513495e-01 1.08556263e-02 8.93420960e+01] [-2.99491086e-01 9.54092031e-01 -3.67241288e-03 -1.33008762e+01] [-1.14572038e-02 2.52429857e-04 9.99934332e-01 -1.06881654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.40, Y:-13.32, Z:-1.07 [[ 9.57598032e-01 2.87903086e-01 1.08545912e-02 8.94022012e+01] [-2.87879895e-01 9.57659468e-01 -3.67546999e-03 -1.33197409e+01] [-1.14531812e-02 3.94804263e-04 9.99934332e-01 -1.06798746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.46, Y:-13.34, Z:-1.07 [[ 9.60439279e-01 2.78277904e-01 1.08535493e-02 8.94620232e+01] [-2.78254063e-01 9.60500466e-01 -3.67854410e-03 -1.33373655e+01] [-1.14484967e-02 5.12974062e-04 9.99934332e-01 -1.06777551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.52, Y:-13.36, Z:-1.07 [[ 9.61482094e-01 2.74653242e-01 1.08525887e-02 8.95227046e+01] [-2.74629138e-01 9.61543178e-01 -3.68137584e-03 -1.33553760e+01] [-1.14463344e-02 5.59139869e-04 9.99934332e-01 -1.06733302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.58, Y:-13.37, Z:-1.07 [[ 9.61349630e-01 2.75116579e-01 1.08515524e-02 8.95844922e+01] [-2.75092470e-01 9.61410712e-01 -3.68442799e-03 -1.33690617e+01] [-1.14464460e-02 5.56843128e-04 9.99934332e-01 -1.06943590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.65, Y:-13.38, Z:-1.07 [[ 9.59608734e-01 2.81128696e-01 1.08505119e-02 8.96464745e+01] [-2.81104935e-01 9.59669953e-01 -3.68748958e-03 -1.33813177e+01] [-1.14495694e-02 4.88414751e-04 9.99934332e-01 -1.07066608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.71, Y:-13.39, Z:-1.07 [[ 9.57570239e-01 2.87995705e-01 1.08494438e-02 8.97075674e+01] [-2.87972348e-01 9.57631613e-01 -3.69062969e-03 -1.33924982e+01] [-1.14526558e-02 4.09697360e-04 9.99934332e-01 -1.06992707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.77, Y:-13.40, Z:-1.07 [[ 9.55437941e-01 2.94992631e-01 1.08484575e-02 8.97697098e+01] [-2.94969691e-01 9.55499471e-01 -3.69352646e-03 -1.34041465e+01] [-1.14552585e-02 3.28969153e-04 9.99934332e-01 -1.06939040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.83, Y:-13.42, Z:-1.07 [[ 9.53940968e-01 2.99798204e-01 1.08474266e-02 8.98318281e+01] [-2.99775539e-01 9.54002600e-01 -3.69655159e-03 -1.34182105e+01] [-1.14566927e-02 2.74498839e-04 9.99934332e-01 -1.07048016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:-13.43, Z:-1.07 [[ 9.51262350e-01 3.08191981e-01 1.08463847e-02 8.98944141e+01] [-3.08169825e-01 9.51324168e-01 -3.69960639e-03 -1.34305530e+01] [-1.14586169e-02 1.76767806e-04 9.99934332e-01 -1.07270100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.96, Y:-13.44, Z:-1.08 [[ 9.47650156e-01 3.19126245e-01 1.08453521e-02 8.99563583e+01] [-3.19104768e-01 9.47712212e-01 -3.70263094e-03 -1.34444332e+01] [-1.14598793e-02 4.79952262e-05 9.99934332e-01 -1.07545703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.02, Y:-13.46, Z:-1.08 [[ 9.45479401e-01 3.25501309e-01 1.08443176e-02 9.00175231e+01] [-3.25480216e-01 9.45541589e-01 -3.70565816e-03 -1.34609632e+01] [-1.14599499e-02 -2.59873926e-05 9.99934332e-01 -1.07735891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.08, Y:-13.48, Z:-1.08 [[ 9.43819377e-01 3.30283827e-01 1.08432875e-02 9.00777471e+01] [-3.30263014e-01 9.43881660e-01 -3.70867010e-03 -1.34789444e+01] [-1.14596939e-02 -8.08221023e-05 9.99934332e-01 -1.07702213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:-13.50, Z:-1.08 [[ 9.44610502e-01 3.28014400e-01 1.08422276e-02 9.01361638e+01] [-3.27993402e-01 9.44672722e-01 -3.71176613e-03 -1.35006382e+01] [-1.14598694e-02 -5.00058444e-05 9.99934332e-01 -1.07602483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.19, Y:-13.52, Z:-1.08 [[ 9.46646121e-01 3.22092515e-01 1.08412472e-02 9.01943884e+01] [-3.22071095e-01 9.46708197e-01 -3.71462731e-03 -1.35218878e+01] [-1.14599513e-02 2.47851735e-05 9.99934332e-01 -1.07737353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:-13.55, Z:-1.08 [[ 9.49006472e-01 3.15070157e-01 1.08403121e-02 9.02524580e+01] [-3.15048247e-01 9.49068377e-01 -3.71735437e-03 -1.35452060e+01] [-1.14594248e-02 1.12572049e-04 9.99934332e-01 -1.08073029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.31, Y:-13.57, Z:-1.08 [[ 9.51399417e-01 3.07768836e-01 1.08394523e-02 9.03112376e+01] [-3.07746422e-01 9.51461141e-01 -3.71985951e-03 -1.35664737e+01] [-1.14581745e-02 2.03269495e-04 9.99934332e-01 -1.08203236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.37, Y:-13.59, Z:-1.08 [[ 9.53415015e-01 3.01466979e-01 1.08383255e-02 9.03669127e+01] [-3.01444120e-01 9.53476576e-01 -3.72313981e-03 -1.35940420e+01] [-1.14564932e-02 2.82547903e-04 9.99934332e-01 -1.08251294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:-13.62, Z:-1.08 [[ 9.56651034e-01 2.91034963e-01 1.08373576e-02 9.04245110e+01] [-2.91011402e-01 9.56712330e-01 -3.72595512e-03 -1.36212936e+01] [-1.14526168e-02 4.10644197e-04 9.99934332e-01 -1.08290067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.48, Y:-13.65, Z:-1.08 [[ 9.59106522e-01 2.82837859e-01 1.08362869e-02 9.04801353e+01] [-2.82813739e-01 9.59167599e-01 -3.72906642e-03 -1.36471118e+01] [-1.14485365e-02 5.11921107e-04 9.99934332e-01 -1.07950921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.54, Y:-13.67, Z:-1.08 [[ 9.59849960e-01 2.80304564e-01 1.08354326e-02 9.05392186e+01] [-2.80280254e-01 9.59910962e-01 -3.73154725e-03 -1.36695475e+01] [-1.14470202e-02 5.44767683e-04 9.99934332e-01 -1.07972843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.60, Y:-13.69, Z:-1.08 [[ 9.58978137e-01 2.83272923e-01 1.08343736e-02 9.05990352e+01] [-2.83248767e-01 9.59039201e-01 -3.73461932e-03 -1.36904219e+01] [-1.14485055e-02 5.12595310e-04 9.99934332e-01 -1.08043699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.66, Y:-13.71, Z:-1.08 [[ 9.56281569e-01 2.92246813e-01 1.08333063e-02 9.06582722e+01] [-2.92223195e-01 9.56342843e-01 -3.73771280e-03 -1.37097316e+01] [-1.14526896e-02 4.08562480e-04 9.99934332e-01 -1.08202094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.72, Y:-13.73, Z:-1.08 [[ 9.53256819e-01 3.01967046e-01 1.08323874e-02 9.07186470e+01] [-3.01944024e-01 9.53318318e-01 -3.74037404e-03 -1.37283291e+01] [-1.14561830e-02 2.94762429e-04 9.99934332e-01 -1.08273139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.78, Y:-13.75, Z:-1.08 [[ 9.51033543e-01 3.08897851e-01 1.08313024e-02 9.07790255e+01] [-3.08875241e-01 9.51095196e-01 -3.74351325e-03 -1.37472702e+01] [-1.14579629e-02 2.14685528e-04 9.99934332e-01 -1.08426632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:-13.77, Z:-1.08 [[ 9.48002775e-01 3.18077733e-01 1.08302272e-02 9.08390575e+01] [-3.18055684e-01 9.48064631e-01 -3.74662124e-03 -1.37674833e+01] [-1.14594722e-02 1.07192007e-04 9.99934332e-01 -1.08454409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.90, Y:-13.79, Z:-1.09 [[ 9.46563347e-01 3.22336098e-01 1.08291675e-02 9.08982910e+01] [-3.22314293e-01 9.46625288e-01 -3.74968174e-03 -1.37886643e+01] [-1.14598216e-02 5.89158289e-05 9.99934332e-01 -1.08502749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.96, Y:-13.81, Z:-1.09 [[ 9.45791496e-01 3.24593897e-01 1.08281125e-02 9.09571695e+01] [-3.24572205e-01 9.45853478e-01 -3.75272580e-03 -1.38110079e+01] [-1.14599198e-02 3.47917948e-05 9.99934332e-01 -1.08603560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.01, Y:-13.83, Z:-1.09 [[ 9.45788171e-01 3.24603621e-01 1.08270423e-02 9.10147383e+01] [-3.24581894e-01 9.45850140e-01 -3.75581097e-03 -1.38343443e+01] [-1.14599093e-02 3.79396942e-05 9.99934332e-01 -1.08608544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.07, Y:-13.86, Z:-1.09 [[ 9.45980253e-01 3.24043451e-01 1.08260532e-02 9.10725278e+01] [-3.24021655e-01 9.46042198e-01 -3.75865982e-03 -1.38595966e+01] [-1.14598723e-02 4.77422917e-05 9.99934332e-01 -1.08724199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.13, Y:-13.88, Z:-1.09 [[ 9.45696835e-01 3.24869688e-01 1.08250489e-02 9.11306707e+01] [-3.24847913e-01 9.45758788e-01 -3.76154998e-03 -1.38844310e+01] [-1.14598987e-02 4.07913623e-05 9.99934332e-01 -1.08981016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.19, Y:-13.91, Z:-1.09 [[ 9.45371425e-01 3.25815454e-01 1.08240115e-02 9.11884533e+01] [-3.25793707e-01 9.45433387e-01 -3.76453283e-03 -1.39110352e+01] [-1.14599248e-02 3.24869367e-05 9.99934332e-01 -1.09123528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.25, Y:-13.94, Z:-1.09 [[ 9.44871336e-01 3.27262924e-01 1.08229636e-02 9.12462271e+01] [-3.27241237e-01 9.44933319e-01 -3.76754312e-03 -1.39370822e+01] [-1.14599561e-02 1.81234972e-05 9.99934332e-01 -1.09154227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.30, Y:-13.96, Z:-1.09 [[ 9.44175221e-01 3.29265909e-01 1.08218896e-02 9.13039854e+01] [-3.29244319e-01 9.44237238e-01 -3.77062570e-03 -1.39610230e+01] [-1.14599696e-02 -2.91429730e-06 9.99934332e-01 -1.09306026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.36, Y:-13.99, Z:-1.10 [[ 9.43486552e-01 3.31234111e-01 1.08208157e-02 9.13606187e+01] [-3.31212615e-01 9.43548601e-01 -3.77370491e-03 -1.39880555e+01] [-1.14599453e-02 -2.35508277e-05 9.99934332e-01 -1.09556156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.42, Y:-14.01, Z:-1.10 [[ 9.43343482e-01 3.31641385e-01 1.08197572e-02 9.14159971e+01] [-3.31619880e-01 9.43405528e-01 -3.77673739e-03 -1.40148128e+01] [-1.14599412e-02 -2.52859797e-05 9.99934332e-01 -1.09723741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:-14.03, Z:-1.10 [[ 9.42086322e-01 3.35195931e-01 1.08189114e-02 9.14756056e+01] [-3.35174633e-01 9.42148440e-01 -3.77915856e-03 -1.40349598e+01] [-1.14597791e-02 -6.59310844e-05 9.99934332e-01 -1.09671130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.54, Y:-14.06, Z:-1.10 [[ 9.42415802e-01 3.34268500e-01 1.08178502e-02 9.15353100e+01] [-3.34247106e-01 9.42477887e-01 -3.78219382e-03 -1.40560025e+01] [-1.14598529e-02 -5.14359098e-05 9.99934332e-01 -1.09698477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.59, Y:-14.08, Z:-1.10 [[ 9.44415378e-01 3.28576613e-01 1.08167870e-02 9.15938702e+01] [-3.28554810e-01 9.44477321e-01 -3.78523212e-03 -1.40767567e+01] [-1.14599488e-02 2.09240225e-05 9.99934332e-01 -1.09633419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.65, Y:-14.10, Z:-1.10 [[ 9.45441605e-01 3.25612022e-01 1.08158386e-02 9.16523944e+01] [-3.25589994e-01 9.45503468e-01 -3.78794012e-03 -1.40960603e+01] [-1.14598118e-02 5.97473615e-05 9.99934332e-01 -1.09595257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.71, Y:-14.12, Z:-1.09 [[ 9.46408207e-01 3.22791799e-01 1.08148384e-02 9.17118979e+01] [-3.22769554e-01 9.46469992e-01 -3.79079367e-03 -1.41163288e+01] [-1.14595571e-02 9.69376765e-05 9.99934332e-01 -1.09465209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.77, Y:-14.14, Z:-1.10 [[ 9.46027993e-01 3.23904461e-01 1.08137636e-02 9.17708736e+01] [-3.23882253e-01 9.46089791e-01 -3.79385727e-03 -1.41351819e+01] [-1.14596386e-02 8.67090734e-05 9.99934332e-01 -1.09784970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.83, Y:-14.15, Z:-1.10 [[ 9.44266829e-01 3.29003402e-01 1.08128334e-02 9.18297056e+01] [-3.28981498e-01 9.44328735e-01 -3.79650661e-03 -1.41534212e+01] [-1.14599328e-02 2.76931413e-05 9.99934332e-01 -1.10123404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.89, Y:-14.17, Z:-1.10 [[ 9.42667407e-01 3.33558485e-01 1.08119172e-02 9.18891625e+01] [-3.33536850e-01 9.42729408e-01 -3.79911389e-03 -1.41731861e+01] [-1.14599390e-02 -2.48719644e-05 9.99934332e-01 -1.10168674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.95, Y:-14.19, Z:-1.10 [[ 9.40405322e-01 3.39883740e-01 1.08108526e-02 9.19482048e+01] [-3.39862487e-01 9.40467455e-01 -3.80214091e-03 -1.41934979e+01] [-1.14595409e-02 -9.86497033e-05 9.99934332e-01 -1.10320957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.01, Y:-14.22, Z:-1.10 [[ 9.39673354e-01 3.41902232e-01 1.08097963e-02 9.20070063e+01] [-3.41881078e-01 9.39735521e-01 -3.80514176e-03 -1.42167001e+01] [-1.14593360e-02 -1.20074488e-04 9.99934332e-01 -1.10405069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:-14.24, Z:-1.10 [[ 9.40311034e-01 3.40144574e-01 1.08087275e-02 9.20660979e+01] [-3.40123269e-01 9.40373149e-01 -3.80817521e-03 -1.42394340e+01] [-1.14595673e-02 -9.54305703e-05 9.99934332e-01 -1.10449121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.12, Y:-14.26, Z:-1.10 [[ 9.42231704e-01 3.34787412e-01 1.08076424e-02 9.21249748e+01] [-3.34765719e-01 9.42293685e-01 -3.81125220e-03 -1.42627389e+01] [-1.14599325e-02 -2.69455339e-05 9.99934332e-01 -1.10465439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.18, Y:-14.28, Z:-1.10 [[ 9.44130928e-01 3.29393396e-01 1.08065606e-02 9.21840445e+01] [-3.29371313e-01 9.44192771e-01 -3.81431715e-03 -1.42840098e+01] [-1.14598873e-02 4.18437283e-05 9.99934332e-01 -1.10341601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.24, Y:-14.30, Z:-1.10 [[ 9.45504027e-01 3.25431062e-01 1.08054838e-02 9.22425478e+01] [-3.25408686e-01 9.45565764e-01 -3.81736528e-03 -1.43047486e+01] [-1.14595848e-02 9.31359700e-05 9.99934332e-01 -1.10332415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.30, Y:-14.32, Z:-1.10 [[ 9.47665666e-01 3.19081571e-01 1.08044905e-02 9.23020749e+01] [-3.19058749e-01 9.47727240e-01 -3.82017457e-03 -1.43240702e+01] [-1.14586573e-02 1.72981061e-04 9.99934332e-01 -1.10384476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.36, Y:-14.34, Z:-1.11 [[ 9.49484215e-01 3.13628781e-01 1.08034047e-02 9.23615419e+01] [-3.13605571e-01 9.49545643e-01 -3.82324278e-03 -1.43424617e+01] [-1.14574048e-02 2.42100778e-04 9.99934332e-01 -1.10606284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.42, Y:-14.36, Z:-1.11 [[ 9.50712523e-01 3.09885472e-01 1.08024509e-02 9.24200226e+01] [-3.09861988e-01 9.50773848e-01 -3.82593579e-03 -1.43606264e+01] [-1.14562897e-02 2.90096151e-04 9.99934332e-01 -1.11022100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.48, Y:-14.38, Z:-1.11 [[ 9.50714894e-01 3.09878227e-01 1.08015804e-02 9.24782567e+01] [-3.09854715e-01 9.50776209e-01 -3.82839183e-03 -1.43782290e+01] [-1.14562209e-02 2.92788515e-04 9.99934332e-01 -1.11117435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:-14.40, Z:-1.11 [[ 9.50131391e-01 3.11662762e-01 1.08010821e-02 9.25377109e+01] [-3.11639350e-01 9.50192743e-01 -3.82979730e-03 -1.43957256e+01] [-1.14567150e-02 2.72768446e-04 9.99934332e-01 -1.11279628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:-14.42, Z:-1.11 [[ 9.49874804e-01 3.12443935e-01 1.08001553e-02 9.25967328e+01] [-3.12420544e-01 9.49936164e-01 -3.83240894e-03 -1.44161565e+01] [-1.14568711e-02 2.66118297e-04 9.99934332e-01 -1.11154218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.66, Y:-14.44, Z:-1.11 [[ 9.49012104e-01 3.15054608e-01 1.07990754e-02 9.26553591e+01] [-3.15031350e-01 9.49073515e-01 -3.83544967e-03 -1.44358688e+01] [-1.14574925e-02 2.37840868e-04 9.99934332e-01 -1.10985900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.71, Y:-14.45, Z:-1.11 [[ 9.47303576e-01 3.20155173e-01 1.07981356e-02 9.27133228e+01] [-3.20132216e-01 9.47365100e-01 -3.83809363e-03 -1.44541160e+01] [-1.14585623e-02 1.79008748e-04 9.99934332e-01 -1.10694354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.77, Y:-14.47, Z:-1.11 [[ 9.46039422e-01 3.23871616e-01 1.07976307e-02 9.27731033e+01] [-3.23848885e-01 9.46101029e-01 -3.83951357e-03 -1.44749636e+01] [-1.14591590e-02 1.35530535e-04 9.99934332e-01 -1.10650063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:-14.49, Z:-1.11 [[ 9.44162611e-01 3.29302899e-01 1.07965467e-02 9.28316813e+01] [-3.29280487e-01 9.44224335e-01 -3.84255918e-03 -1.44945451e+01] [-1.14597280e-02 7.29085375e-05 9.99934333e-01 -1.10852421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:-14.51, Z:-1.11 [[ 9.42906881e-01 3.32881464e-01 1.07955427e-02 9.28917709e+01] [-3.32859254e-01 9.42968679e-01 -3.84537799e-03 -1.45143712e+01] [-1.14599137e-02 3.24370876e-05 9.99934333e-01 -1.11131170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:-14.53, Z:-1.11 [[ 9.41947024e-01 3.35587966e-01 1.07945146e-02 9.29501754e+01] [-3.35565900e-01 9.42008873e-01 -3.84826165e-03 -1.45343186e+01] [-1.14599589e-02 2.58758725e-06 9.99934333e-01 -1.11392078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:-14.56, Z:-1.12 [[ 9.42234159e-01 3.34780955e-01 1.07935698e-02 9.30074467e+01] [-3.34758807e-01 9.42295979e-01 -3.85090981e-03 -1.45563659e+01] [-1.14599487e-02 1.52162140e-05 9.99934333e-01 -1.11662101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:-14.58, Z:-1.12 [[ 9.42654788e-01 3.33594767e-01 1.07927064e-02 9.30655595e+01] [-3.33572513e-01 9.42716569e-01 -3.85332829e-03 -1.45794635e+01] [-1.14599133e-02 3.22081792e-05 9.99934333e-01 -1.11783220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.837628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:-14.61, Z:-1.12 [[ 9.42823239e-01 3.33118419e-01 1.07916586e-02 9.31224630e+01] [-3.33096100e-01 9.42884997e-01 -3.85626049e-03 -1.46062141e+01] [-1.14598844e-02 4.11126239e-05 9.99934333e-01 -1.11777575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:-14.63, Z:-1.11 [[ 9.42428746e-01 3.34232886e-01 1.07905829e-02 9.31799622e+01] [-3.34210606e-01 9.42490518e-01 -3.85926797e-03 -1.46307222e+01] [-1.14599164e-02 3.07578027e-05 9.99934333e-01 -1.11485816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.957628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:-14.66, Z:-1.12 [[ 9.41614074e-01 3.36521203e-01 1.07896354e-02 9.32373890e+01] [-3.36499042e-01 9.41675889e-01 -3.86191516e-03 -1.46558900e+01] [-1.14599559e-02 5.73167215e-06 9.99934333e-01 -1.11835010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:-14.68, Z:-1.12 [[ 9.40167157e-01 3.40542690e-01 1.07885281e-02 9.32949682e+01] [-3.40520759e-01 9.40229054e-01 -3.86500618e-03 -1.46810710e+01] [-1.14598872e-02 -3.99658931e-05 9.99934333e-01 -1.11805792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:-14.70, Z:-1.12 [[ 9.39503254e-01 3.42370073e-01 1.07874178e-02 9.33517831e+01] [-3.42348226e-01 9.39565181e-01 -3.86810267e-03 -1.47039506e+01] [-1.14598047e-02 -5.89582885e-05 9.99934333e-01 -1.11923670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:-14.73, Z:-1.12 [[ 9.38670964e-01 3.44645419e-01 1.07868774e-02 9.34113735e+01] [-3.44623706e-01 9.38732937e-01 -3.86960890e-03 -1.47254241e+01] [-1.14596401e-02 -8.51241551e-05 9.99934333e-01 -1.11888084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:-14.75, Z:-1.12 [[ 9.38850148e-01 3.44157037e-01 1.07857931e-02 9.34714376e+01] [-3.44135256e-01 9.38912098e-01 -3.87262890e-03 -1.47456757e+01] [-1.14597041e-02 -7.59534469e-05 9.99934333e-01 -1.12029583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.53, Y:-14.77, Z:-1.12 [[ 9.40517603e-01 3.39573744e-01 1.07847160e-02 9.35303518e+01] [-3.39551627e-01 9.40579434e-01 -3.87562603e-03 -1.47662953e+01] [-1.14599429e-02 -1.68733692e-05 9.99934333e-01 -1.12125707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.59, Y:-14.79, Z:-1.12 [[ 9.43842015e-01 3.30221085e-01 1.07836093e-02 9.35877985e+01] [-3.30198320e-01 9.43903610e-01 -3.87870301e-03 -1.47900856e+01] [-1.14595173e-02 1.00153192e-04 9.99934333e-01 -1.12191454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.377628 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:-14.81, Z:-1.12 [[ 9.47107127e-01 3.20736381e-01 1.07825870e-02 9.36468682e+01] [-3.20712968e-01 9.47168478e-01 -3.88154290e-03 -1.48110105e+01] [-1.14578785e-02 2.18121474e-04 9.99934333e-01 -1.12305045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437628 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:-14.83, Z:-1.12 [[ 9.49256709e-01 3.14317450e-01 1.07815246e-02 9.37065417e+01] [-3.14293588e-01 9.49317887e-01 -3.88449147e-03 -1.48301958e+01] [-1.14560576e-02 2.98815531e-04 9.99934333e-01 -1.12327975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49762799999999 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:93.77, Y:-14.85, Z:-1.12 [[ 9.52214927e-01 3.05238455e-01 1.07804808e-02 9.37669219e+01] [-3.05213977e-01 9.52275862e-01 -3.88738615e-03 -1.48481598e+01] [-1.14525714e-02 4.11273698e-04 9.99934333e-01 -1.12345518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557628 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:93.83, Y:-14.87, Z:-1.12 [[ 9.53272323e-01 3.01919992e-01 1.07794347e-02 9.38266255e+01] [-3.01895269e-01 9.53333159e-01 -3.89028495e-03 -1.48662747e+01] [-1.14509473e-02 4.54240648e-04 9.99934333e-01 -1.12434361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.617628 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:93.89, Y:-14.88, Z:-1.13 [[ 9.52896754e-01 3.03103273e-01 1.07787903e-02 9.38890380e+01] [-3.03078606e-01 9.52957612e-01 -3.89206936e-03 -1.48799866e+01] [-1.14514293e-02 4.41919514e-04 9.99934333e-01 -1.12517299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.677628 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:93.95, Y:-14.89, Z:-1.13 [[ 9.50659790e-01 3.10048069e-01 1.07777243e-02 9.39510700e+01] [-3.10023813e-01 9.50720813e-01 -3.89501901e-03 -1.48934956e+01] [-1.14542500e-02 3.61486759e-04 9.99934333e-01 -1.12548031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.737628 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:94.01, Y:-14.91, Z:-1.13 [[ 9.46685484e-01 3.21978971e-01 1.07766516e-02 9.40120495e+01] [-3.21955450e-01 9.46746795e-01 -3.89798491e-03 -1.49074315e+01] [-1.14578295e-02 2.20564030e-04 9.99934333e-01 -1.12550096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797628 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:-14.92, Z:-1.13 [[ 9.43534468e-01 3.31099068e-01 1.07756584e-02 9.40734509e+01] [-3.31076108e-01 9.43595991e-01 -3.90072857e-03 -1.49237452e+01] [-1.14593956e-02 1.12908823e-04 9.99934333e-01 -1.12622399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857628 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:94.13, Y:-14.94, Z:-1.13 [[ 9.39822009e-01 3.41494508e-01 1.07746151e-02 9.41348427e+01] [-3.41472196e-01 9.39883770e-01 -3.90360826e-03 -1.49390762e+01] [-1.14599466e-02 -1.05345055e-05 9.99934333e-01 -1.12706108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917628 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:94.19, Y:-14.96, Z:-1.13 [[ 9.37391997e-01 3.48109429e-01 1.07735439e-02 9.41948985e+01] [-3.48087519e-01 9.37453902e-01 -3.90656237e-03 -1.49593729e+01] [-1.14596119e-02 -8.81558570e-05 9.99934333e-01 -1.12965884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.977628 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:94.26, Y:-14.98, Z:-1.13 [[ 9.37845460e-01 3.46885911e-01 1.07729824e-02 9.42551216e+01] [-3.46863903e-01 9.37907330e-01 -3.90811014e-03 -1.49773338e+01] [-1.14597275e-02 -7.15553720e-05 9.99934333e-01 -1.13190937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.037628 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:94.31, Y:-15.00, Z:-1.13 [[ 9.37476734e-01 3.47881221e-01 1.07716481e-02 9.43119953e+01] [-3.47859237e-01 9.37538612e-01 -3.91178440e-03 -1.50007984e+01] [-1.14596723e-02 -7.98104093e-05 9.99934333e-01 -1.13217933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.097628 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:94.37, Y:-15.03, Z:-1.13 [[ 9.37634497e-01 3.47455817e-01 1.07705442e-02 9.43695019e+01] [-3.47433769e-01 9.37696353e-01 -3.91482144e-03 -1.50254218e+01] [-1.14597275e-02 -7.13791290e-05 9.99934333e-01 -1.13236489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157628 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:-15.05, Z:-1.13 [[ 9.37021394e-01 3.49105896e-01 1.07694574e-02 9.44273916e+01] [-3.49083923e-01 9.37083276e-01 -3.91780891e-03 -1.50491704e+01] [-1.14596086e-02 -8.83736583e-05 9.99934333e-01 -1.13368701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217628 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:-15.07, Z:-1.14 [[ 9.36751505e-01 3.49829465e-01 1.07685929e-02 9.44846026e+01] [-3.49807513e-01 9.36813395e-01 -3.92018349e-03 -1.50715658e+01] [-1.14595578e-02 -9.46969242e-05 9.99934333e-01 -1.13538072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27762799999999 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:-15.09, Z:-1.14 [[ 9.36580072e-01 3.50288200e-01 1.07678087e-02 9.45436528e+01] [-3.50266253e-01 9.36641963e-01 -3.92233637e-03 -1.50939858e+01] [-1.14595296e-02 -9.80179307e-05 9.99934333e-01 -1.13638207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.337628 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:-15.12, Z:-1.14 [[ 9.37045773e-01 3.49040540e-01 1.07666786e-02 9.45992277e+01] [-3.49018475e-01 9.37107622e-01 -3.92543618e-03 -1.51200528e+01] [-1.14596729e-02 -7.94563495e-05 9.99934333e-01 -1.13833361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.397628 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:94.66, Y:-15.15, Z:-1.14 [[ 9.38454256e-01 3.45235715e-01 1.07661289e-02 9.46566119e+01] [-3.45213382e-01 9.38516009e-01 -3.92694298e-03 -1.51455097e+01] [-1.14599053e-02 -3.13554341e-05 9.99934333e-01 -1.13805227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.457628 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:94.71, Y:-15.17, Z:-1.14 [[ 9.41059925e-01 3.38068507e-01 1.07657776e-02 9.47137876e+01] [-3.38045692e-01 9.41121502e-01 -3.92790609e-03 -1.51730403e+01] [-1.14598061e-02 5.70702861e-05 9.99934333e-01 -1.13758814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.517628 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:94.77, Y:-15.20, Z:-1.14 [[ 9.44334282e-01 3.28811321e-01 1.07646672e-02 9.47700240e+01] [-3.28787869e-01 9.44395619e-01 -3.93094681e-03 -1.52009849e+01] [-1.14586443e-02 1.72835855e-04 9.99934333e-01 -1.13754971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:94.83, Y:-15.23, Z:-1.14 [[ 9.46947078e-01 3.21209241e-01 1.07635583e-02 9.48267053e+01] [-3.21185262e-01 9.47008211e-01 -3.93398086e-03 -1.52258252e+01] [-1.14568091e-02 2.68175413e-04 9.99934333e-01 -1.13867625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63762799999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:94.88, Y:-15.25, Z:-1.14 [[ 9.51153102e-01 3.08531918e-01 1.07625360e-02 9.48829196e+01] [-3.08507093e-01 9.51213896e-01 -3.93677555e-03 -1.52529865e+01] [-1.14520947e-02 4.24157578e-04 9.99934333e-01 -1.13983515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:94.94, Y:-15.28, Z:-1.14 [[ 9.53355736e-01 3.01657138e-01 1.07616040e-02 9.49403884e+01] [-3.01631845e-01 9.53416337e-01 -3.93932155e-03 -1.52764823e+01] [-1.14486136e-02 5.09532318e-04 9.99934333e-01 -1.13724719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.757628 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:95.00, Y:-15.30, Z:-1.14 [[ 9.52783440e-01 3.03459922e-01 1.07606312e-02 9.49997025e+01] [-3.03434715e-01 9.52844077e-01 -3.94197703e-03 -1.52973070e+01] [-1.14494358e-02 4.90701369e-04 9.99934333e-01 -1.13659874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.817628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:95.06, Y:-15.32, Z:-1.14 [[ 9.51205544e-01 3.08370308e-01 1.07595032e-02 9.50594050e+01] [-3.08345379e-01 9.51266295e-01 -3.94505363e-03 -1.53153609e+01] [-1.14516901e-02 4.34913796e-04 9.99934333e-01 -1.13856481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.877628 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:95.12, Y:-15.33, Z:-1.14 [[ 9.49902749e-01 3.12360404e-01 1.07585279e-02 9.51193371e+01] [-3.12335700e-01 9.49963592e-01 -3.94771157e-03 -1.53337057e+01] [-1.14533186e-02 3.89669741e-04 9.99934333e-01 -1.13977762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:95.18, Y:-15.35, Z:-1.14 [[ 9.47591827e-01 3.19302377e-01 1.07574086e-02 9.51808086e+01] [-3.19278084e-01 9.47652835e-01 -3.95075921e-03 -1.53490037e+01] [-1.14557756e-02 3.09102324e-04 9.99934333e-01 -1.14053698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99762799999999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:95.24, Y:-15.37, Z:-1.14 [[ 9.45022916e-01 3.26827156e-01 1.07563076e-02 9.52415357e+01] [-3.26803315e-01 9.45084103e-01 -3.95375465e-03 -1.53656817e+01] [-1.14578097e-02 2.21191778e-04 9.99934333e-01 -1.13943612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:95.30, Y:-15.38, Z:-1.14 [[ 9.43165530e-01 3.32149227e-01 1.07552103e-02 9.53024475e+01] [-3.32125697e-01 9.43226837e-01 -3.95673711e-03 -1.53822031e+01] [-1.14588302e-02 1.59776320e-04 9.99934333e-01 -1.14056860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.117628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:95.36, Y:-15.40, Z:-1.14 [[ 9.42435563e-01 3.34214838e-01 1.07541220e-02 9.53621620e+01] [-3.34191409e-01 9.42496909e-01 -3.95969292e-03 -1.54006609e+01] [-1.14591149e-02 1.37820254e-04 9.99934333e-01 -1.14115733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.177628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:-15.42, Z:-1.14 [[ 9.41686176e-01 3.36320559e-01 1.07530011e-02 9.54226658e+01] [-3.36297232e-01 9.41747561e-01 -3.96273444e-03 -1.54189314e+01] [-1.14593616e-02 1.15447729e-04 9.99934333e-01 -1.14258492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.237628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:95.48, Y:-15.44, Z:-1.15 [[ 9.40573881e-01 3.39418873e-01 1.07518772e-02 9.54813163e+01] [-3.39395713e-01 9.40635329e-01 -3.96578161e-03 -1.54374944e+01] [-1.14596567e-02 8.09695760e-05 9.99934333e-01 -1.14570249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:95.54, Y:-15.46, Z:-1.15 [[ 9.39460983e-01 3.42487198e-01 1.07508389e-02 9.55392213e+01] [-3.42464207e-01 9.39522494e-01 -3.96859428e-03 -1.54580062e+01] [-1.14598477e-02 4.65619517e-05 9.99934333e-01 -1.14752499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:-15.48, Z:-1.15 [[ 9.37283603e-01 3.48401905e-01 1.07498709e-02 9.55969106e+01] [-3.48379272e-01 9.37345247e-01 -3.97121465e-03 -1.54800060e+01] [-1.14599191e-02 -2.28778215e-05 9.99934333e-01 -1.14995255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:95.66, Y:-15.50, Z:-1.15 [[ 9.35271356e-01 3.53768216e-01 1.07489334e-02 9.56554870e+01] [-3.53745907e-01 9.35333118e-01 -3.97375057e-03 -1.55028273e+01] [-1.14596200e-02 -8.58561133e-05 9.99934333e-01 -1.15169419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.477628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:-15.53, Z:-1.15 [[ 9.34252884e-01 3.56449200e-01 1.07478728e-02 9.57134321e+01] [-3.56427036e-01 9.34314698e-01 -3.97661714e-03 -1.55266791e+01] [-1.14593575e-02 -1.15666410e-04 9.99934333e-01 -1.15092781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.537628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:-15.55, Z:-1.15 [[ 9.33947291e-01 3.57249165e-01 1.07467304e-02 9.57708416e+01] [-3.57227018e-01 9.34009111e-01 -3.97970195e-03 -1.55532633e+01] [-1.14592893e-02 -1.22190615e-04 9.99934333e-01 -1.15078049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.597628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:-15.58, Z:-1.15 [[ 9.34534632e-01 3.55709930e-01 1.07455934e-02 9.58284332e+01] [-3.55687647e-01 9.34596402e-01 -3.98276961e-03 -1.55775946e+01] [-1.14595037e-02 -1.00038707e-04 9.99934333e-01 -1.15033982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.88, Y:-15.60, Z:-1.15 [[ 9.36528094e-01 3.50427861e-01 1.07444642e-02 9.58841619e+01] [-3.50405194e-01 9.36589725e-01 -3.98581358e-03 -1.56034123e+01] [-1.14598949e-02 -3.20896745e-05 9.99934333e-01 -1.14975654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:95.94, Y:-15.63, Z:-1.15 [[ 9.38573937e-01 3.44910906e-01 1.07439288e-02 9.59406831e+01] [-3.44887860e-01 9.38635428e-01 -3.98725633e-03 -1.56312241e+01] [-1.14598804e-02 3.68842571e-05 9.99934333e-01 -1.14945288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77762799999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:-15.66, Z:-1.15 [[ 9.39648523e-01 3.41972580e-01 1.07427639e-02 9.59971867e+01] [-3.41949307e-01 9.39709928e-01 -3.99039236e-03 -1.56568382e+01] [-1.14596867e-02 7.60856148e-05 9.99934333e-01 -1.15123394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.837628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:96.05, Y:-15.68, Z:-1.15 [[ 9.40690216e-01 3.39096644e-01 1.07416901e-02 9.60536935e+01] [-3.39073150e-01 9.40751536e-01 -3.99328095e-03 -1.56843279e+01] [-1.14593696e-02 1.14221633e-04 9.99934333e-01 -1.15190352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.11, Y:-15.71, Z:-1.15 [[ 9.40703930e-01 3.39058633e-01 1.07405466e-02 9.61100026e+01] [-3.39035101e-01 9.40765236e-01 -3.99635402e-03 -1.57112414e+01] [-1.14593312e-02 1.17963620e-04 9.99934333e-01 -1.15171313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.957628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:-15.73, Z:-1.15 [[ 9.39423422e-01 3.42590568e-01 1.07394929e-02 9.61691405e+01] [-3.42567234e-01 9.39484804e-01 -3.99918388e-03 -1.57335994e+01] [-1.14596730e-02 7.79286504e-05 9.99934333e-01 -1.15151703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:-15.76, Z:-1.15 [[ 9.37217530e-01 3.48579961e-01 1.07383621e-02 9.62275755e+01] [-3.48556985e-01 9.37279046e-01 -4.00221792e-03 -1.57550626e+01] [-1.14599347e-02 8.01768712e-06 9.99934333e-01 -1.15343295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:-15.78, Z:-1.15 [[ 9.36195399e-01 3.51315923e-01 1.07376657e-02 9.62862652e+01] [-3.51293105e-01 9.36256974e-01 -4.00408526e-03 -1.57774071e+01] [-1.14599133e-02 -2.34617395e-05 9.99934333e-01 -1.15427020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:-15.80, Z:-1.16 [[ 9.35718345e-01 3.52584606e-01 1.07365676e-02 9.63448917e+01] [-3.52561838e-01 9.35779939e-01 -4.00702749e-03 -1.57994879e+01] [-1.14598808e-02 -3.58548923e-05 9.99934333e-01 -1.15503809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.40, Y:-15.82, Z:-1.16 [[ 9.35745643e-01 3.52512185e-01 1.07354826e-02 9.64030513e+01] [-3.52489379e-01 9.35807223e-01 -4.00993243e-03 -1.58198872e+01] [-1.14598922e-02 -3.18667832e-05 9.99934333e-01 -1.15537315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:-15.84, Z:-1.16 [[ 9.35681160e-01 3.52683340e-01 1.07344794e-02 9.64623615e+01] [-3.52660514e-01 9.35742732e-01 -4.01261628e-03 -1.58419091e+01] [-1.14598939e-02 -3.10975557e-05 9.99934333e-01 -1.15600136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.52, Y:-15.86, Z:-1.16 [[ 9.35421049e-01 3.53372684e-01 1.07334221e-02 9.65206172e+01] [-3.53349871e-01 9.35482627e-01 -4.01544235e-03 -1.58626414e+01] [-1.14598775e-02 -3.65240249e-05 9.99934333e-01 -1.15716019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.58, Y:-15.88, Z:-1.16 [[ 9.35146436e-01 3.54098787e-01 1.07327703e-02 9.65800824e+01] [-3.54076001e-01 9.35208024e-01 -4.01718390e-03 -1.58831577e+01] [-1.14598528e-02 -4.35611733e-05 9.99934333e-01 -1.15801022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.64, Y:-15.90, Z:-1.16 [[ 9.35743138e-01 3.52518950e-01 1.07317270e-02 9.66389283e+01] [-3.52496028e-01 9.35804675e-01 -4.01996908e-03 -1.59038379e+01] [-1.14599155e-02 -2.12326563e-05 9.99934333e-01 -1.16128160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.70, Y:-15.93, Z:-1.16 [[ 9.38690586e-01 3.44593724e-01 1.07307649e-02 9.66958882e+01] [-3.44570254e-01 9.38751916e-01 -4.02253549e-03 -1.59280645e+01] [-1.14596666e-02 7.84138079e-05 9.99934333e-01 -1.16122180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:-15.95, Z:-1.16 [[ 9.40859848e-01 3.38626073e-01 1.07298254e-02 9.67543235e+01] [-3.38602185e-01 9.40921016e-01 -4.02504013e-03 -1.59514709e+01] [-1.14589017e-02 1.53856329e-04 9.99934333e-01 -1.16134690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:-15.97, Z:-1.16 [[ 9.42953613e-01 3.32751222e-01 1.07288383e-02 9.68135427e+01] [-3.32726923e-01 9.43014619e-01 -4.02766937e-03 -1.59707109e+01] [-1.14576633e-02 2.28132019e-04 9.99934333e-01 -1.16317533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.87, Y:-15.99, Z:-1.16 [[ 9.44915599e-01 3.27138230e-01 1.07279246e-02 9.68721005e+01] [-3.27113542e-01 9.44976449e-01 -4.03010178e-03 -1.59921654e+01] [-1.14560364e-02 2.98856637e-04 9.99934333e-01 -1.16476651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:-16.01, Z:-1.17 [[ 9.45485340e-01 3.25487945e-01 1.07270251e-02 9.69317323e+01] [-3.25463123e-01 9.45546136e-01 -4.03249434e-03 -1.60135866e+01] [-1.14554255e-02 3.21413179e-04 9.99934333e-01 -1.16574893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:-16.03, Z:-1.17 [[ 9.44585924e-01 3.28088987e-01 1.07260782e-02 9.69916334e+01] [-3.28064304e-01 9.44646776e-01 -4.03501152e-03 -1.60311784e+01] [-1.14561980e-02 2.92571698e-04 9.99934333e-01 -1.16640472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.05, Y:-16.05, Z:-1.17 [[ 9.43504501e-01 3.31186088e-01 1.07252613e-02 9.70512940e+01] [-3.31161580e-01 9.43565424e-01 -4.03718188e-03 -1.60491053e+01] [-1.14570442e-02 2.57304811e-04 9.99934333e-01 -1.16917639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:-16.07, Z:-1.17 [[ 9.41800042e-01 3.36002480e-01 1.07244469e-02 9.71110147e+01] [-3.35978259e-01 9.41861080e-01 -4.03934412e-03 -1.60681657e+01] [-1.14581687e-02 2.01073482e-04 9.99934333e-01 -1.16907414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:-16.09, Z:-1.17 [[ 9.41189525e-01 3.37708883e-01 1.07233065e-02 9.71692048e+01] [-3.37684738e-01 9.41250592e-01 -4.04236907e-03 -1.60883757e+01] [-1.14584626e-02 1.83538464e-04 9.99934333e-01 -1.17158931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:-16.11, Z:-1.17 [[ 9.42103037e-01 3.35152046e-01 1.07226031e-02 9.72265477e+01] [-3.35127715e-01 9.42164030e-01 -4.04423412e-03 -1.61113419e+01] [-1.14578843e-02 2.16643774e-04 9.99934333e-01 -1.17257595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.28, Y:-16.14, Z:-1.17 [[ 9.43382228e-01 3.31534343e-01 1.07215664e-02 9.72849833e+01] [-3.31509746e-01 9.43443114e-01 -4.04698057e-03 -1.61354178e+01] [-1.14569011e-02 2.63545787e-04 9.99934333e-01 -1.17195226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.34, Y:-16.16, Z:-1.17 [[ 9.45367047e-01 3.25831580e-01 1.07204374e-02 9.73421942e+01] [-3.25806582e-01 9.45427770e-01 -4.04996922e-03 -1.61601003e+01] [-1.14550071e-02 3.35918384e-04 9.99934333e-01 -1.17125765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.40, Y:-16.18, Z:-1.17 [[ 9.45790325e-01 3.24600918e-01 1.07193949e-02 9.74008050e+01] [-3.24575810e-01 9.45851002e-01 -4.05272654e-03 -1.61832423e+01] [-1.14544692e-02 3.53773264e-04 9.99934333e-01 -1.16771760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.46, Y:-16.21, Z:-1.16 [[ 9.44899334e-01 3.27185525e-01 1.07182955e-02 9.74572670e+01] [-3.27160550e-01 9.44960066e-01 -4.05563196e-03 -1.62061110e+01] [-1.14553053e-02 3.25560476e-04 9.99934333e-01 -1.16423402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.52, Y:-16.23, Z:-1.17 [[ 9.41990161e-01 3.35469333e-01 1.07174163e-02 9.75170961e+01] [-3.35444866e-01 9.42051100e-01 -4.05795406e-03 -1.62267496e+01] [-1.14576730e-02 2.27450518e-04 9.99934333e-01 -1.16729761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:-16.25, Z:-1.17 [[ 9.39121896e-01 3.43416985e-01 1.07162991e-02 9.75759919e+01] [-3.43393001e-01 9.39183026e-01 -4.06090232e-03 -1.62477296e+01] [-1.14591490e-02 1.33780186e-04 9.99934333e-01 -1.17061285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.64, Y:-16.27, Z:-1.17 [[ 9.36038934e-01 3.51733279e-01 1.07151813e-02 9.76355905e+01] [-3.51709804e-01 9.36100261e-01 -4.06384955e-03 -1.62691264e+01] [-1.14598751e-02 3.52870874e-05 9.99934333e-01 -1.17404974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.69, Y:-16.29, Z:-1.18 [[ 9.31998291e-01 3.62304283e-01 1.07140737e-02 9.76940827e+01] [-3.62281470e-01 9.32059868e-01 -4.06676755e-03 -1.62906520e+01] [-1.14595654e-02 -9.12899600e-05 9.99934333e-01 -1.17862335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.75, Y:-16.31, Z:-1.18 [[ 9.29566486e-01 3.68498816e-01 1.07130924e-02 9.77516510e+01] [-3.68476383e-01 9.29628203e-01 -4.06935100e-03 -1.63148990e+01] [-1.14587439e-02 -1.64789228e-04 9.99934333e-01 -1.18140569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.81, Y:-16.34, Z:-1.18 [[ 9.29474336e-01 3.68731217e-01 1.07120936e-02 9.78094111e+01] [-3.68708770e-01 9.29536047e-01 -4.07197859e-03 -1.63409452e+01] [-1.14587427e-02 -1.64843246e-04 9.99934333e-01 -1.18077980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:-16.37, Z:-1.18 [[ 9.31887063e-01 3.62590371e-01 1.07109428e-02 9.78667594e+01] [-3.62567482e-01 9.31948612e-01 -4.07500338e-03 -1.63657706e+01] [-1.14596052e-02 -8.59966271e-05 9.99934333e-01 -1.17986225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.93, Y:-16.39, Z:-1.18 [[ 9.33511687e-01 3.58386979e-01 1.07099525e-02 9.79264002e+01] [-3.58363783e-01 9.33573121e-01 -4.07760432e-03 -1.63862880e+01] [-1.14598841e-02 -3.15678121e-05 9.99934333e-01 -1.17784117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:-16.41, Z:-1.18 [[ 9.33373089e-01 3.58747819e-01 1.07088032e-02 9.79864100e+01] [-3.58724612e-01 9.33434519e-01 -4.08062037e-03 -1.64051294e+01] [-1.14598803e-02 -3.27700496e-05 9.99934333e-01 -1.17648413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.05, Y:-16.43, Z:-1.18 [[ 9.33012844e-01 3.59683721e-01 1.07076403e-02 9.80460266e+01] [-3.59660541e-01 9.33074284e-01 -4.08366965e-03 -1.64264475e+01] [-1.14598533e-02 -4.09994740e-05 9.99934333e-01 -1.17707013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-16.45, Z:-1.18 [[ 9.33403049e-01 3.58669930e-01 1.07064878e-02 9.81049231e+01] [-3.58646648e-01 9.33464451e-01 -4.08668911e-03 -1.64474519e+01] [-1.14598982e-02 -2.53178728e-05 9.99934333e-01 -1.18076744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:-16.47, Z:-1.19 [[ 9.34741749e-01 3.55166522e-01 1.07053436e-02 9.81626346e+01] [-3.55142976e-01 9.34803049e-01 -4.08968405e-03 -1.64696934e+01] [-1.14599067e-02 2.08708259e-05 9.99934333e-01 -1.18504555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-16.49, Z:-1.19 [[ 9.37099130e-01 3.48899181e-01 1.07043398e-02 9.82210432e+01] [-3.48875195e-01 9.37160259e-01 -4.09230974e-03 -1.64924875e+01] [-1.14594854e-02 1.00421246e-04 9.99934333e-01 -1.18697569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-16.52, Z:-1.19 [[ 9.40536503e-01 3.39523975e-01 1.07031669e-02 9.82782459e+01] [-3.39499345e-01 9.40597376e-01 -4.09537518e-03 -1.65164309e+01] [-1.14578488e-02 2.18131701e-04 9.99934333e-01 -1.18828850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-16.54, Z:-1.19 [[ 9.45481229e-01 3.25500705e-01 1.07021588e-02 9.83368539e+01] [-3.25475143e-01 9.45541717e-01 -4.09800796e-03 -1.65396418e+01] [-1.14532421e-02 3.91302951e-04 9.99934333e-01 -1.18742311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.39, Y:-16.56, Z:-1.19 [[ 9.48704170e-01 3.15983997e-01 1.07009918e-02 9.83943455e+01] [-3.15957793e-01 9.48764383e-01 -4.10105307e-03 -1.65594725e+01] [-1.14485870e-02 5.09624409e-04 9.99934333e-01 -1.18721919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:-16.58, Z:-1.19 [[ 9.49852759e-01 3.12514392e-01 1.07000623e-02 9.84534241e+01] [-3.12487942e-01 9.49912863e-01 -4.10347682e-03 -1.65800006e+01] [-1.14465223e-02 5.54058345e-04 9.99934333e-01 -1.18628195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.51, Y:-16.60, Z:-1.19 [[ 9.49722990e-01 3.12908574e-01 1.06989150e-02 9.85143805e+01] [-3.12882115e-01 9.49783091e-01 -4.10646597e-03 -1.65958468e+01] [-1.14465969e-02 5.52506003e-04 9.99934333e-01 -1.18511995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.58, Y:-16.61, Z:-1.19 [[ 9.48599414e-01 3.16298450e-01 1.06977369e-02 9.85752610e+01] [-3.16272171e-01 9.48659594e-01 -4.10953251e-03 -1.66116711e+01] [-1.14483496e-02 5.14903647e-04 9.99934333e-01 -1.18517415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:-16.63, Z:-1.19 [[ 9.45881727e-01 3.24335231e-01 1.06965635e-02 9.86372962e+01] [-3.24309429e-01 9.45942113e-01 -4.11258466e-03 -1.66257135e+01] [-1.14521859e-02 4.21022288e-04 9.99934333e-01 -1.18586734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:-16.64, Z:-1.19 [[ 9.43350180e-01 3.31626367e-01 1.06953901e-02 9.87000084e+01] [-3.31600998e-01 9.43410748e-01 -4.11563384e-03 -1.66388481e+01] [-1.14549987e-02 3.35881878e-04 9.99934333e-01 -1.18860177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:-16.65, Z:-1.19 [[ 9.41739592e-01 3.36172834e-01 1.06942140e-02 9.87600821e+01] [-3.36147722e-01 9.41800268e-01 -4.11868760e-03 -1.66543232e+01] [-1.14564045e-02 2.83895489e-04 9.99934333e-01 -1.19256769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:-16.67, Z:-1.19 [[ 9.40053145e-01 3.40860296e-01 1.06931263e-02 9.88203529e+01] [-3.40835455e-01 9.40113932e-01 -4.12150969e-03 -1.66713380e+01] [-1.14576160e-02 2.29841587e-04 9.99934333e-01 -1.19251800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:-16.69, Z:-1.20 [[ 9.39681671e-01 3.41883073e-01 1.06921154e-02 9.88789266e+01] [-3.41858269e-01 9.39742473e-01 -4.12413062e-03 -1.66907763e+01] [-1.14578054e-02 2.20181905e-04 9.99934333e-01 -1.19565872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:-16.71, Z:-1.20 [[ 9.38799708e-01 3.44297555e-01 1.06911737e-02 9.89391488e+01] [-3.44272879e-01 9.38860563e-01 -4.12657033e-03 -1.67086569e+01] [-1.14582894e-02 1.93341877e-04 9.99934333e-01 -1.19764085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:-16.73, Z:-1.20 [[ 9.36362701e-01 3.50871222e-01 1.06900261e-02 9.89996549e+01] [-3.50846940e-01 9.36423714e-01 -4.12954114e-03 -1.67278925e+01] [-1.14593311e-02 1.16185372e-04 9.99934333e-01 -1.19869170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:-16.75, Z:-1.20 [[ 9.34001100e-01 3.57110199e-01 1.06888616e-02 9.90593951e+01] [-3.57086289e-01 9.34062259e-01 -4.13255306e-03 -1.67481809e+01] [-1.14598390e-02 4.29631875e-05 9.99934333e-01 -1.20079396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.12, Y:-16.77, Z:-1.21 [[ 9.30454393e-01 3.66251820e-01 1.06876602e-02 9.91194238e+01] [-3.66228476e-01 9.30515771e-01 -4.13565765e-03 -1.67674662e+01] [-1.14597286e-02 -6.60846867e-05 9.99934333e-01 -1.20503040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.18, Y:-16.79, Z:-1.21 [[ 9.27862135e-01 3.72770247e-01 1.06864742e-02 9.91776482e+01] [-3.72747298e-01 9.27923662e-01 -4.13872020e-03 -1.67903828e+01] [-1.14590240e-02 -1.43192612e-04 9.99934333e-01 -1.20692444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:-16.82, Z:-1.21 [[ 9.27257377e-01 3.74272069e-01 1.06852798e-02 9.92340730e+01] [-3.74249185e-01 9.27318927e-01 -4.14180159e-03 -1.68151437e+01] [-1.14588228e-02 -1.58441168e-04 9.99934333e-01 -1.20775299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:-16.84, Z:-1.21 [[ 9.27810107e-01 3.72899787e-01 1.06843247e-02 9.92899371e+01] [-3.72876783e-01 9.27871613e-01 -4.14426387e-03 -1.68408772e+01] [-1.14590767e-02 -1.38846712e-04 9.99934333e-01 -1.21007826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:-16.87, Z:-1.21 [[ 9.28588865e-01 3.70956311e-01 1.06833845e-02 9.93455692e+01] [-3.70933151e-01 9.28650312e-01 -4.14668606e-03 -1.68695459e+01] [-1.14593677e-02 -1.12254975e-04 9.99934333e-01 -1.21068972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:-16.90, Z:-1.21 [[ 9.29508776e-01 3.68645252e-01 1.06823820e-02 9.94022912e+01] [-3.68621909e-01 9.29570154e-01 -4.14926720e-03 -1.68971489e+01] [-1.14596311e-02 -8.09797562e-05 9.99934333e-01 -1.21041952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:-16.93, Z:-1.21 [[ 9.31584440e-01 3.63368053e-01 1.06812259e-02 9.94561495e+01] [-3.63344329e-01 9.31645672e-01 -4.15224096e-03 -1.69265701e+01] [-1.14599096e-02 -1.27997987e-05 9.99934333e-01 -1.21020424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.51, Y:-16.96, Z:-1.21 [[ 9.33138287e-01 3.59358957e-01 1.06806754e-02 9.95125693e+01] [-3.59334953e-01 9.33199410e-01 -4.15365648e-03 -1.69550504e+01] [-1.14598537e-02 3.79958864e-05 9.99934333e-01 -1.20861826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.57, Y:-16.99, Z:-1.21 [[ 9.35550663e-01 3.53031026e-01 1.06795394e-02 9.95666910e+01] [-3.53006575e-01 9.35611608e-01 -4.15657545e-03 -1.69863633e+01] [-1.14593011e-02 1.18739305e-04 9.99934333e-01 -1.20628978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.62, Y:-17.01, Z:-1.21 [[ 9.36951828e-01 3.49295349e-01 1.06784876e-02 9.96238470e+01] [-3.49270625e-01 9.37012663e-01 -4.15927564e-03 -1.70132879e+01] [-1.14586938e-02 1.67358869e-04 9.99934333e-01 -1.20695706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.68, Y:-17.04, Z:-1.21 [[ 9.38482705e-01 3.45161129e-01 1.06773874e-02 9.96790027e+01] [-3.45136105e-01 9.38543417e-01 -4.16209825e-03 -1.70411953e+01] [-1.14577862e-02 2.20905341e-04 9.99934333e-01 -1.21067050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.73, Y:-17.07, Z:-1.21 [[ 9.40008315e-01 3.40984430e-01 1.06764404e-02 9.97349538e+01] [-3.40959108e-01 9.40068904e-01 -4.16452591e-03 -1.70696722e+01] [-1.14566281e-02 2.74459387e-04 9.99934333e-01 -1.20836196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.79, Y:-17.10, Z:-1.21 [[ 9.41973270e-01 3.35518103e-01 1.06752506e-02 9.97916664e+01] [-3.35492395e-01 9.42033696e-01 -4.16757350e-03 -1.70973821e+01] [-1.14547422e-02 3.44277428e-04 9.99934333e-01 -1.20896097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.85, Y:-17.12, Z:-1.21 [[ 9.42914397e-01 3.32864093e-01 1.06740750e-02 9.98491340e+01] [-3.32838182e-01 9.42974735e-01 -4.17058233e-03 -1.71235651e+01] [-1.14536202e-02 3.79762399e-04 9.99934333e-01 -1.20870251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.91, Y:-17.15, Z:-1.21 [[ 9.43005812e-01 3.32605064e-01 1.06729043e-02 9.99061431e+01] [-3.32579102e-01 9.43066128e-01 -4.17357620e-03 -1.71483264e+01] [-1.14534071e-02 3.86121682e-04 9.99934333e-01 -1.20982084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.97, Y:-17.17, Z:-1.21 [[ 9.41002420e-01 3.38231515e-01 1.06718241e-02 9.99653507e+01] [-3.38205883e-01 9.41062877e-01 -4.17633637e-03 -1.71707080e+01] [-1.14554261e-02 3.20668932e-04 9.99934333e-01 -1.20929403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.02, Y:-17.19, Z:-1.21 [[ 9.39938096e-01 3.41178126e-01 1.06706512e-02 1.00023596e+02] [-3.41152649e-01 9.39998619e-01 -4.17933107e-03 -1.71932572e+01] [-1.14562937e-02 2.87991568e-04 9.99934333e-01 -1.20955532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.08, Y:-17.22, Z:-1.21 [[ 9.37762932e-01 3.47112151e-01 1.06694833e-02 1.00082220e+02] [-3.47087023e-01 9.37823601e-01 -4.18231054e-03 -1.72151078e+01] [-1.14578240e-02 2.18776605e-04 9.99934333e-01 -1.20972649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.14, Y:-17.24, Z:-1.21 [[ 9.35295037e-01 3.53708046e-01 1.06682946e-02 1.00142081e+02] [-3.53683311e-01 9.35355867e-01 -4.18534038e-03 -1.72357678e+01] [-1.14590405e-02 1.41330315e-04 9.99934333e-01 -1.21149935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:-17.26, Z:-1.21 [[ 9.34154660e-01 3.56708964e-01 1.06671073e-02 1.00200549e+02] [-3.56684390e-01 9.34215555e-01 -4.18836427e-03 -1.72580426e+01] [-1.14594047e-02 1.07789337e-04 9.99934333e-01 -1.21408144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.26, Y:-17.28, Z:-1.22 [[ 9.34423993e-01 3.56002845e-01 1.06665384e-02 1.00258195e+02] [-3.55978208e-01 9.34484864e-01 -4.18981260e-03 -1.72804005e+01] [-1.14593039e-02 1.18006189e-04 9.99934333e-01 -1.21638868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.31, Y:-17.30, Z:-1.22 [[ 9.36470195e-01 3.50584971e-01 1.06654940e-02 1.00314875e+02] [-3.50559952e-01 9.36530909e-01 -4.19246965e-03 -1.73049224e+01] [-1.14583816e-02 1.87227818e-04 9.99934333e-01 -1.21798520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.37, Y:-17.33, Z:-1.22 [[ 9.38658314e-01 3.44683681e-01 1.06643905e-02 1.00371804e+02] [-3.44658248e-01 9.38718856e-01 -4.19527464e-03 -1.73302593e+01] [-1.14569072e-02 2.62359272e-04 9.99934333e-01 -1.21708593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.43, Y:-17.36, Z:-1.22 [[ 9.41928354e-01 3.35644557e-01 1.06633654e-02 1.00427591e+02] [-3.35618515e-01 9.41988636e-01 -4.19787865e-03 -1.73563102e+01] [-1.14537641e-02 3.75278068e-04 9.99934333e-01 -1.21688354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.49, Y:-17.38, Z:-1.22 [[ 9.43503001e-01 3.31192380e-01 1.06628072e-02 1.00485752e+02] [-3.31166037e-01 9.43563152e-01 -4.19929598e-03 -1.73801489e+01] [-1.14518068e-02 4.30888754e-04 9.99934333e-01 -1.21767111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.54, Y:-17.40, Z:-1.22 [[ 9.44362247e-01 3.28734354e-01 1.06616781e-02 1.00544046e+02] [-3.28707822e-01 9.44422315e-01 -4.20216078e-03 -1.74025127e+01] [-1.14505213e-02 4.63785011e-04 9.99934333e-01 -1.21761344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.517628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:-17.42, Z:-1.22 [[ 9.44010266e-01 3.29743799e-01 1.06604854e-02 1.00602262e+02] [-3.29717297e-01 9.44070347e-01 -4.20518430e-03 -1.74225911e+01] [-1.14508816e-02 4.54790713e-04 9.99934333e-01 -1.22252759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:-17.44, Z:-1.22 [[ 9.41567202e-01 3.36656473e-01 1.06594608e-02 1.00660933e+02] [-3.36630383e-01 9.41627463e-01 -4.20777986e-03 -1.74405901e+01] [-1.14538174e-02 3.73609129e-04 9.99934333e-01 -1.22205513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:-17.46, Z:-1.22 [[ 9.39366557e-01 3.42748986e-01 1.06585312e-02 1.00720167e+02] [-3.42723260e-01 9.39426975e-01 -4.21013322e-03 -1.74607723e+01] [-1.14559307e-02 3.01931773e-04 9.99934333e-01 -1.22114410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:-17.48, Z:-1.22 [[ 9.35429210e-01 3.53353384e-01 1.06573531e-02 1.00779988e+02] [-3.53328309e-01 9.35489901e-01 -4.21311328e-03 -1.74784311e+01] [-1.14585641e-02 1.75524655e-04 9.99934333e-01 -1.21985524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.84, Y:-17.50, Z:-1.22 [[ 9.31313641e-01 3.64062280e-01 1.06563246e-02 1.00839879e+02] [-3.64037874e-01 9.31374604e-01 -4.21571326e-03 -1.74970662e+01] [-1.14598123e-02 4.68455261e-05 9.99934333e-01 -1.21908695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.90, Y:-17.52, Z:-1.22 [[ 9.28700501e-01 3.70677547e-01 1.06552933e-02 1.00898090e+02] [-3.70653546e-01 9.28761624e-01 -4.21831819e-03 -1.75175378e+01] [-1.14598634e-02 -3.18680258e-05 9.99934333e-01 -1.21826713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.96, Y:-17.54, Z:-1.22 [[ 9.25525571e-01 3.78535209e-01 1.06542453e-02 1.00955241e+02] [-3.78511696e-01 9.25586884e-01 -4.22096346e-03 -1.75382804e+01] [-1.14592130e-02 -1.26146854e-04 9.99934333e-01 -1.21719071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.01, Y:-17.56, Z:-1.22 [[ 9.24360546e-01 3.81371326e-01 1.06532852e-02 1.01013893e+02] [-3.81347973e-01 9.24421920e-01 -4.22338528e-03 -1.75609594e+01] [-1.14588084e-02 -1.58678002e-04 9.99934333e-01 -1.21737655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.07, Y:-17.59, Z:-1.22 [[ 9.24397503e-01 3.81281772e-01 1.06521031e-02 1.01071949e+02] [-3.81258379e-01 9.24458861e-01 -4.22636460e-03 -1.75850621e+01] [-1.14588669e-02 -1.54362692e-04 9.99934333e-01 -1.21783677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.13, Y:-17.61, Z:-1.22 [[ 9.25224645e-01 3.79270241e-01 1.06508784e-02 1.01128591e+02] [-3.79246678e-01 9.25285939e-01 -4.22944880e-03 -1.76110818e+01] [-1.14592121e-02 -1.26119987e-04 9.99934333e-01 -1.21908816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:-17.64, Z:-1.22 [[ 9.25904760e-01 3.77606884e-01 1.06497483e-02 1.01186122e+02] [-3.77583179e-01 9.25965999e-01 -4.23229252e-03 -1.76361875e+01] [-1.14594476e-02 -1.02466031e-04 9.99934333e-01 -1.21972083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.24, Y:-17.66, Z:-1.22 [[ 9.27634145e-01 3.73338320e-01 1.06485568e-02 1.01243356e+02] [-3.73314299e-01 9.27695261e-01 -4.23528831e-03 -1.76619183e+01] [-1.14598111e-02 -4.64604475e-05 9.99934333e-01 -1.22232621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.30, Y:-17.69, Z:-1.22 [[ 9.29186092e-01 3.69458848e-01 1.06473550e-02 1.01300504e+02] [-3.69434537e-01 9.29247093e-01 -4.23830735e-03 -1.76886296e+01] [-1.14599038e-02 4.67558908e-06 9.99934333e-01 -1.22416177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.36, Y:-17.72, Z:-1.22 [[ 9.32415760e-01 3.61230551e-01 1.06461352e-02 1.01356537e+02] [-3.61205667e-01 9.32476529e-01 -4.24136902e-03 -1.77181562e+01] [-1.14593833e-02 1.09274945e-04 9.99934333e-01 -1.22485404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.41, Y:-17.74, Z:-1.23 [[ 9.34579931e-01 3.55593924e-01 1.06449366e-02 1.01413056e+02] [-3.55568639e-01 9.34640534e-01 -4.24437517e-03 -1.77447993e+01] [-1.14584633e-02 1.81702231e-04 9.99934333e-01 -1.22528527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.47, Y:-17.77, Z:-1.22 [[ 9.37158107e-01 3.48742585e-01 1.06438321e-02 1.01470261e+02] [-3.48716826e-01 9.37218511e-01 -4.24714333e-03 -1.77715725e+01] [-1.14567562e-02 2.68561475e-04 9.99934333e-01 -1.22463468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.53, Y:-17.80, Z:-1.22 [[ 9.38779737e-01 3.44353510e-01 1.06426417e-02 1.01526725e+02] [-3.44327434e-01 9.38840005e-01 -4.25012398e-03 -1.77959604e+01] [-1.14552829e-02 3.25376753e-04 9.99934333e-01 -1.22475420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.58, Y:-17.82, Z:-1.22 [[ 9.41320832e-01 3.37345295e-01 1.06415430e-02 1.01584434e+02] [-3.37318740e-01 9.41380890e-01 -4.25287334e-03 -1.78198199e+01] [-1.14524320e-02 4.13726410e-04 9.99934333e-01 -1.22386361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.64, Y:-17.84, Z:-1.22 [[ 9.42680806e-01 3.33526133e-01 1.06403340e-02 1.01643623e+02] [-3.33499301e-01 9.42740741e-01 -4.25589598e-03 -1.78421055e+01] [-1.14505289e-02 4.63407518e-04 9.99934333e-01 -1.22282366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.70, Y:-17.86, Z:-1.22 [[ 9.42491844e-01 3.34059774e-01 1.06391253e-02 1.01702840e+02] [-3.34032941e-01 9.42551779e-01 -4.25891528e-03 -1.78633446e+01] [-1.14506588e-02 4.60174595e-04 9.99934333e-01 -1.22303317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.76, Y:-17.88, Z:-1.22 [[ 9.39916561e-01 3.41238469e-01 1.06379136e-02 1.01763496e+02] [-3.41212061e-01 9.39976683e-01 -4.26193984e-03 -1.78800158e+01] [-1.14537285e-02 3.76083427e-04 9.99934333e-01 -1.22398349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.83, Y:-17.90, Z:-1.23 [[ 9.35285455e-01 3.53734333e-01 1.06366957e-02 1.01825412e+02] [-3.53708693e-01 9.35345909e-01 -4.26497718e-03 -1.78957818e+01] [-1.14576587e-02 2.26679385e-04 9.99934333e-01 -1.22638550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.88, Y:-17.92, Z:-1.23 [[ 9.33537127e-01 3.58322926e-01 1.06354917e-02 1.01884945e+02] [-3.58297550e-01 9.33597692e-01 -4.26797736e-03 -1.79169697e+01] [-1.14585847e-02 1.73644687e-04 9.99934333e-01 -1.22791690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.95, Y:-17.94, Z:-1.23 [[ 9.30304646e-01 3.66633573e-01 1.06342801e-02 1.01945268e+02] [-3.66608703e-01 9.30365422e-01 -4.27099419e-03 -1.79356060e+01] [-1.14596564e-02 7.47061046e-05 9.99934333e-01 -1.22954469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.01, Y:-17.95, Z:-1.23 [[ 9.26142736e-01 3.77023303e-01 1.06330761e-02 1.02006443e+02] [-3.76999080e-01 9.26203772e-01 -4.27398965e-03 -1.79517585e+01] [-1.14597889e-02 -5.03354286e-05 9.99934333e-01 -1.23193193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.07, Y:-17.97, Z:-1.23 [[ 9.23741093e-01 3.82869895e-01 1.06318520e-02 1.02066250e+02] [-3.82846024e-01 9.23802267e-01 -4.27703238e-03 -1.79709323e+01] [-1.14592759e-02 -1.19491706e-04 9.99934333e-01 -1.23312025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.12, Y:-17.99, Z:-1.23 [[ 9.23027140e-01 3.84587947e-01 1.06306439e-02 1.02124738e+02] [-3.84564154e-01 9.23088345e-01 -4.28003301e-03 -1.79937364e+01] [-1.14590726e-02 -1.37577965e-04 9.99934333e-01 -1.23210383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.18, Y:-18.02, Z:-1.23 [[ 9.23032178e-01 3.84575889e-01 1.06294295e-02 1.02184076e+02] [-3.84552061e-01 9.23093369e-01 -4.28304698e-03 -1.80151940e+01] [-1.14591125e-02 -1.34178836e-04 9.99934333e-01 -1.23189032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:-18.04, Z:-1.23 [[ 9.23124428e-01 3.84354435e-01 1.06282291e-02 1.02242583e+02] [-3.84330558e-01 9.23185600e-01 -4.28602359e-03 -1.80392452e+01] [-1.14591802e-02 -1.28220149e-04 9.99934333e-01 -1.23285961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:-18.06, Z:-1.23 [[ 9.23270878e-01 3.84002543e-01 1.06270080e-02 1.02299480e+02] [-3.83978608e-01 9.23332027e-01 -4.28904915e-03 -1.80642197e+01] [-1.14592626e-02 -1.20589560e-04 9.99934333e-01 -1.23494084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:-18.09, Z:-1.24 [[ 9.24235624e-01 3.81674732e-01 1.06259223e-02 1.02355449e+02] [-3.81650612e-01 9.24296701e-01 -4.29173714e-03 -1.80875993e+01] [-1.14595526e-02 -8.88134057e-05 9.99934333e-01 -1.23823962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:-18.11, Z:-1.24 [[ 9.26077559e-01 3.77183596e-01 1.06249314e-02 1.02413736e+02] [-3.77159152e-01 9.26138507e-01 -4.29418906e-03 -1.81122256e+01] [-1.14598557e-02 -3.05379776e-05 9.99934333e-01 -1.23996934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:-18.14, Z:-1.24 [[ 9.30705034e-01 3.65616297e-01 1.06237372e-02 1.02470476e+02] [-3.65591062e-01 9.30765658e-01 -4.29714145e-03 -1.81409530e+01] [-1.14593147e-02 1.15427830e-04 9.99934333e-01 -1.24013078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.53, Y:-18.17, Z:-1.24 [[ 9.34438228e-01 3.55966798e-01 1.06225112e-02 1.02526255e+02] [-3.55940902e-01 9.34498573e-01 -4.30016985e-03 -1.81673275e+01] [-1.14574393e-02 2.37256867e-04 9.99934333e-01 -1.24056474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.58, Y:-18.19, Z:-1.24 [[ 9.39051877e-01 3.43611347e-01 1.06214537e-02 1.02583441e+02] [-3.43584628e-01 9.39111862e-01 -4.30278044e-03 -1.81938452e+01] [-1.14532173e-02 3.91165841e-04 9.99934333e-01 -1.24017889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.64, Y:-18.22, Z:-1.24 [[ 9.41133535e-01 3.37868140e-01 1.06202334e-02 1.02640416e+02] [-3.37841021e-01 9.41193341e-01 -4.30579030e-03 -1.82174880e+01] [-1.14504823e-02 4.64373159e-04 9.99934333e-01 -1.23881010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:-18.24, Z:-1.24 [[ 9.40974965e-01 3.38309544e-01 1.06191612e-02 1.02699135e+02] [-3.38282424e-01 9.41034770e-01 -4.30843281e-03 -1.82406352e+01] [-1.14505839e-02 4.61851804e-04 9.99934333e-01 -1.23889362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.76, Y:-18.26, Z:-1.23 [[ 9.39508017e-01 3.42362300e-01 1.06179390e-02 1.02758247e+02] [-3.42335404e-01 9.39567923e-01 -4.31144276e-03 -1.82614962e+01] [-1.14523504e-02 4.15738593e-04 9.99934333e-01 -1.23258781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:-18.28, Z:-1.24 [[ 9.37757001e-01 3.47129766e-01 1.06175368e-02 1.02816496e+02] [-3.47103163e-01 9.37817038e-01 -4.31243323e-03 -1.82805581e+01] [-1.14542808e-02 3.58633862e-04 9.99934333e-01 -1.24022009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.88, Y:-18.30, Z:-1.24 [[ 9.34743143e-01 3.55165505e-01 1.06169719e-02 1.02876786e+02] [-3.55139403e-01 9.34803399e-01 -4.31382335e-03 -1.82990815e+01] [-1.14569027e-02 2.61811726e-04 9.99934333e-01 -1.24180209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.94, Y:-18.32, Z:-1.24 [[ 9.32404400e-01 3.61260765e-01 1.06157542e-02 1.02937017e+02] [-3.61235023e-01 9.32464811e-01 -4.31681796e-03 -1.83188667e+01] [-1.14583142e-02 1.90237846e-04 9.99934333e-01 -1.24297122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.00, Y:-18.34, Z:-1.24 [[ 9.31697380e-01 3.63080325e-01 1.06145395e-02 1.02995294e+02] [-3.63054667e-01 9.31757827e-01 -4.31980271e-03 -1.83387767e+01] [-1.14586156e-02 1.71090771e-04 9.99934333e-01 -1.24404897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.037628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:103.05, Y:-18.36, Z:-1.24 [[ 9.31120130e-01 3.64558170e-01 1.06134158e-02 1.03054494e+02] [-3.64532576e-01 9.31180604e-01 -4.32256168e-03 -1.83590997e+01] [-1.14588321e-02 1.55888382e-04 9.99934333e-01 -1.24342982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.12, Y:-18.37, Z:-1.25 [[ 9.32765051e-01 3.60328657e-01 1.06121860e-02 1.03116635e+02] [-3.60302754e-01 9.32825393e-01 -4.32557892e-03 -1.83715633e+01] [-1.14579466e-02 2.11149008e-04 9.99934333e-01 -1.24970098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.157628 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:-18.40, Z:-1.25 [[ 9.29383802e-01 3.68962266e-01 1.06110454e-02 1.03170721e+02] [-3.68936892e-01 9.29444369e-01 -4.32837508e-03 -1.84000715e+01] [-1.14593835e-02 1.07915579e-04 9.99934333e-01 -1.24614293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217628 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:-18.42, Z:-1.25 [[ 9.27834162e-01 3.72842053e-01 1.06100063e-02 1.03228637e+02] [-3.72816903e-01 9.27894821e-01 -4.33092075e-03 -1.84220352e+01] [-1.14597193e-02 6.27865400e-05 9.99934333e-01 -1.24754672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27762799999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:-18.44, Z:-1.25 [[ 9.28258105e-01 3.71785342e-01 1.06089580e-02 1.03288087e+02] [-3.71760094e-01 9.28318724e-01 -4.33348697e-03 -1.84391515e+01] [-1.14596213e-02 7.86071554e-05 9.99934333e-01 -1.25273585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.337628 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:-18.47, Z:-1.25 [[ 9.23923007e-01 3.82431365e-01 1.06079364e-02 1.03342665e+02] [-3.82406787e-01 9.23983900e-01 -4.33598633e-03 -1.84676214e+01] [-1.14597797e-02 -5.04293653e-05 9.99934333e-01 -1.24977867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:-18.49, Z:-1.25 [[ 9.22416064e-01 3.86051938e-01 1.06069257e-02 1.03400208e+02] [-3.86027570e-01 9.22477042e-01 -4.33845755e-03 -1.84932000e+01] [-1.14595153e-02 -9.27028046e-05 9.99934333e-01 -1.25076742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:-18.52, Z:-1.25 [[ 9.20690218e-01 3.90150025e-01 1.06056890e-02 1.03456462e+02] [-3.90125894e-01 9.20751290e-01 -4.34147855e-03 -1.85202857e+01] [-1.14590298e-02 -1.40397069e-04 9.99934333e-01 -1.25161169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.51, Y:-18.55, Z:-1.25 [[ 9.19930971e-01 3.91936923e-01 1.06045471e-02 1.03513150e+02] [-3.91912878e-01 9.19992078e-01 -4.34426603e-03 -1.85481512e+01] [-1.14587776e-02 -1.59633702e-04 9.99934333e-01 -1.25213943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:-18.58, Z:-1.25 [[ 9.20749786e-01 3.90009489e-01 1.06033037e-02 1.03570086e+02] [-3.89985282e-01 9.20810828e-01 -4.34729872e-03 -1.85760920e+01] [-1.14591246e-02 -1.32358013e-04 9.99934333e-01 -1.25261836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.62, Y:-18.61, Z:-1.25 [[ 9.23958582e-01 3.82345570e-01 1.06020638e-02 1.03624352e+02] [-3.82320821e-01 9.24019407e-01 -4.35032054e-03 -1.86077545e+01] [-1.14598384e-02 -3.38737282e-05 9.99934333e-01 -1.25138714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.68, Y:-18.64, Z:-1.25 [[ 9.27022347e-01 3.74856224e-01 1.06009204e-02 1.03680498e+02] [-3.74830953e-01 9.27082956e-01 -4.35310478e-03 -1.86360615e+01] [-1.14597211e-02 6.18722956e-05 9.99934333e-01 -1.25156935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.757628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:103.74, Y:-18.66, Z:-1.25 [[ 9.29627943e-01 3.68347031e-01 1.05996856e-02 1.03736386e+02] [-3.68321301e-01 9.29688358e-01 -4.35610956e-03 -1.86647275e+01] [-1.14589643e-02 1.45471191e-04 9.99934333e-01 -1.25245221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.817628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.79, Y:-18.69, Z:-1.25 [[ 9.31744409e-01 3.62960093e-01 1.05984482e-02 1.03792301e+02] [-3.62933979e-01 9.31804660e-01 -4.35911807e-03 -1.86929334e+01] [-1.14578693e-02 2.15046911e-04 9.99934333e-01 -1.25290377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.85, Y:-18.72, Z:-1.25 [[ 9.33432083e-01 3.58597610e-01 1.05972292e-02 1.03848374e+02] [-3.58571181e-01 9.33492196e-01 -4.36207953e-03 -1.87214619e+01] [-1.14566620e-02 2.71843999e-04 9.99934333e-01 -1.25396363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:-18.75, Z:-1.26 [[ 9.33914633e-01 3.57339030e-01 1.05960008e-02 1.03903644e+02] [-3.57312486e-01 9.33974696e-01 -4.36506127e-03 -1.87478758e+01] [-1.14562034e-02 2.90511192e-04 9.99934333e-01 -1.25718114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99762799999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:-18.77, Z:-1.26 [[ 9.33243190e-01 3.59088965e-01 1.05954031e-02 1.03960327e+02] [-3.59062518e-01 9.33303296e-01 -4.36651175e-03 -1.87747543e+01] [-1.14566908e-02 2.70605255e-04 9.99934333e-01 -1.25843826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.02, Y:-18.80, Z:-1.26 [[ 9.32156113e-01 3.61901566e-01 1.05941910e-02 1.04017000e+02] [-3.61875266e-01 9.32216284e-01 -4.36945061e-03 -1.88001287e+01] [-1.14573884e-02 2.39234411e-04 9.99934333e-01 -1.25984097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:-18.83, Z:-1.26 [[ 9.29655142e-01 3.68278570e-01 1.05930695e-02 1.04073384e+02] [-3.68252652e-01 9.29715477e-01 -4.37216769e-03 -1.88273437e+01] [-1.14587164e-02 1.63682220e-04 9.99934333e-01 -1.26058897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.13, Y:-18.85, Z:-1.26 [[ 9.26737833e-01 3.75559319e-01 1.05918390e-02 1.04131868e+02] [-3.75533842e-01 9.26798356e-01 -4.37514679e-03 -1.88511134e+01] [-1.14596261e-02 7.70200784e-05 9.99934333e-01 -1.26238547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.19, Y:-18.88, Z:-1.26 [[ 9.21926969e-01 3.87218934e-01 1.05906207e-02 1.04190212e+02] [-3.87194188e-01 9.21987795e-01 -4.37809389e-03 -1.88752590e+01] [-1.14597038e-02 -6.43439296e-05 9.99934333e-01 -1.26327843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.25, Y:-18.90, Z:-1.26 [[ 9.19992569e-01 3.91792723e-01 1.05894112e-02 1.04248034e+02] [-3.91768246e-01 9.20053503e-01 -4.38101735e-03 -1.89008759e+01] [-1.14592756e-02 -1.18091636e-04 9.99934333e-01 -1.26317537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.31, Y:-18.93, Z:-1.26 [[ 9.17893520e-01 3.96685488e-01 1.05882046e-02 1.04305940e+02] [-3.96661302e-01 9.17954570e-01 -4.38393138e-03 -1.89259194e+01] [-1.14585328e-02 -1.75948829e-04 9.99934333e-01 -1.26363938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.36, Y:-18.95, Z:-1.27 [[ 9.16885423e-01 3.99010071e-01 1.05869584e-02 1.04362525e+02] [-3.98986005e-01 9.16946521e-01 -4.38693886e-03 -1.89496306e+01] [-1.14581075e-02 -2.01727948e-04 9.99934333e-01 -1.26736313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.42, Y:-18.97, Z:-1.27 [[ 9.16696047e-01 3.99444983e-01 1.05859602e-02 1.04419368e+02] [-3.99420919e-01 9.16757145e-01 -4.38934638e-03 -1.89744203e+01] [-1.14580570e-02 -2.04557464e-04 9.99934333e-01 -1.27045832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.48, Y:-19.00, Z:-1.27 [[ 9.16779098e-01 3.99254363e-01 1.05848537e-02 1.04475351e+02] [-3.99230255e-01 9.16840179e-01 -4.39201294e-03 -1.89987388e+01] [-1.14581495e-02 -1.99288200e-04 9.99934333e-01 -1.27279984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.53, Y:-19.02, Z:-1.27 [[ 9.16796644e-01 3.99214097e-01 1.05838426e-02 1.04532960e+02] [-3.99189958e-01 9.16857713e-01 -4.39444826e-03 -1.90223821e+01] [-1.14582034e-02 -1.96148264e-04 9.99934333e-01 -1.27278366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.657628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:104.59, Y:-19.04, Z:-1.27 [[ 9.17017799e-01 3.98705858e-01 1.05827472e-02 1.04591614e+02] [-3.98681655e-01 9.17078843e-01 -4.39708469e-03 -1.90445549e+01] [-1.14583569e-02 -1.86942224e-04 9.99934333e-01 -1.27340356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.65, Y:-19.07, Z:-1.27 [[ 9.19016273e-01 3.94077558e-01 1.05815012e-02 1.04649916e+02] [-3.94053012e-01 9.19077180e-01 -4.40008100e-03 -1.90686433e+01] [-1.14591895e-02 -1.25926380e-04 9.99934333e-01 -1.27218231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.71, Y:-19.09, Z:-1.27 [[ 9.21327577e-01 3.88643223e-01 1.05802591e-02 1.04706910e+02] [-3.88618284e-01 9.21388323e-01 -4.40306560e-03 -1.90946004e+01] [-1.14597488e-02 -5.50163901e-05 9.99934333e-01 -1.27223375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.76, Y:-19.12, Z:-1.27 [[ 9.24015964e-01 3.82207512e-01 1.05790179e-02 1.04763092e+02] [-3.82182116e-01 9.24076521e-01 -4.40604583e-03 -1.91202998e+01] [-1.14598459e-02 2.81452458e-05 9.99934333e-01 -1.27098469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.82, Y:-19.14, Z:-1.27 [[ 9.25028822e-01 3.79749637e-01 1.05779213e-02 1.04820798e+02] [-3.79724050e-01 9.25089298e-01 -4.40867689e-03 -1.91441206e+01] [-1.14597153e-02 6.14620653e-05 9.99934333e-01 -1.27009293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.88, Y:-19.17, Z:-1.27 [[ 9.24690992e-01 3.80571545e-01 1.05768209e-02 1.04879364e+02] [-3.80545981e-01 9.24751478e-01 -4.41131544e-03 -1.91668269e+01] [-1.14597519e-02 5.41369686e-05 9.99934333e-01 -1.26957194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.94, Y:-19.19, Z:-1.27 [[ 9.23661533e-01 3.83063351e-01 1.05755600e-02 1.04937386e+02] [-3.83037916e-01 9.23722073e-01 -4.41433607e-03 -1.91901747e+01] [-1.14598486e-02 2.65119490e-05 9.99934333e-01 -1.27022119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.00, Y:-19.21, Z:-1.27 [[ 9.21964498e-01 3.87130014e-01 1.05743061e-02 1.04995440e+02] [-3.87104812e-01 9.22025136e-01 -4.41733772e-03 -1.92130963e+01] [-1.14598600e-02 -2.07362206e-05 9.99934333e-01 -1.27200011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.05, Y:-19.24, Z:-1.27 [[ 9.20890926e-01 3.89676930e-01 1.05732258e-02 1.05051595e+02] [-3.89651865e-01 9.20951621e-01 -4.41992201e-03 -1.92364142e+01] [-1.14597711e-02 -4.96110798e-05 9.99934333e-01 -1.27438231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.11, Y:-19.26, Z:-1.28 [[ 9.20126520e-01 3.91478499e-01 1.05722372e-02 1.05109044e+02] [-3.91453526e-01 9.20187253e-01 -4.42228535e-03 -1.92610708e+01] [-1.14596676e-02 -6.94775207e-05 9.99934333e-01 -1.27520894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.17, Y:-19.29, Z:-1.28 [[ 9.20392889e-01 3.90851870e-01 1.05709687e-02 1.05166757e+02] [-3.90826821e-01 9.20453591e-01 -4.42531555e-03 -1.92870574e+01] [-1.14597290e-02 -5.83891243e-05 9.99934333e-01 -1.27558859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.22, Y:-19.31, Z:-1.27 [[ 9.21931416e-01 3.87208918e-01 1.05696958e-02 1.05222141e+02] [-3.87183595e-01 9.21992003e-01 -4.42835371e-03 -1.93129939e+01] [-1.14598731e-02 -9.77441883e-06 9.99934333e-01 -1.27379673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.28, Y:-19.34, Z:-1.27 [[ 9.23664945e-01 3.83055312e-01 1.05686818e-02 1.05278593e+02] [-3.83029688e-01 9.23725406e-01 -4.43077246e-03 -1.93391873e+01] [-1.14597908e-02 4.44303089e-05 9.99934333e-01 -1.27157813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.34, Y:-19.36, Z:-1.27 [[ 9.24787917e-01 3.80336213e-01 1.05676039e-02 1.05336458e+02] [-3.80310383e-01 9.24848289e-01 -4.43334167e-03 -1.93639917e+01] [-1.14595908e-02 8.09313050e-05 9.99934333e-01 -1.27227538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.39, Y:-19.39, Z:-1.27 [[ 9.26895782e-01 3.75170043e-01 1.05663609e-02 1.05394669e+02] [-3.75143842e-01 9.26955995e-01 -4.43630241e-03 -1.93875805e+01] [-1.14589193e-02 1.48084770e-04 9.99934333e-01 -1.27436758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.45, Y:-19.41, Z:-1.28 [[ 9.28447746e-01 3.71312753e-01 1.05651049e-02 1.05452174e+02] [-3.71286268e-01 9.28507835e-01 -4.43929152e-03 -1.94110157e+01] [-1.14581482e-02 1.98971833e-04 9.99934333e-01 -1.27520646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.51, Y:-19.43, Z:-1.28 [[ 9.28703787e-01 3.70671927e-01 1.05639958e-02 1.05508588e+02] [-3.70645371e-01 9.28763844e-01 -4.44192926e-03 -1.94332138e+01] [-1.14579558e-02 2.09740393e-04 9.99934333e-01 -1.27797333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.57, Y:-19.46, Z:-1.28 [[ 9.28269372e-01 3.71758518e-01 1.05629827e-02 1.05566925e+02] [-3.71732004e-01 9.28329448e-01 -4.44433699e-03 -1.94553467e+01] [-1.14581481e-02 1.98943165e-04 9.99934333e-01 -1.27964251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.63, Y:-19.48, Z:-1.28 [[ 9.27630272e-01 3.73350403e-01 1.05619511e-02 1.05625494e+02] [-3.73323965e-01 9.27690381e-01 -4.44678727e-03 -1.94774221e+01] [-1.14584303e-02 1.81945006e-04 9.99934333e-01 -1.27863013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.68, Y:-19.50, Z:-1.28 [[ 9.26661058e-01 3.75749591e-01 1.05606951e-02 1.05682559e+02] [-3.75723275e-01 9.26721220e-01 -4.44976815e-03 -1.94981906e+01] [-1.14588188e-02 1.55527909e-04 9.99934333e-01 -1.27830283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.74, Y:-19.52, Z:-1.28 [[ 9.24814654e-01 3.80271414e-01 1.05596913e-02 1.05741044e+02] [-3.80245364e-01 9.24874933e-01 -4.45214912e-03 -1.95204666e+01] [-1.14594188e-02 1.02139102e-04 9.99934333e-01 -1.27823499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:-19.54, Z:-1.28 [[ 9.24244451e-01 3.81655228e-01 1.05584578e-02 1.05800236e+02] [-3.81629235e-01 9.24304755e-01 -4.45507245e-03 -1.95388768e+01] [-1.14595344e-02 8.81598209e-05 9.99934333e-01 -1.28122325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:-19.56, Z:-1.28 [[ 9.18565315e-01 3.95128213e-01 1.05573636e-02 1.05856685e+02] [-3.95103075e-01 9.18625979e-01 -4.45766380e-03 -1.95638095e+01] [-1.14596172e-02 -7.65914746e-05 9.99934333e-01 -1.27852696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:-19.59, Z:-1.28 [[ 9.14356486e-01 4.04772506e-01 1.05562693e-02 1.05915346e+02] [-4.04747978e-01 9.14417400e-01 -4.46025374e-03 -1.95873266e+01] [-1.14582244e-02 -1.94366724e-04 9.99934334e-01 -1.27856583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:-19.61, Z:-1.28 [[ 9.12754066e-01 4.08373122e-01 1.05549746e-02 1.05972868e+02] [-4.08348799e-01 9.12815062e-01 -4.46331554e-03 -1.96121356e+01] [-1.14574379e-02 -2.36201790e-04 9.99934334e-01 -1.27828570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:-19.64, Z:-1.28 [[ 9.12088670e-01 4.09857142e-01 1.05536929e-02 1.06030608e+02] [-4.09832883e-01 9.12149691e-01 -4.46634418e-03 -1.96376426e+01] [-1.14571108e-02 -2.51548454e-04 9.99934334e-01 -1.27802666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.09, Y:-19.66, Z:-1.28 [[ 9.12853401e-01 4.08151093e-01 1.05524293e-02 1.06087609e+02] [-4.08126685e-01 9.12914363e-01 -4.46932749e-03 -1.96642422e+01] [-1.14576252e-02 -2.26887201e-04 9.99934334e-01 -1.27901851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.14, Y:-19.69, Z:-1.28 [[ 9.14302372e-01 4.04894858e-01 1.05511664e-02 1.06144574e+02] [-4.04870199e-01 9.14363232e-01 -4.47230716e-03 -1.96913146e+01] [-1.14584127e-02 -1.82811777e-04 9.99934334e-01 -1.27999142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.20, Y:-19.72, Z:-1.28 [[ 9.18190475e-01 3.95998676e-01 1.05499048e-02 1.06199741e+02] [-3.95973393e-01 9.18251079e-01 -4.47528100e-03 -1.97191877e+01] [-1.14596669e-02 -6.83212333e-05 9.99934334e-01 -1.28125728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.25, Y:-19.75, Z:-1.28 [[ 9.21447908e-01 3.88358695e-01 1.05487729e-02 1.06254149e+02] [-3.88332879e-01 9.21508287e-01 -4.47794764e-03 -1.97464935e+01] [-1.14598315e-02 2.97601466e-05 9.99934334e-01 -1.28252711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.31, Y:-19.78, Z:-1.28 [[ 9.26451002e-01 3.76267561e-01 1.05481402e-02 1.06309047e+02] [-3.76240940e-01 9.26511031e-01 -4.47943748e-03 -1.97754416e+01] [-1.14584352e-02 1.81337173e-04 9.99934334e-01 -1.28291448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.37, Y:-19.80, Z:-1.28 [[ 9.30944393e-01 3.65008627e-01 1.05470334e-02 1.06366189e+02] [-3.64981251e-01 9.31004080e-01 -4.48204201e-03 -1.98027930e+01] [-1.14553151e-02 3.23062447e-04 9.99934334e-01 -1.28412987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.42, Y:-19.83, Z:-1.28 [[ 9.33257809e-01 3.59052433e-01 1.05457568e-02 1.06422388e+02] [-3.59024642e-01 9.33317304e-01 -4.48504369e-03 -1.98281741e+01] [-1.14529031e-02 3.99515498e-04 9.99934334e-01 -1.28213597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.48, Y:-19.85, Z:-1.28 [[ 9.33589005e-01 3.58190424e-01 1.05446393e-02 1.06480065e+02] [-3.58162548e-01 9.33648462e-01 -4.48766945e-03 -1.98518360e+01] [-1.14524265e-02 4.12943986e-04 9.99934334e-01 -1.28114828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.54, Y:-19.87, Z:-1.28 [[ 9.33523688e-01 3.58360656e-01 1.05434592e-02 1.06539387e+02] [-3.58332760e-01 9.33583135e-01 -4.49044022e-03 -1.98728627e+01] [-1.14523928e-02 4.13865480e-04 9.99934334e-01 -1.28055067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.60, Y:-19.89, Z:-1.28 [[ 9.32936729e-01 3.59885984e-01 1.05422038e-02 1.06598523e+02] [-3.59858152e-01 9.32996206e-01 -4.49338559e-03 -1.98940103e+01] [-1.14529426e-02 3.98346469e-04 9.99934334e-01 -1.28115039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:-19.91, Z:-1.28 [[ 9.31465803e-01 3.63676155e-01 1.05409562e-02 1.06659404e+02] [-3.63648532e-01 9.31525377e-01 -4.49631038e-03 -1.99110071e+01] [-1.14543691e-02 3.54956110e-04 9.99934334e-01 -1.28292499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.72, Y:-19.93, Z:-1.28 [[ 9.29977798e-01 3.67464569e-01 1.05396989e-02 1.06720748e+02] [-3.67437155e-01 9.30037469e-01 -4.49925577e-03 -1.99282126e+01] [-1.14556319e-02 3.11531002e-04 9.99934334e-01 -1.28383247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.78, Y:-19.95, Z:-1.28 [[ 9.30062914e-01 3.67249123e-01 1.05384336e-02 1.06781356e+02] [-3.67221662e-01 9.30122562e-01 -4.50221733e-03 -1.99457962e+01] [-1.14554703e-02 3.17404254e-04 9.99934334e-01 -1.28483148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:-19.97, Z:-1.28 [[ 9.28132524e-01 3.72100773e-01 1.05371579e-02 1.06839480e+02] [-3.72073590e-01 9.28192300e-01 -4.50520109e-03 -1.99662260e+01] [-1.14568977e-02 2.60825483e-04 9.99934334e-01 -1.28494439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:-19.98, Z:-1.29 [[ 9.27198843e-01 3.74421270e-01 1.05365367e-02 1.06899905e+02] [-3.74394221e-01 9.27258679e-01 -4.50665352e-03 -1.99836031e+01] [-1.14574820e-02 2.33745482e-04 9.99934334e-01 -1.28688995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:-20.00, Z:-1.29 [[ 9.26693490e-01 3.75670298e-01 1.05357680e-02 1.06959806e+02] [-3.75643309e-01 9.26753354e-01 -4.50844995e-03 -2.00046561e+01] [-1.14577490e-02 2.20260476e-04 9.99934334e-01 -1.28736632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:-20.02, Z:-1.29 [[ 9.25984858e-01 3.77413652e-01 1.05345589e-02 1.07019822e+02] [-3.77386743e-01 9.26044758e-01 -4.51127335e-03 -2.00227714e+01] [-1.14580892e-02 2.01767939e-04 9.99934334e-01 -1.28691687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:-20.04, Z:-1.29 [[ 9.25402649e-01 3.78838994e-01 1.05335146e-02 1.07080049e+02] [-3.78812149e-01 9.25462577e-01 -4.51371034e-03 -2.00430847e+01] [-1.14583431e-02 1.86776197e-04 9.99934334e-01 -1.28829516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.14, Y:-20.06, Z:-1.29 [[ 9.23555078e-01 3.83321128e-01 1.05323307e-02 1.07139617e+02] [-3.83294543e-01 9.23615123e-01 -4.51647114e-03 -2.00629078e+01] [-1.14590788e-02 1.34224962e-04 9.99934334e-01 -1.28889874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.20, Y:-20.08, Z:-1.29 [[ 9.20899814e-01 3.89657064e-01 1.05311559e-02 1.07198514e+02] [-3.89630861e-01 9.20960026e-01 -4.51920890e-03 -2.00820486e+01] [-1.14597153e-02 5.84753055e-05 9.99934334e-01 -1.28961900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.26, Y:-20.10, Z:-1.29 [[ 9.20498634e-01 3.90603869e-01 1.05300685e-02 1.07260001e+02] [-3.90577699e-01 9.20558860e-01 -4.52174112e-03 -2.00990157e+01] [-1.14597574e-02 4.94465945e-05 9.99934334e-01 -1.29137211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:-20.12, Z:-1.29 [[ 9.18936519e-01 3.94264911e-01 1.05286990e-02 1.07315972e+02] [-3.94238945e-01 9.18996833e-01 -4.52492770e-03 -2.01242549e+01] [-1.14598613e-02 7.29812738e-06 9.99934334e-01 -1.29169791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.37, Y:-20.15, Z:-1.29 [[ 9.19063842e-01 3.93968037e-01 1.05280255e-02 1.07374223e+02] [-3.93942033e-01 9.19124140e-01 -4.52649413e-03 -2.01479407e+01] [-1.14598564e-02 1.27053016e-05 9.99934334e-01 -1.29253292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:-20.17, Z:-1.29 [[ 9.19754727e-01 3.92352430e-01 1.05267339e-02 1.07432271e+02] [-3.92326286e-01 9.19814965e-01 -4.52949597e-03 -2.01715585e+01] [-1.14598061e-02 3.61109265e-05 9.99934334e-01 -1.29275905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:-20.19, Z:-1.29 [[ 9.20636836e-01 3.90278146e-01 1.05254536e-02 1.07491261e+02] [-3.90251832e-01 9.20696999e-01 -4.53246911e-03 -2.01936937e+01] [-1.14596772e-02 6.51804712e-05 9.99934334e-01 -1.29288492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:-20.22, Z:-1.29 [[ 9.21191955e-01 3.88966097e-01 1.05241793e-02 1.07549347e+02] [-3.88939663e-01 9.21252066e-01 -4.53542594e-03 -2.02174031e+01] [-1.14595489e-02 8.47271240e-05 9.99934334e-01 -1.29249556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:-20.24, Z:-1.29 [[ 9.21064848e-01 3.89267022e-01 1.05228931e-02 1.07608432e+02] [-3.89240574e-01 9.21124953e-01 -4.53840822e-03 -2.02404743e+01] [-1.14595521e-02 8.42313155e-05 9.99934334e-01 -1.29317988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.67, Y:-20.26, Z:-1.29 [[ 9.20532831e-01 3.90523499e-01 1.05216107e-02 1.07665823e+02] [-3.90497099e-01 9.20592956e-01 -4.54137944e-03 -2.02641077e+01] [-1.14596361e-02 7.18304331e-05 9.99934334e-01 -1.29374436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:-20.28, Z:-1.30 [[ 9.21366982e-01 3.88551419e-01 1.05204250e-02 1.07725915e+02] [-3.88524859e-01 9.21427037e-01 -4.54412451e-03 -2.02811200e+01] [-1.14594300e-02 9.93596517e-05 9.99934334e-01 -1.29793576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:-20.31, Z:-1.30 [[ 9.18955538e-01 3.94220834e-01 1.05192245e-02 1.07780319e+02] [-3.94194613e-01 9.19015741e-01 -4.54690181e-03 -2.03094466e+01] [-1.14598163e-02 3.17789679e-05 9.99934334e-01 -1.29555721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:-20.33, Z:-1.30 [[ 9.18941557e-01 3.94253451e-01 1.05181321e-02 1.07837252e+02] [-3.94227203e-01 9.19001749e-01 -4.54942734e-03 -2.03340994e+01] [-1.14598093e-02 3.41240325e-05 9.99934334e-01 -1.29706254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:-20.36, Z:-1.30 [[ 9.19536810e-01 3.92863142e-01 1.05169456e-02 1.07895104e+02] [-3.92836772e-01 9.19596949e-01 -4.55216849e-03 -2.03597322e+01] [-1.14597303e-02 5.44435232e-05 9.99934334e-01 -1.29746120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.95, Y:-20.38, Z:-1.30 [[ 9.19484772e-01 3.92984956e-01 1.05156593e-02 1.07951332e+02] [-3.92958560e-01 9.19544899e-01 -4.55513813e-03 -2.03842295e+01] [-1.14597216e-02 5.61618290e-05 9.99934334e-01 -1.29760860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:-20.41, Z:-1.30 [[ 9.17892627e-01 3.96689499e-01 1.05150476e-02 1.08008545e+02] [-3.96663329e-01 9.17952854e-01 -4.55654956e-03 -2.04096738e+01] [-1.14598533e-02 1.14894418e-05 9.99934334e-01 -1.29683038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.07, Y:-20.43, Z:-1.30 [[ 9.14576352e-01 4.04276585e-01 1.05137255e-02 1.08065325e+02] [-4.04250880e-01 9.14636778e-01 -4.55959826e-03 -2.04330943e+01] [-1.14595788e-02 -8.00820256e-05 9.99934334e-01 -1.30021884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.12, Y:-20.46, Z:-1.30 [[ 9.11654235e-01 4.10823601e-01 1.05130806e-02 1.08123368e+02] [-4.10798312e-01 9.11714836e-01 -4.56108463e-03 -2.04574374e+01] [-1.14587328e-02 -1.60623660e-04 9.99934334e-01 -1.30200548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.18, Y:-20.48, Z:-1.30 [[ 9.08764620e-01 4.17176663e-01 1.05117467e-02 1.08180734e+02] [-4.17151763e-01 9.08825382e-01 -4.56415672e-03 -2.04838012e+01] [-1.14574019e-02 -2.37249529e-04 9.99934334e-01 -1.30249256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.24, Y:-20.51, Z:-1.30 [[ 9.08647360e-01 4.17432037e-01 1.05104197e-02 1.08237678e+02] [-4.17407118e-01 9.08708115e-01 -4.56721060e-03 -2.05115183e+01] [-1.14574037e-02 -2.37140136e-04 9.99934334e-01 -1.30285389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.29, Y:-20.54, Z:-1.30 [[ 9.09899509e-01 4.14695602e-01 1.05091042e-02 1.08293795e+02] [-4.14670465e-01 9.09960174e-01 -4.57023549e-03 -2.05394970e+01] [-1.14581229e-02 -1.99360102e-04 9.99934334e-01 -1.30309455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.35, Y:-20.57, Z:-1.30 [[ 9.11956648e-01 4.10151995e-01 1.05077736e-02 1.08347465e+02] [-4.10126521e-01 9.12017172e-01 -4.57329285e-03 -2.05706858e+01] [-1.14590151e-02 -1.38871797e-04 9.99934334e-01 -1.30142419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.40, Y:-20.60, Z:-1.30 [[ 9.13109829e-01 4.07578279e-01 1.05065447e-02 1.08403232e+02] [-4.07552602e-01 9.13170267e-01 -4.57611434e-03 -2.06007028e+01] [-1.14593890e-02 -1.03474633e-04 9.99934334e-01 -1.30270050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.46, Y:-20.63, Z:-1.31 [[ 9.12938745e-01 4.07961380e-01 1.05052466e-02 1.08458298e+02] [-4.07935694e-01 9.12999179e-01 -4.57909235e-03 -2.06287658e+01] [-1.14593744e-02 -1.05034242e-04 9.99934334e-01 -1.30524782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.51, Y:-20.66, Z:-1.31 [[ 9.12212354e-01 4.09583061e-01 1.05041225e-02 1.08513017e+02] [-4.09557453e-01 9.12272822e-01 -4.58166950e-03 -2.06599914e+01] [-1.14591997e-02 -1.22586139e-04 9.99934334e-01 -1.30769053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:-20.69, Z:-1.31 [[ 9.12128475e-01 4.09769833e-01 1.05037228e-02 1.08566202e+02] [-4.09744227e-01 9.12188943e-01 -4.58258575e-03 -2.06908209e+01] [-1.14591852e-02 -1.23932799e-04 9.99934334e-01 -1.31053633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.62, Y:-20.73, Z:-1.31 [[ 9.12890297e-01 4.08069846e-01 1.05027007e-02 1.08619566e+02] [-4.08044101e-01 9.12950705e-01 -4.58492692e-03 -2.07265013e+01] [-1.14594185e-02 -1.00029777e-04 9.99934334e-01 -1.31001381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:-20.76, Z:-1.31 [[ 9.13777410e-01 4.06079506e-01 1.05014629e-02 1.08674331e+02] [-4.06053596e-01 9.13837748e-01 -4.58776024e-03 -2.07592629e+01] [-1.14596287e-02 -7.19651192e-05 9.99934334e-01 -1.30861910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:-20.79, Z:-1.31 [[ 9.15029845e-01 4.03249461e-01 1.05002332e-02 1.08726973e+02] [-4.03223332e-01 9.15090089e-01 -4.59057312e-03 -2.07940236e+01] [-1.14598055e-02 -3.34275989e-05 9.99934334e-01 -1.30766156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:-20.83, Z:-1.31 [[ 9.15583519e-01 4.01990781e-01 1.04991123e-02 1.08778377e+02] [-4.01964540e-01 9.15643715e-01 -4.59313531e-03 -2.08322847e+01] [-1.14598442e-02 -1.48718404e-05 9.99934334e-01 -1.30560407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:-20.86, Z:-1.31 [[ 9.15333189e-01 4.02560486e-01 1.04979930e-02 1.08832587e+02] [-4.02534254e-01 9.15393388e-01 -4.59569212e-03 -2.08640174e+01] [-1.14598374e-02 -1.92122504e-05 9.99934334e-01 -1.30731168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:-20.90, Z:-1.31 [[ 9.13849687e-01 4.05916948e-01 1.04967318e-02 1.08885916e+02] [-4.05890903e-01 9.13909967e-01 -4.59857101e-03 -2.08983794e+01] [-1.14597057e-02 -5.81252513e-05 9.99934334e-01 -1.31022991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.94, Y:-20.93, Z:-1.31 [[ 9.10410173e-01 4.13573625e-01 1.04963355e-02 1.08940318e+02] [-4.13548076e-01 9.10470666e-01 -4.59947541e-03 -2.09281762e+01] [-1.14588272e-02 -1.53330131e-04 9.99934334e-01 -1.30959849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.00, Y:-20.95, Z:-1.31 [[ 9.09119322e-01 4.16403540e-01 1.04952018e-02 1.08998336e+02] [-4.16378150e-01 9.09179882e-01 -4.60206075e-03 -2.09510323e+01] [-1.14583407e-02 -1.86150362e-04 9.99934334e-01 -1.31102324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.06, Y:-20.97, Z:-1.31 [[ 9.10559586e-01 4.13244619e-01 1.04940616e-02 1.09056174e+02] [-4.13218989e-01 9.10620044e-01 -4.60465920e-03 -2.09736148e+01] [-1.14589535e-02 -1.43528959e-04 9.99934334e-01 -1.31105844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.11, Y:-21.00, Z:-1.31 [[ 9.14480507e-01 4.04493883e-01 1.04929315e-02 1.09110941e+02] [-4.04467645e-01 9.14540703e-01 -4.60723303e-03 -2.10021020e+01] [-1.14598105e-02 -3.08265024e-05 9.99934334e-01 -1.30888285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.17, Y:-21.03, Z:-1.31 [[ 9.15636725e-01 4.01869765e-01 1.04918864e-02 1.09167932e+02] [-4.01843327e-01 9.15696834e-01 -4.60961181e-03 -2.10286530e+01] [-1.14598508e-02 4.63531455e-06 9.99934334e-01 -1.30897719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:-21.05, Z:-1.31 [[ 9.17423509e-01 3.97773871e-01 1.04905771e-02 1.09226402e+02] [-3.97747131e-01 9.17483484e-01 -4.61258969e-03 -2.10526462e+01] [-1.14596988e-02 5.91012892e-05 9.99934334e-01 -1.30959750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.28, Y:-21.08, Z:-1.31 [[ 9.18431721e-01 3.95440450e-01 1.04892654e-02 1.09283675e+02] [-3.95413524e-01 9.18491612e-01 -4.61557050e-03 -2.10767563e+01] [-1.14594856e-02 9.14889578e-05 9.99934334e-01 -1.31228451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.34, Y:-21.10, Z:-1.31 [[ 9.20246134e-01 3.91199505e-01 1.04881258e-02 1.09339390e+02] [-3.91172273e-01 9.20305887e-01 -4.61815873e-03 -2.11005601e+01] [-1.14589053e-02 1.47178722e-04 9.99934334e-01 -1.31451372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:-21.12, Z:-1.32 [[ 9.21862632e-01 3.87374895e-01 1.04870839e-02 1.09396534e+02] [-3.87347388e-01 9.21922259e-01 -4.62052333e-03 -2.11249098e+01] [-1.14581509e-02 1.97343221e-04 9.99934334e-01 -1.31557964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.45, Y:-21.15, Z:-1.32 [[ 9.22176660e-01 3.86626761e-01 1.04860016e-02 1.09454673e+02] [-3.86599177e-01 9.22236252e-01 -4.62297825e-03 -2.11499469e+01] [-1.14579379e-02 2.09323040e-04 9.99934334e-01 -1.31538091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:-21.17, Z:-1.31 [[ 9.21739826e-01 3.87667077e-01 1.04847532e-02 1.09512760e+02] [-3.87639529e-01 9.21799435e-01 -4.62580788e-03 -2.11741290e+01] [-1.14581130e-02 1.99486559e-04 9.99934334e-01 -1.31462718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.57, Y:-21.20, Z:-1.32 [[ 9.21432666e-01 3.88396627e-01 1.04834378e-02 1.09570705e+02] [-3.88369092e-01 9.21492280e-01 -4.62878704e-03 -2.11993538e+01] [-1.14582123e-02 1.93672349e-04 9.99934334e-01 -1.31524476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:-21.23, Z:-1.32 [[ 9.21392143e-01 3.88492786e-01 1.04821177e-02 1.09627011e+02] [-3.88465223e-01 9.21451744e-01 -4.63177467e-03 -2.12255209e+01] [-1.14581767e-02 1.95742611e-04 9.99934334e-01 -1.31516110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:-21.25, Z:-1.32 [[ 9.21835500e-01 3.87439624e-01 1.04808997e-02 1.09684725e+02] [-3.87411962e-01 9.21895055e-01 -4.63452900e-03 -2.12509485e+01] [-1.14578898e-02 2.11847434e-04 9.99934334e-01 -1.31597398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.057628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:109.74, Y:-21.28, Z:-1.32 [[ 9.22893101e-01 3.84913629e-01 1.04795819e-02 1.09741816e+02] [-3.84885771e-01 9.22952565e-01 -4.63750706e-03 -2.12771415e+01] [-1.14571966e-02 2.46481334e-04 9.99934334e-01 -1.31938810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.80, Y:-21.30, Z:-1.32 [[ 9.23049192e-01 3.84539198e-01 1.04782582e-02 1.09797741e+02] [-3.84511281e-01 9.23108629e-01 -4.64049583e-03 -2.13027411e+01] [-1.14570231e-02 2.54397433e-04 9.99934334e-01 -1.31741557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.85, Y:-21.33, Z:-1.32 [[ 9.22792802e-01 3.85154078e-01 1.04776295e-02 1.09854073e+02] [-3.85126185e-01 9.22852249e-01 -4.64191495e-03 -2.13279961e+01] [-1.14571564e-02 2.48316216e-04 9.99934334e-01 -1.31652266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.91, Y:-21.35, Z:-1.32 [[ 9.22704610e-01 3.85365341e-01 1.04764971e-02 1.09910767e+02] [-3.85337432e-01 9.22764050e-01 -4.64446935e-03 -2.13537244e+01] [-1.14571524e-02 2.48486787e-04 9.99934334e-01 -1.31716855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.97, Y:-21.38, Z:-1.32 [[ 9.23004463e-01 3.84646619e-01 1.04756976e-02 1.09967640e+02] [-3.84618643e-01 9.23063872e-01 -4.64627197e-03 -2.13804678e+01] [-1.14569108e-02 2.59381174e-04 9.99934334e-01 -1.31857964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.03, Y:-21.41, Z:-1.32 [[ 9.22881650e-01 3.84941223e-01 1.04744338e-02 1.10025012e+02] [-3.84913235e-01 9.22941053e-01 -4.64911933e-03 -2.14066139e+01] [-1.14569226e-02 2.58838746e-04 9.99934334e-01 -1.31973269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.08, Y:-21.43, Z:-1.32 [[ 9.22634507e-01 3.85533240e-01 1.04731389e-02 1.10082339e+02] [-3.85505256e-01 9.22693912e-01 -4.65203445e-03 -2.14316918e+01] [-1.14570154e-02 2.54677418e-04 9.99934334e-01 -1.31952982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.14, Y:-21.46, Z:-1.32 [[ 9.22994003e-01 3.84671822e-01 1.04717965e-02 1.10139674e+02] [-3.84643749e-01 9.23053366e-01 -4.65505428e-03 -2.14560643e+01] [-1.14566952e-02 2.68676120e-04 9.99934334e-01 -1.32005676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.20, Y:-21.48, Z:-1.32 [[ 9.24194229e-01 3.81779248e-01 1.04705560e-02 1.10197343e+02] [-3.81750957e-01 9.24253489e-01 -4.65784292e-03 -2.14810189e+01] [-1.14557156e-02 3.07606792e-04 9.99934334e-01 -1.31966211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.25, Y:-21.50, Z:-1.32 [[ 9.25048337e-01 3.79705108e-01 1.04692319e-02 1.10254213e+02] [-3.79676650e-01 9.25107517e-01 -4.66081696e-03 -2.15049519e+01] [-1.14549012e-02 3.36558066e-04 9.99934334e-01 -1.31975028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:-21.53, Z:-1.32 [[ 9.26355943e-01 3.76503757e-01 1.04684157e-02 1.10312649e+02] [-3.76475075e-01 9.26415014e-01 -4.66264965e-03 -2.15287518e+01] [-1.14536025e-02 3.78175648e-04 9.99934334e-01 -1.31911897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:-21.55, Z:-1.32 [[ 9.26663447e-01 3.75746317e-01 1.04670999e-02 1.10371465e+02] [-3.75717553e-01 9.26722479e-01 -4.66560160e-03 -2.15521302e+01] [-1.14531793e-02 3.90769317e-04 9.99934334e-01 -1.32015910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.43, Y:-21.58, Z:-1.32 [[ 9.26064090e-01 3.77221114e-01 1.04657746e-02 1.10429356e+02] [-3.77192411e-01 9.26123150e-01 -4.66857244e-03 -2.15766509e+01] [-1.14536803e-02 3.75786533e-04 9.99934334e-01 -1.32177933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.49, Y:-21.60, Z:-1.32 [[ 9.24902117e-01 3.80061271e-01 1.04644300e-02 1.10487459e+02] [-3.80032714e-01 9.24961249e-01 -4.67158448e-03 -2.15995909e+01] [-1.14546806e-02 3.43932646e-04 9.99934334e-01 -1.32479809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.54, Y:-21.62, Z:-1.33 [[ 9.24260185e-01 3.81619752e-01 1.04630912e-02 1.10544768e+02] [-3.81591261e-01 9.24319348e-01 -4.67458116e-03 -2.16247560e+01] [-1.14551501e-02 3.27905095e-04 9.99934334e-01 -1.32658793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.60, Y:-21.65, Z:-1.33 [[ 9.24204084e-01 3.81755633e-01 1.04617634e-02 1.10602718e+02] [-3.81727118e-01 9.24263235e-01 -4.67755087e-03 -2.16504067e+01] [-1.14551047e-02 3.29472830e-04 9.99934334e-01 -1.32754814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.66, Y:-21.68, Z:-1.33 [[ 9.24083933e-01 3.82046416e-01 1.04604568e-02 1.10660087e+02] [-3.82017886e-01 9.24143078e-01 -4.68047092e-03 -2.16760244e+01] [-1.14551159e-02 3.29066381e-04 9.99934334e-01 -1.32795943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.72, Y:-21.70, Z:-1.33 [[ 9.23469228e-01 3.83529909e-01 1.04591434e-02 1.10716859e+02] [-3.83501441e-01 9.23528403e-01 -4.68340411e-03 -2.17018529e+01] [-1.14555415e-02 3.13883013e-04 9.99934334e-01 -1.32894684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:-21.73, Z:-1.33 [[ 9.21343854e-01 3.88607945e-01 1.04579314e-02 1.10774455e+02] [-3.88579773e-01 9.21403169e-01 -4.68610896e-03 -2.17282239e+01] [-1.14570303e-02 2.53777098e-04 9.99934334e-01 -1.32947447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:-21.75, Z:-1.33 [[ 9.17232912e-01 3.98214068e-01 1.04566597e-02 1.10831686e+02] [-3.98186485e-01 9.17292503e-01 -4.68894481e-03 -2.17542141e+01] [-1.14590194e-02 1.37153916e-04 9.99934334e-01 -1.32878012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:-21.78, Z:-1.33 [[ 9.12126192e-01 4.09776154e-01 1.04553305e-02 1.10888973e+02] [-4.09749292e-01 9.12186112e-01 -4.69190686e-03 -2.17799371e+01] [-1.14598388e-02 -4.45312705e-06 9.99934334e-01 -1.32934447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.95, Y:-21.81, Z:-1.33 [[ 9.08373670e-01 4.18028695e-01 1.04540199e-02 1.10945422e+02] [-4.18002344e-01 9.08433817e-01 -4.69482512e-03 -2.18073778e+01] [-1.14593568e-02 -1.05149301e-04 9.99934334e-01 -1.33085993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.00, Y:-21.83, Z:-1.33 [[ 9.07449117e-01 4.20031952e-01 1.04527244e-02 1.11002568e+02] [-4.20005701e-01 9.07509307e-01 -4.69770774e-03 -2.18338716e+01] [-1.14591320e-02 -1.27273090e-04 9.99934334e-01 -1.33270261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.06, Y:-21.86, Z:-1.34 [[ 9.06236973e-01 4.22640882e-01 1.04514396e-02 1.11058018e+02] [-4.22614771e-01 9.06297225e-01 -4.70056436e-03 -2.18621329e+01] [-1.14587614e-02 -1.57107537e-04 9.99934334e-01 -1.33513189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.11, Y:-21.89, Z:-1.34 [[ 9.06623814e-01 4.21810446e-01 1.04502751e-02 1.11112608e+02] [-4.21784250e-01 9.06684028e-01 -4.70315197e-03 -2.18928030e+01] [-1.14589361e-02 -1.43771847e-04 9.99934334e-01 -1.33885729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.17, Y:-21.92, Z:-1.34 [[ 9.07720435e-01 4.19445382e-01 1.04491208e-02 1.11166879e+02] [-4.19418999e-01 9.07780568e-01 -4.70571505e-03 -2.19231629e+01] [-1.14592992e-02 -1.11086070e-04 9.99934334e-01 -1.33903210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:-21.95, Z:-1.34 [[ 9.08092728e-01 4.18638792e-01 1.04479571e-02 1.11223506e+02] [-4.18612326e-01 9.08152824e-01 -4.70829743e-03 -2.19488857e+01] [-1.14594177e-02 -9.80729530e-05 9.99934334e-01 -1.33632405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.28, Y:-21.97, Z:-1.34 [[ 9.09319667e-01 4.15967075e-01 1.04467811e-02 1.11282285e+02] [-4.15940403e-01 9.09379673e-01 -4.71090531e-03 -2.19699629e+01] [-1.14596718e-02 -6.15194672e-05 9.99934334e-01 -1.33531763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.34, Y:-22.00, Z:-1.33 [[ 9.12704529e-01 4.08486637e-01 1.04456052e-02 1.11339892e+02] [-4.08459443e-01 9.12764299e-01 -4.71351112e-03 -2.19961174e+01] [-1.14597818e-02 3.54368662e-05 9.99934334e-01 -1.33277649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.40, Y:-22.02, Z:-1.33 [[ 9.15788203e-01 4.01525695e-01 1.04442727e-02 1.11395849e+02] [-4.01498013e-01 9.15847750e-01 -4.71646177e-03 -2.20249179e+01] [-1.14591443e-02 1.25925298e-04 9.99934334e-01 -1.33236240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:-22.05, Z:-1.34 [[ 9.18988641e-01 3.94145686e-01 1.04429474e-02 1.11453644e+02] [-3.94117493e-01 9.19047947e-01 -4.71939434e-03 -2.20497274e+01] [-1.14576983e-02 2.21321523e-04 9.99934334e-01 -1.33685800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.917628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:111.51, Y:-22.07, Z:-1.35 [[ 9.20594494e-01 3.90380263e-01 1.04416204e-02 1.11512274e+02] [-3.90351793e-01 9.20653668e-01 -4.72232869e-03 -2.20713075e+01] [-1.14566200e-02 2.71444564e-04 9.99934334e-01 -1.34529366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.977628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:111.57, Y:-22.10, Z:-1.34 [[ 9.21554461e-01 3.88108711e-01 1.04404744e-02 1.11568850e+02] [-3.88080067e-01 9.21613551e-01 -4.72486083e-03 -2.20980000e+01] [-1.14558424e-02 3.02476564e-04 9.99934334e-01 -1.34116591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.63, Y:-22.12, Z:-1.34 [[ 9.21449718e-01 3.88357364e-01 1.04391129e-02 1.11625822e+02] [-3.88328703e-01 9.21508799e-01 -4.72786709e-03 -2.21217081e+01] [-1.14558364e-02 3.02684636e-04 9.99934334e-01 -1.33991280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.68, Y:-22.14, Z:-1.34 [[ 9.19345067e-01 3.93313740e-01 1.04379357e-02 1.11684722e+02] [-3.93285368e-01 9.19404287e-01 -4.73046450e-03 -2.21424986e+01] [-1.14572396e-02 2.43841807e-04 9.99934334e-01 -1.34056940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:-22.17, Z:-1.34 [[ 9.17244426e-01 3.98188067e-01 1.04367499e-02 1.11742798e+02] [-3.98159980e-01 9.17303782e-01 -4.73307937e-03 -2.21663291e+01] [-1.14583259e-02 1.85894542e-04 9.99934334e-01 -1.34035019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.80, Y:-22.19, Z:-1.34 [[ 9.13990635e-01 4.05601061e-01 1.04354073e-02 1.11801148e+02] [-4.05573421e-01 9.14050201e-01 -4.73603759e-03 -2.21910261e+01] [-1.14594280e-02 9.63701511e-05 9.99934334e-01 -1.33919340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:-22.21, Z:-1.34 [[ 9.10872978e-01 4.12554904e-01 1.04340738e-02 1.11860409e+02] [-4.12527685e-01 9.10932737e-01 -4.73897376e-03 -2.22137375e+01] [-1.14598262e-02 1.22588374e-05 9.99934334e-01 -1.34055203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:-22.24, Z:-1.35 [[ 9.09405150e-01 4.15780509e-01 1.04327584e-02 1.11916440e+02] [-4.15753469e-01 9.09464990e-01 -4.74186783e-03 -2.22376336e+01] [-1.14598047e-02 -2.51764580e-05 9.99934334e-01 -1.34635003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.97, Y:-22.26, Z:-1.35 [[ 9.10053552e-01 4.14359400e-01 1.04317054e-02 1.11973335e+02] [-4.14332240e-01 9.10113338e-01 -4.74418313e-03 -2.22646964e+01] [-1.14598311e-02 -4.73115861e-06 9.99934334e-01 -1.34886144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.03, Y:-22.29, Z:-1.35 [[ 9.11933916e-01 4.10204509e-01 1.04304008e-02 1.12029159e+02] [-4.10177044e-01 9.11993563e-01 -4.74704966e-03 -2.22933217e+01] [-1.14597196e-02 5.06846156e-05 9.99934334e-01 -1.35055646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.09, Y:-22.32, Z:-1.35 [[ 9.13066545e-01 4.07677223e-01 1.04291032e-02 1.12085160e+02] [-4.07649560e-01 9.13126100e-01 -4.74989881e-03 -2.23222052e+01] [-1.14595119e-02 8.55543839e-05 9.99934334e-01 -1.35048418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.14, Y:-22.35, Z:-1.35 [[ 9.14033368e-01 4.05504951e-01 1.04277351e-02 1.12139313e+02] [-4.05477112e-01 9.14092841e-01 -4.75290029e-03 -2.23533859e+01] [-1.14592426e-02 1.16101530e-04 9.99934334e-01 -1.35146821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.19, Y:-22.38, Z:-1.35 [[ 9.13310145e-01 4.07131265e-01 1.04264724e-02 1.12193974e+02] [-4.07103501e-01 9.13369653e-01 -4.75566866e-03 -2.23840724e+01] [-1.14594049e-02 9.87470153e-05 9.99934334e-01 -1.35313939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.25, Y:-22.41, Z:-1.36 [[ 9.10189681e-01 4.14060456e-01 1.04251234e-02 1.12248936e+02] [-4.14033111e-01 9.10249383e-01 -4.75862396e-03 -2.24102090e+01] [-1.14598202e-02 1.49041266e-05 9.99934334e-01 -1.35587823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.31, Y:-22.44, Z:-1.36 [[ 9.08116480e-01 4.18587861e-01 1.04240440e-02 1.12305946e+02] [-4.18560786e-01 9.08176305e-01 -4.76098735e-03 -2.24369312e+01] [-1.14597613e-02 -3.95649776e-05 9.99934334e-01 -1.35675613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.36, Y:-22.46, Z:-1.36 [[ 9.06144802e-01 4.22839172e-01 1.04227091e-02 1.12362433e+02] [-4.22812344e-01 9.06204738e-01 -4.76390784e-03 -2.24629849e+01] [-1.14594753e-02 -9.00597583e-05 9.99934334e-01 -1.35770891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.42, Y:-22.49, Z:-1.36 [[ 9.05958643e-01 4.23237911e-01 1.04214763e-02 1.12419817e+02] [-4.23211079e-01 9.06018577e-01 -4.76660327e-03 -2.24898678e+01] [-1.14594583e-02 -9.21388009e-05 9.99934334e-01 -1.35674952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.48, Y:-22.52, Z:-1.36 [[ 9.07029431e-01 4.20938275e-01 1.04201487e-02 1.12475591e+02] [-4.20911257e-01 9.07089282e-01 -4.76950363e-03 -2.25155993e+01] [-1.14596719e-02 -5.98777423e-05 9.99934334e-01 -1.35612587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.53, Y:-22.54, Z:-1.36 [[ 9.09240069e-01 4.16141729e-01 1.04190848e-02 1.12532579e+02] [-4.16114370e-01 9.09299764e-01 -4.77182663e-03 -2.25430263e+01] [-1.14598276e-02 3.20505393e-06 9.99934334e-01 -1.35515561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.59, Y:-22.57, Z:-1.36 [[ 9.10263312e-01 4.13898749e-01 1.04177331e-02 1.12589304e+02] [-4.13871208e-01 9.10322923e-01 -4.77477584e-03 -2.25690414e+01] [-1.14597750e-02 3.47034697e-05 9.99934334e-01 -1.35568665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.65, Y:-22.60, Z:-1.36 [[ 9.11055565e-01 4.12151981e-01 1.04163941e-02 1.12646449e+02] [-4.12124293e-01 9.11115108e-01 -4.77769527e-03 -2.25959138e+01] [-1.14596706e-02 5.98968246e-05 9.99934334e-01 -1.35699283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.70, Y:-22.62, Z:-1.36 [[ 9.11229500e-01 4.11767319e-01 1.04150495e-02 1.12703904e+02] [-4.11739572e-01 9.11289016e-01 -4.78062465e-03 -2.26208041e+01] [-1.14596252e-02 6.79582025e-05 9.99934334e-01 -1.35897475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.76, Y:-22.65, Z:-1.36 [[ 9.11093670e-01 4.12067810e-01 1.04136956e-02 1.12761848e+02] [-4.12040049e-01 9.11153179e-01 -4.78357199e-03 -2.26461956e+01] [-1.14596279e-02 6.74225193e-05 9.99934334e-01 -1.36088688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.82, Y:-22.67, Z:-1.36 [[ 9.11063113e-01 4.12135398e-01 1.04123604e-02 1.12818387e+02] [-4.12107608e-01 9.11122609e-01 -4.78647650e-03 -2.26720330e+01] [-1.14596134e-02 6.97692341e-05 9.99934334e-01 -1.36204220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.87, Y:-22.70, Z:-1.36 [[ 9.12071189e-01 4.09899689e-01 1.04111282e-02 1.12874965e+02] [-4.09871723e-01 9.12130602e-01 -4.78915513e-03 -2.26989413e+01] [-1.14593818e-02 1.00823357e-04 9.99934334e-01 -1.36098545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.93, Y:-22.73, Z:-1.36 [[ 9.13426520e-01 4.06870532e-01 1.04097843e-02 1.12932131e+02] [-4.06842336e-01 9.13485824e-01 -4.79207447e-03 -2.27258071e+01] [-1.14589443e-02 1.42066938e-04 9.99934334e-01 -1.36069625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:-22.75, Z:-1.36 [[ 9.15277040e-01 4.02690458e-01 1.04084290e-02 1.12988554e+02] [-4.02661957e-01 9.15336198e-01 -4.79501634e-03 -2.27524963e+01] [-1.14581192e-02 1.97689959e-04 9.99934334e-01 -1.36012077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.05, Y:-22.78, Z:-1.36 [[ 9.15590487e-01 4.01977305e-01 1.04070716e-02 1.13045518e+02] [-4.01948724e-01 9.15649607e-01 -4.79796074e-03 -2.27788852e+01] [-1.14579023e-02 2.09858063e-04 9.99934334e-01 -1.36156864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.10, Y:-22.80, Z:-1.36 [[ 9.14254091e-01 4.05007628e-01 1.04057216e-02 1.13103619e+02] [-4.04979210e-01 9.14313289e-01 -4.80088678e-03 -2.28037428e+01] [-1.14584853e-02 1.75129463e-04 9.99934334e-01 -1.36369532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.16, Y:-22.83, Z:-1.36 [[ 9.12808949e-01 4.08254297e-01 1.04043852e-02 1.13160303e+02] [-4.08226057e-01 9.12868233e-01 -4.80378135e-03 -2.28293278e+01] [-1.14589971e-02 1.37593480e-04 9.99934334e-01 -1.36372033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.22, Y:-22.85, Z:-1.36 [[ 9.10994291e-01 4.12287734e-01 1.04031501e-02 1.13217567e+02] [-4.12259726e-01 9.11053685e-01 -4.80645443e-03 -2.28548312e+01] [-1.14594705e-02 8.98527181e-05 9.99934334e-01 -1.36432354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:-22.88, Z:-1.37 [[ 9.09689789e-01 4.15158150e-01 1.04018579e-02 1.13273930e+02] [-4.15130297e-01 9.09749255e-01 -4.80924942e-03 -2.28819162e+01] [-1.14596816e-02 5.67987265e-05 9.99934334e-01 -1.36691123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:-22.91, Z:-1.37 [[ 9.08429514e-01 4.17908659e-01 1.04005461e-02 1.13328408e+02] [-4.17880954e-01 9.08489049e-01 -4.81208473e-03 -2.29086742e+01] [-1.14597941e-02 2.52496824e-05 9.99934334e-01 -1.37012940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:-22.94, Z:-1.37 [[ 9.07311147e-01 4.20331219e-01 1.03994963e-02 1.13385081e+02] [-4.20303647e-01 9.07370744e-01 -4.81435239e-03 -2.29360954e+01] [-1.14598213e-02 -2.83062780e-06 9.99934334e-01 -1.37170701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.44, Y:-22.97, Z:-1.37 [[ 9.05460969e-01 4.24302146e-01 1.03982022e-02 1.13441322e+02] [-4.24274803e-01 9.05520671e-01 -4.81714573e-03 -2.29653460e+01] [-1.14597123e-02 -4.99577533e-05 9.99934334e-01 -1.37157949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.50, Y:-22.99, Z:-1.37 [[ 9.03591892e-01 4.28268137e-01 1.03969264e-02 1.13497021e+02] [-4.28241024e-01 9.03651699e-01 -4.81989767e-03 -2.29944748e+01] [-1.14594088e-02 -9.71699703e-05 9.99934334e-01 -1.36996449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:-23.02, Z:-1.37 [[ 9.02863645e-01 4.29801316e-01 1.03955481e-02 1.13552639e+02] [-4.29774271e-01 9.02923483e-01 -4.82286872e-03 -2.30229988e+01] [-1.14592598e-02 -1.13346262e-04 9.99934334e-01 -1.37001353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.61, Y:-23.05, Z:-1.37 [[ 9.01638066e-01 4.32366463e-01 1.03941729e-02 1.13609098e+02] [-4.32339554e-01 9.01697966e-01 -4.82583054e-03 -2.30495367e+01] [-1.14589319e-02 -1.42659579e-04 9.99934334e-01 -1.37148756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.67, Y:-23.07, Z:-1.37 [[ 9.01008071e-01 4.33677813e-01 1.03928221e-02 1.13666332e+02] [-4.33650958e-01 9.01067994e-01 -4.82873805e-03 -2.30737247e+01] [-1.14587559e-02 -1.56125281e-04 9.99934334e-01 -1.37294271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.72, Y:-23.10, Z:-1.37 [[ 9.01142176e-01 4.33399115e-01 1.03916225e-02 1.13724057e+02] [-4.33372212e-01 9.01202078e-01 -4.83131811e-03 -2.30977221e+01] [-1.14588408e-02 -1.49735920e-04 9.99934334e-01 -1.37463023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.78, Y:-23.12, Z:-1.38 [[ 9.01762331e-01 4.32107325e-01 1.03902603e-02 1.13780030e+02] [-4.32080302e-01 9.01822179e-01 -4.83424589e-03 -2.31220746e+01] [-1.14590803e-02 -1.30085972e-04 9.99934334e-01 -1.37600221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.84, Y:-23.15, Z:-1.38 [[ 9.02252084e-01 4.31083799e-01 1.03891696e-02 1.13836634e+02] [-4.31056681e-01 9.02311889e-01 -4.83658889e-03 -2.31491193e+01] [-1.14592463e-02 -1.14498542e-04 9.99934334e-01 -1.37739960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.89, Y:-23.18, Z:-1.38 [[ 9.04131693e-01 4.27127585e-01 1.03878440e-02 1.13891631e+02] [-4.27100172e-01 9.04191364e-01 -4.83943420e-03 -2.31774140e+01] [-1.14596547e-02 -6.11641255e-05 9.99934334e-01 -1.37781506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.95, Y:-23.21, Z:-1.38 [[ 9.06490142e-01 4.22099206e-01 1.03866616e-02 1.13947814e+02] [-4.22071434e-01 9.06549646e-01 -4.84197063e-03 -2.32057507e+01] [-1.14598163e-02 5.28549821e-06 9.99934334e-01 -1.37823133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.00, Y:-23.23, Z:-1.38 [[ 9.07403680e-01 4.20131773e-01 1.03853234e-02 1.14004096e+02] [-4.20103839e-01 9.07463108e-01 -4.84483913e-03 -2.32324752e+01] [-1.14597687e-02 3.33106202e-05 9.99934334e-01 -1.37849357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.06, Y:-23.26, Z:-1.38 [[ 9.08187875e-01 4.18433920e-01 1.03844981e-02 1.14060138e+02] [-4.18405855e-01 9.08247241e-01 -4.84660746e-03 -2.32575428e+01] [-1.14596767e-02 5.66953309e-05 9.99934334e-01 -1.37802638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.12, Y:-23.28, Z:-1.38 [[ 9.08388649e-01 4.17997902e-01 1.03834462e-02 1.14117225e+02] [-4.17969782e-01 9.08447990e-01 -4.84886008e-03 -2.32842592e+01] [-1.14596341e-02 6.46827265e-05 9.99934334e-01 -1.37792247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.17, Y:-23.31, Z:-1.38 [[ 9.08207804e-01 4.18390721e-01 1.03821577e-02 1.14173828e+02] [-4.18362595e-01 9.08267142e-01 -4.85161728e-03 -2.33101337e+01] [-1.14596444e-02 6.27702325e-05 9.99934334e-01 -1.37858824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.23, Y:-23.33, Z:-1.38 [[ 9.07460358e-01 4.20009445e-01 1.03809680e-02 1.14230261e+02] [-4.19981396e-01 9.07519732e-01 -4.85416148e-03 -2.33347463e+01] [-1.14597270e-02 4.51456636e-05 9.99934334e-01 -1.38002778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.29, Y:-23.36, Z:-1.38 [[ 9.06958471e-01 4.21092140e-01 1.03798835e-02 1.14287868e+02] [-4.21064135e-01 9.07017866e-01 -4.85647952e-03 -2.33591764e+01] [-1.14597651e-02 3.40285693e-05 9.99934334e-01 -1.38127754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.34, Y:-23.39, Z:-1.38 [[ 9.07044729e-01 4.20906338e-01 1.03785908e-02 1.14344795e+02] [-4.20878289e-01 9.07104103e-01 -4.85924056e-03 -2.33860777e+01] [-1.14597474e-02 3.94250032e-05 9.99934334e-01 -1.38055786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.40, Y:-23.41, Z:-1.38 [[ 9.07565688e-01 4.19781890e-01 1.03772058e-02 1.14401177e+02] [-4.19753734e-01 9.07625012e-01 -4.86219648e-03 -2.34145337e+01] [-1.14596736e-02 5.68918086e-05 9.99934334e-01 -1.38046393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.46, Y:-23.44, Z:-1.38 [[ 9.07867801e-01 4.19128141e-01 1.03758211e-02 1.14457313e+02] [-4.19099909e-01 9.07927088e-01 -4.86514960e-03 -2.34418601e+01] [-1.14596101e-02 6.84069879e-05 9.99934334e-01 -1.38017705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:-23.47, Z:-1.38 [[ 9.07632213e-01 4.19638103e-01 1.03744552e-02 1.14514082e+02] [-4.19609870e-01 9.07691500e-01 -4.86806046e-03 -2.34694207e+01] [-1.14596285e-02 6.51846753e-05 9.99934334e-01 -1.38037955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:-23.50, Z:-1.38 [[ 9.06891296e-01 4.21236960e-01 1.03730822e-02 1.14569907e+02] [-4.21208799e-01 9.06950617e-01 -4.87098445e-03 -2.34964015e+01] [-1.14597120e-02 4.82199172e-05 9.99934334e-01 -1.38098282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.63, Y:-23.52, Z:-1.38 [[ 9.05817508e-01 4.23541106e-01 1.03718113e-02 1.14626541e+02] [-4.23513065e-01 9.05876885e-01 -4.87368903e-03 -2.35228694e+01] [-1.14597918e-02 2.20752553e-05 9.99934334e-01 -1.38286258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.68, Y:-23.55, Z:-1.38 [[ 9.03990128e-01 4.27427541e-01 1.03704697e-02 1.14683731e+02] [-4.27399722e-01 9.04049610e-01 -4.87654214e-03 -2.35498224e+01] [-1.14597875e-02 -2.39899069e-05 9.99934334e-01 -1.38365777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.74, Y:-23.58, Z:-1.38 [[ 9.02551995e-01 4.30456012e-01 1.03690984e-02 1.14739517e+02] [-4.30428360e-01 9.02611554e-01 -4.87945611e-03 -2.35768054e+01] [-1.14596593e-02 -5.91911773e-05 9.99934334e-01 -1.38419749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.80, Y:-23.60, Z:-1.39 [[ 9.00787155e-01 4.34137086e-01 1.03678313e-02 1.14795896e+02] [-4.34109646e-01 9.00846813e-01 -4.88214706e-03 -2.36040266e+01] [-1.14593489e-02 -1.03000204e-04 9.99934334e-01 -1.38517741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.85, Y:-23.63, Z:-1.39 [[ 9.00026608e-01 4.35711649e-01 1.03664991e-02 1.14852693e+02] [-4.35684281e-01 9.00086298e-01 -4.88497407e-03 -2.36303757e+01] [-1.14591839e-02 -1.19914073e-04 9.99934334e-01 -1.38721853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.91, Y:-23.66, Z:-1.39 [[ 9.00029900e-01 4.35704880e-01 1.03651375e-02 1.14909091e+02] [-4.35677478e-01 9.00089575e-01 -4.88786156e-03 -2.36576335e+01] [-1.14592173e-02 -1.16635405e-04 9.99934334e-01 -1.38746067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.96, Y:-23.69, Z:-1.39 [[ 9.01931824e-01 4.31754071e-01 1.03637481e-02 1.14963943e+02] [-4.31726373e-01 9.01991363e-01 -4.89080563e-03 -2.36853615e+01] [-1.14596365e-02 -6.31301436e-05 9.99934334e-01 -1.38533864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.02, Y:-23.71, Z:-1.38 [[ 9.04129857e-01 4.27132084e-01 1.03626353e-02 1.15020123e+02] [-4.27104055e-01 9.04189241e-01 -4.89316236e-03 -2.37132418e+01] [-1.14598100e-02 -1.86937164e-06 9.99934334e-01 -1.38450015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.08, Y:-23.74, Z:-1.38 [[ 9.07410685e-01 4.20117237e-01 1.03612622e-02 1.15075966e+02] [-4.20088717e-01 9.07469834e-01 -4.89606809e-03 -2.37408431e+01] [-1.14594555e-02 9.00951491e-05 9.99934334e-01 -1.38439543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:-23.77, Z:-1.38 [[ 9.08800566e-01 4.17102149e-01 1.03599924e-02 1.15133442e+02] [-4.17073401e-01 9.08859604e-01 -4.89875345e-03 -2.37669562e+01] [-1.14590592e-02 1.31112621e-04 9.99934334e-01 -1.38453033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:-23.79, Z:-1.39 [[ 9.11836766e-01 4.10422234e-01 1.03586723e-02 1.15190148e+02] [-4.10393022e-01 9.11895576e-01 -4.90154333e-03 -2.37932775e+01] [-1.14577298e-02 2.18280586e-04 9.99934334e-01 -1.38518953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:-23.82, Z:-1.39 [[ 9.13549975e-01 4.06594600e-01 1.03572972e-02 1.15246344e+02] [-4.06565109e-01 9.13608646e-01 -4.90444724e-03 -2.38189111e+01] [-1.14566381e-02 2.69541971e-04 9.99934334e-01 -1.38555019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.30, Y:-23.84, Z:-1.38 [[ 9.15226026e-01 4.02807738e-01 1.03560303e-02 1.15303241e+02] [-4.02777974e-01 9.15284559e-01 -4.90712099e-03 -2.38434164e+01] [-1.14553409e-02 3.19943930e-04 9.99934334e-01 -1.38486371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.36, Y:-23.87, Z:-1.39 [[ 9.14482879e-01 4.04492068e-01 1.03552318e-02 1.15361120e+02] [-4.04462393e-01 9.14541457e-01 -4.90880545e-03 -2.38658019e+01] [-1.14558617e-02 3.00716708e-04 9.99934334e-01 -1.38656722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.42, Y:-23.89, Z:-1.39 [[ 9.12686107e-01 4.08530126e-01 1.03540711e-02 1.15419425e+02] [-4.08500682e-01 9.12744801e-01 -4.91125241e-03 -2.38883855e+01] [-1.14570192e-02 2.52786718e-04 9.99934334e-01 -1.38805816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.48, Y:-23.91, Z:-1.39 [[ 9.09381709e-01 4.15833771e-01 1.03528520e-02 1.15478339e+02] [-4.15804770e-01 9.09440624e-01 -4.91382109e-03 -2.39086109e+01] [-1.14586369e-02 1.63773801e-04 9.99934334e-01 -1.38836358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.54, Y:-23.93, Z:-1.39 [[ 9.07346182e-01 4.20256768e-01 1.03515634e-02 1.15536852e+02] [-4.20228022e-01 9.07405222e-01 -4.91653417e-03 -2.39326112e+01] [-1.14592694e-02 1.10981512e-04 9.99934334e-01 -1.38710725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.59, Y:-23.96, Z:-1.39 [[ 9.05264073e-01 4.24723241e-01 1.03501602e-02 1.15594568e+02] [-4.24694754e-01 9.05323238e-01 -4.91948640e-03 -2.39552724e+01] [-1.14596607e-02 5.77755800e-05 9.99934334e-01 -1.38694314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.65, Y:-23.98, Z:-1.39 [[ 9.04662682e-01 4.26002728e-01 1.03492951e-02 1.15652008e+02] [-4.25974304e-01 9.04721876e-01 -4.92130553e-03 -2.39800379e+01] [-1.14597233e-02 4.35876821e-05 9.99934334e-01 -1.38715349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.71, Y:-24.00, Z:-1.39 [[ 9.04591623e-01 4.26153630e-01 1.03479007e-02 1.15709326e+02] [-4.26125182e-01 9.04650806e-01 -4.92423570e-03 -2.40049416e+01] [-1.14597177e-02 4.49212797e-05 9.99934334e-01 -1.38827885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.77, Y:-24.03, Z:-1.39 [[ 9.04721839e-01 4.25877147e-01 1.03465014e-02 1.15766028e+02] [-4.25848647e-01 9.04780997e-01 -4.92717415e-03 -2.40316318e+01] [-1.14596887e-02 5.16784291e-05 9.99934334e-01 -1.39059014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.82, Y:-24.06, Z:-1.39 [[ 9.05419405e-01 4.24392129e-01 1.03451091e-02 1.15822187e+02] [-4.24363498e-01 9.05478501e-01 -4.93009563e-03 -2.40575393e+01] [-1.14595677e-02 7.37175428e-05 9.99934334e-01 -1.39402274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.88, Y:-24.08, Z:-1.40 [[ 9.05837194e-01 4.23499683e-01 1.03439097e-02 1.15876447e+02] [-4.23470966e-01 9.05896247e-01 -4.93261101e-03 -2.40845848e+01] [-1.14594681e-02 8.77971054e-05 9.99934334e-01 -1.39668992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:-24.11, Z:-1.40 [[ 9.05917708e-01 4.23327454e-01 1.03428123e-02 1.15932097e+02] [-4.23298699e-01 9.05976743e-01 -4.93491097e-03 -2.41128296e+01] [-1.14594307e-02 9.25242636e-05 9.99934334e-01 -1.39774412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:-24.14, Z:-1.40 [[ 9.05275067e-01 4.24700017e-01 1.03416442e-02 1.15988457e+02] [-4.24671323e-01 9.05334132e-01 -4.93735762e-03 -2.41417861e+01] [-1.14595393e-02 7.78670380e-05 9.99934334e-01 -1.39663522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:-24.17, Z:-1.40 [[ 9.04504785e-01 4.26338096e-01 1.03402756e-02 1.16045357e+02] [-4.26309476e-01 9.04563886e-01 -4.94022224e-03 -2.41692557e+01] [-1.14596448e-02 6.02972025e-05 9.99934334e-01 -1.39763067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.10, Y:-24.20, Z:-1.40 [[ 9.03694868e-01 4.28052208e-01 1.03389166e-02 1.16101067e+02] [-4.28023668e-01 9.03754007e-01 -4.94306462e-03 -2.41978755e+01] [-1.14597270e-02 4.17211176e-05 9.99934334e-01 -1.39787042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:-24.23, Z:-1.40 [[ 9.03756908e-01 4.27921240e-01 1.03375027e-02 1.16157087e+02] [-4.27892657e-01 9.03816027e-01 -4.94601981e-03 -2.42272703e+01] [-1.14597075e-02 4.66580766e-05 9.99934334e-01 -1.39789984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:-24.26, Z:-1.40 [[ 9.04737648e-01 4.25843813e-01 1.03360856e-02 1.16211425e+02] [-4.25815061e-01 9.04796685e-01 -4.94897938e-03 -2.42579086e+01] [-1.14595483e-02 7.62670282e-05 9.99934334e-01 -1.39817295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:-24.29, Z:-1.40 [[ 9.05763481e-01 4.23657538e-01 1.03347776e-02 1.16267176e+02] [-4.23628613e-01 9.05822432e-01 -4.95170928e-03 -2.42874599e+01] [-1.14593024e-02 1.06969921e-04 9.99934334e-01 -1.39844211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.32, Y:-24.32, Z:-1.40 [[ 9.07717619e-01 4.19454343e-01 1.03333878e-02 1.16321605e+02] [-4.19425112e-01 9.07776419e-01 -4.95460791e-03 -2.43188327e+01] [-1.14586376e-02 1.63302551e-04 9.99934334e-01 -1.39894918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.38, Y:-24.35, Z:-1.40 [[ 9.10557878e-01 4.13252467e-01 1.03319651e-02 1.16375716e+02] [-4.13222802e-01 9.10616461e-01 -4.95757292e-03 -2.43500066e+01] [-1.14571868e-02 2.44753502e-04 9.99934334e-01 -1.39956166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.43, Y:-24.38, Z:-1.40 [[ 9.11475999e-01 4.11223517e-01 1.03306510e-02 1.16431321e+02] [-4.11193690e-01 9.11534500e-01 -4.96030974e-03 -2.43785936e+01] [-1.14565408e-02 2.73304760e-04 9.99934334e-01 -1.39967835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:-24.41, Z:-1.40 [[ 9.12991723e-01 4.07847299e-01 1.03292487e-02 1.16486726e+02] [-4.07817223e-01 9.13050097e-01 -4.96322818e-03 -2.44088115e+01] [-1.14553607e-02 3.18940726e-04 9.99934334e-01 -1.39931939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.54, Y:-24.44, Z:-1.40 [[ 9.12526053e-01 4.08888174e-01 1.03278399e-02 1.16543995e+02] [-4.08858132e-01 9.12584443e-01 -4.96615808e-03 -2.44358185e+01] [-1.14556293e-02 3.09127322e-04 9.99934334e-01 -1.39993431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.60, Y:-24.46, Z:-1.40 [[ 9.10551698e-01 4.13266220e-01 1.03264509e-02 1.16599623e+02] [-4.13236426e-01 9.10610216e-01 -4.96904458e-03 -2.44613234e+01] [-1.14569099e-02 2.57306326e-04 9.99934334e-01 -1.40320620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.66, Y:-24.49, Z:-1.41 [[ 9.09308417e-01 4.15994700e-01 1.03253425e-02 1.16655193e+02] [-4.15965055e-01 9.09367010e-01 -4.97134668e-03 -2.44868458e+01] [-1.14575797e-02 2.25505716e-04 9.99934334e-01 -1.40549423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.71, Y:-24.51, Z:-1.41 [[ 9.08380212e-01 4.18017704e-01 1.03242678e-02 1.16712749e+02] [-4.17988164e-01 9.08438858e-01 -4.97357748e-03 -2.45119960e+01] [-1.14580095e-02 2.02477602e-04 9.99934334e-01 -1.40608205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49762799999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:-24.54, Z:-1.41 [[ 9.08358409e-01 4.18065114e-01 1.03228644e-02 1.16769682e+02] [-4.18035545e-01 9.08417040e-01 -4.97648875e-03 -2.45380902e+01] [-1.14579622e-02 2.05111176e-04 9.99934334e-01 -1.40908797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.82, Y:-24.56, Z:-1.41 [[ 9.08411501e-01 4.17949774e-01 1.03214347e-02 1.16824856e+02] [-4.17920163e-01 9.08470111e-01 -4.97945222e-03 -2.45639244e+01] [-1.14578758e-02 2.09856009e-04 9.99934334e-01 -1.40634656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:-24.59, Z:-1.41 [[ 9.08194510e-01 4.18421096e-01 1.03207583e-02 1.16881449e+02] [-4.18391500e-01 9.08253128e-01 -4.98085367e-03 -2.45913819e+01] [-1.14579553e-02 2.05466403e-04 9.99934334e-01 -1.40622626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.94, Y:-24.62, Z:-1.41 [[ 9.07578494e-01 4.19755629e-01 1.03193591e-02 1.16938334e+02] [-4.19726085e-01 9.07637139e-01 -4.98375082e-03 -2.46182619e+01] [-1.14581911e-02 1.91840849e-04 9.99934334e-01 -1.40636792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.00, Y:-24.65, Z:-1.41 [[ 9.06315819e-01 4.22475058e-01 1.03179770e-02 1.16995577e+02] [-4.22445659e-01 9.06374536e-01 -4.98661065e-03 -2.46450560e+01] [-1.14586702e-02 1.60659527e-04 9.99934334e-01 -1.40767830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:-24.67, Z:-1.41 [[ 9.05401711e-01 4.24430571e-01 1.03165705e-02 1.17051091e+02] [-4.24401265e-01 9.05460474e-01 -4.98951871e-03 -2.46727470e+01] [-1.14589511e-02 1.39153186e-04 9.99934334e-01 -1.40911070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.11, Y:-24.70, Z:-1.41 [[ 9.04777612e-01 4.25759402e-01 1.03152711e-02 1.17106551e+02] [-4.25730151e-01 9.04836403e-01 -4.99220373e-03 -2.47019240e+01] [-1.14591105e-02 1.25312249e-04 9.99934334e-01 -1.40973497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:-24.73, Z:-1.41 [[ 9.04368701e-01 4.26627327e-01 1.03139100e-02 1.17163158e+02] [-4.26598101e-01 9.04427504e-01 -4.99501409e-03 -2.47300998e+01] [-1.14591934e-02 1.17439963e-04 9.99934334e-01 -1.41091499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.22, Y:-24.76, Z:-1.41 [[ 9.03870096e-01 4.27682711e-01 1.03125186e-02 1.17218369e+02] [-4.27653521e-01 9.03928917e-01 -4.99788520e-03 -2.47596958e+01] [-1.14592928e-02 1.07254092e-04 9.99934334e-01 -1.41313522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:-24.79, Z:-1.41 [[ 9.03969919e-01 4.27471715e-01 1.03111199e-02 1.17273122e+02] [-4.27442478e-01 9.04028717e-01 -5.00076914e-03 -2.47897214e+01] [-1.14592359e-02 1.13134232e-04 9.99934334e-01 -1.41416006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:-24.82, Z:-1.41 [[ 9.04172519e-01 4.27043047e-01 1.03098258e-02 1.17326828e+02] [-4.27013752e-01 9.04231288e-01 -5.00343569e-03 -2.48200557e+01] [-1.14591495e-02 1.21531655e-04 9.99934334e-01 -1.41465039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.38, Y:-24.85, Z:-1.41 [[ 9.02350960e-01 4.30878728e-01 1.03085564e-02 1.17383762e+02] [-4.30849653e-01 9.02409838e-01 -5.00604966e-03 -2.48470525e+01] [-1.14595430e-02 7.57757592e-05 9.99934334e-01 -1.41363600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.44, Y:-24.88, Z:-1.41 [[ 9.01233233e-01 4.33211753e-01 1.03071321e-02 1.17440021e+02] [-4.33182796e-01 9.01292170e-01 -5.00898061e-03 -2.48752297e+01] [-1.14596867e-02 4.93875040e-05 9.99934334e-01 -1.41413740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:-24.90, Z:-1.41 [[ 9.01470268e-01 4.32718325e-01 1.03057097e-02 1.17496058e+02] [-4.32689303e-01 9.01529172e-01 -5.01190529e-03 -2.49041368e+01] [-1.14596412e-02 5.89132512e-05 9.99934334e-01 -1.41400913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.55, Y:-24.93, Z:-1.41 [[ 9.01548888e-01 4.32554533e-01 1.03042777e-02 1.17553142e+02] [-4.32525467e-01 9.01607770e-01 -5.01484770e-03 -2.49313793e+01] [-1.14596120e-02 6.42678409e-05 9.99934334e-01 -1.41431975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.61, Y:-24.96, Z:-1.41 [[ 9.02115831e-01 4.31370929e-01 1.03028569e-02 1.17610312e+02] [-4.31341752e-01 9.02174659e-01 -5.01776512e-03 -2.49586990e+01] [-1.14594944e-02 8.25530194e-05 9.99934334e-01 -1.41496677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:-24.99, Z:-1.42 [[ 9.03204109e-01 4.29087656e-01 1.03014492e-02 1.17666921e+02] [-4.29058298e-01 9.03262847e-01 -5.02065337e-03 -2.49867296e+01] [-1.14592167e-02 1.14752494e-04 9.99934334e-01 -1.41600508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:-25.01, Z:-1.42 [[ 9.03459123e-01 4.28550490e-01 1.03000450e-02 1.17722419e+02] [-4.28521063e-01 9.03517826e-01 -5.02353248e-03 -2.50139246e+01] [-1.14591116e-02 1.24770018e-04 9.99934334e-01 -1.41701228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:-25.04, Z:-1.42 [[ 9.02769715e-01 4.30000905e-01 1.02987484e-02 1.17779778e+02] [-4.29971542e-01 9.02828450e-01 -5.02618917e-03 -2.50405352e+01] [-1.14592690e-02 1.09322613e-04 9.99934334e-01 -1.41825633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:-25.07, Z:-1.42 [[ 9.01930374e-01 4.31758688e-01 1.02973615e-02 1.17836529e+02] [-4.31729408e-01 9.01989150e-01 -5.02902894e-03 -2.50670034e+01] [-1.14594353e-02 9.01601457e-05 9.99934334e-01 -1.41906358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.89, Y:-25.09, Z:-1.42 [[ 9.01081668e-01 4.33527186e-01 1.02959504e-02 1.17892028e+02] [-4.33497988e-01 9.01140485e-01 -5.03191635e-03 -2.50936570e+01] [-1.14595703e-02 7.08938029e-05 9.99934334e-01 -1.42093121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.95, Y:-25.12, Z:-1.42 [[ 9.00945482e-01 4.33810165e-01 1.02946431e-02 1.17948340e+02] [-4.33780955e-01 9.01004293e-01 -5.03458954e-03 -2.51219062e+01] [-1.14595737e-02 7.02706009e-05 9.99934334e-01 -1.42157085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.00, Y:-25.15, Z:-1.42 [[ 9.01502942e-01 4.32650547e-01 1.02932353e-02 1.18002994e+02] [-4.32621228e-01 9.01561699e-01 -5.03746605e-03 -2.51504577e+01] [-1.14594492e-02 8.82183602e-05 9.99934334e-01 -1.42129890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.06, Y:-25.18, Z:-1.42 [[ 9.01736756e-01 4.32163048e-01 1.02919354e-02 1.18059366e+02] [-4.32133667e-01 9.01795482e-01 -5.04012037e-03 -2.51785436e+01] [-1.14593747e-02 9.73699766e-05 9.99934334e-01 -1.42159177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.11, Y:-25.21, Z:-1.42 [[ 9.02265668e-01 4.31057733e-01 1.02904965e-02 1.18114380e+02] [-4.31028247e-01 9.02324342e-01 -5.04305664e-03 -2.52065939e+01] [-1.14592140e-02 1.14682217e-04 9.99934334e-01 -1.42390865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.17, Y:-25.23, Z:-1.42 [[ 9.02297057e-01 4.30992057e-01 1.02891675e-02 1.18170966e+02] [-4.30962536e-01 9.02355713e-01 -5.04576658e-03 -2.52342799e+01] [-1.14591744e-02 1.18534598e-04 9.99934334e-01 -1.42460464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.23, Y:-25.26, Z:-1.42 [[ 9.01975362e-01 4.31664925e-01 1.02878296e-02 1.18227587e+02] [-4.31635416e-01 9.02034024e-01 -5.04849308e-03 -2.52610098e+01] [-1.14592297e-02 1.13024780e-04 9.99934334e-01 -1.42412066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:-25.29, Z:-1.42 [[ 9.01972121e-01 4.31671731e-01 1.02864138e-02 1.18284954e+02] [-4.31642190e-01 9.02030766e-01 -5.05137609e-03 -2.52877774e+01] [-1.14591980e-02 1.16150219e-04 9.99934334e-01 -1.42445680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:-25.31, Z:-1.43 [[ 9.02426479e-01 4.30721103e-01 1.02849696e-02 1.18339541e+02] [-4.30691467e-01 9.02485077e-01 -5.05431479e-03 -2.53143060e+01] [-1.14590317e-02 1.31498836e-04 9.99934334e-01 -1.42742543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:-25.34, Z:-1.43 [[ 9.02974839e-01 4.29570348e-01 1.02838173e-02 1.18395601e+02] [-4.29540610e-01 9.03033385e-01 -5.05665840e-03 -2.53400128e+01] [-1.14588208e-02 1.48718161e-04 9.99934334e-01 -1.42976772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:-25.37, Z:-1.43 [[ 9.03632374e-01 4.28185475e-01 1.02825829e-02 1.18451967e+02] [-4.28155619e-01 9.03690860e-01 -5.05916720e-03 -2.53667960e+01] [-1.14585381e-02 1.69081617e-04 9.99934335e-01 -1.42950876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:-25.39, Z:-1.43 [[ 9.04898977e-01 4.25502220e-01 1.02811518e-02 1.18505959e+02] [-4.25472158e-01 9.04957357e-01 -5.06207382e-03 -2.53945336e+01] [-1.14579276e-02 2.06321580e-04 9.99934335e-01 -1.42799283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.56, Y:-25.42, Z:-1.43 [[ 9.07469917e-01 4.19991276e-01 1.02800084e-02 1.18561914e+02] [-4.19960833e-01 9.07528099e-01 -5.06439480e-03 -2.54224044e+01] [-1.14563981e-02 2.78585053e-04 9.99934335e-01 -1.42504945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.62, Y:-25.45, Z:-1.43 [[ 9.09429272e-01 4.15731586e-01 1.02785441e-02 1.18617633e+02] [-4.15700837e-01 9.09487293e-01 -5.06736483e-03 -2.54484909e+01] [-1.14548689e-02 3.35610510e-04 9.99934335e-01 -1.42736627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:-25.47, Z:-1.43 [[ 9.12096884e-01 4.09845880e-01 1.02776422e-02 1.18675307e+02] [-4.09814736e-01 9.12154694e-01 -5.06919347e-03 -2.54748498e+01] [-1.14523876e-02 4.11666338e-04 9.99934335e-01 -1.42759501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.73, Y:-25.50, Z:-1.43 [[ 9.13090676e-01 4.07627057e-01 1.02761830e-02 1.18731113e+02] [-4.07595739e-01 9.13148392e-01 -5.07214983e-03 -2.55014326e+01] [-1.14512255e-02 4.42804312e-04 9.99934335e-01 -1.42845660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.79, Y:-25.53, Z:-1.43 [[ 9.12449395e-01 4.09060534e-01 1.02752851e-02 1.18788575e+02] [-4.09029287e-01 9.12507149e-01 -5.07396816e-03 -2.55263238e+01] [-1.14518312e-02 4.26846642e-04 9.99934335e-01 -1.42817239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.85, Y:-25.55, Z:-1.43 [[ 9.11098676e-01 4.12060250e-01 1.02738530e-02 1.18845353e+02] [-4.12029161e-01 9.11156516e-01 -5.07686632e-03 -2.55504025e+01] [-1.14530629e-02 3.92399178e-04 9.99934335e-01 -1.43074489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.90, Y:-25.58, Z:-1.43 [[ 9.08907675e-01 4.16870857e-01 1.02726134e-02 1.18902601e+02] [-4.16840046e-01 9.08965663e-01 -5.07937324e-03 -2.55751972e+01] [-1.14548955e-02 3.34644694e-04 9.99934335e-01 -1.43304166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.96, Y:-25.60, Z:-1.43 [[ 9.07121239e-01 4.20744052e-01 1.02713863e-02 1.18958796e+02] [-4.20713460e-01 9.07179343e-01 -5.08185344e-03 -2.56010307e+01] [-1.14561491e-02 2.88546728e-04 9.99934335e-01 -1.43377234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.01, Y:-25.63, Z:-1.43 [[ 9.06600545e-01 4.21864879e-01 1.02701540e-02 1.19014055e+02] [-4.21834331e-01 9.06658672e-01 -5.08434264e-03 -2.56278642e+01] [-1.14564298e-02 2.77164274e-04 9.99934335e-01 -1.43427527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.07, Y:-25.66, Z:-1.43 [[ 9.06902573e-01 4.21215234e-01 1.02688520e-02 1.19070985e+02] [-4.21184614e-01 9.06960663e-01 -5.08697089e-03 -2.56552897e+01] [-1.14561545e-02 2.88304522e-04 9.99934335e-01 -1.43332566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:-25.68, Z:-1.43 [[ 9.07505131e-01 4.19915488e-01 1.02674146e-02 1.19126639e+02] [-4.19884752e-01 9.07563159e-01 -5.08987043e-03 -2.56836250e+01] [-1.14556427e-02 3.07952692e-04 9.99934335e-01 -1.43386677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.18, Y:-25.71, Z:-1.43 [[ 9.07979276e-01 4.18889297e-01 1.02659967e-02 1.19182031e+02] [-4.18858463e-01 9.08037253e-01 -5.09272859e-03 -2.57128808e+01] [-1.14551970e-02 3.24092396e-04 9.99934335e-01 -1.43286849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.24, Y:-25.74, Z:-1.43 [[ 9.07616128e-01 4.19675593e-01 1.02645538e-02 1.19237799e+02] [-4.19644777e-01 9.07674113e-01 -5.09563515e-03 -2.57417421e+01] [-1.14553835e-02 3.17414237e-04 9.99934335e-01 -1.43266535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.29, Y:-25.77, Z:-1.44 [[ 9.06710759e-01 4.21628116e-01 1.02631224e-02 1.19292782e+02] [-4.21597392e-01 9.06768793e-01 -5.09851651e-03 -2.57686646e+01] [-1.14559571e-02 2.95974125e-04 9.99934335e-01 -1.43614390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.35, Y:-25.80, Z:-1.44 [[ 9.06087311e-01 4.22966283e-01 1.02619792e-02 1.19347617e+02] [-4.22935619e-01 9.06145377e-01 -5.10081653e-03 -2.57965436e+01] [-1.14563184e-02 2.81628616e-04 9.99934335e-01 -1.43813995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:-25.83, Z:-1.44 [[ 9.06311414e-01 4.22485904e-01 1.02606820e-02 1.19401870e+02] [-4.22455179e-01 9.06369448e-01 -5.10342451e-03 -2.58256236e+01] [-1.14560936e-02 2.90613612e-04 9.99934335e-01 -1.44100523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.46, Y:-25.85, Z:-1.44 [[ 9.07506764e-01 4.19912153e-01 1.02594908e-02 1.19457201e+02] [-4.19881237e-01 9.07564696e-01 -5.10581825e-03 -2.58548334e+01] [-1.14551467e-02 3.25796922e-04 9.99934335e-01 -1.44204043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.51, Y:-25.88, Z:-1.44 [[ 9.10155387e-01 4.14140003e-01 1.02581432e-02 1.19512269e+02] [-4.14108689e-01 9.10213105e-01 -5.10852411e-03 -2.58846157e+01] [-1.14527406e-02 4.01564487e-04 9.99934335e-01 -1.43835784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.57, Y:-25.91, Z:-1.44 [[ 9.13430773e-01 4.06864867e-01 1.02568995e-02 1.19566046e+02] [-4.06833065e-01 9.13488224e-01 -5.11101999e-03 -2.59134459e+01] [-1.14490514e-02 4.95717060e-04 9.99934335e-01 -1.43788620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.62, Y:-25.94, Z:-1.44 [[ 9.15462832e-01 4.02271828e-01 1.02557629e-02 1.19622079e+02] [-4.02239713e-01 9.15520108e-01 -5.11329967e-03 -2.59420695e+01] [-1.14462936e-02 5.55760659e-04 9.99934335e-01 -1.43584877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:-25.97, Z:-1.43 [[ 9.17160736e-01 3.98385534e-01 1.02543355e-02 1.19679110e+02] [-3.98353144e-01 9.17217857e-01 -5.11616080e-03 -2.59689096e+01] [-1.14436640e-02 6.07495031e-04 9.99934335e-01 -1.43457310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:-26.00, Z:-1.44 [[ 9.16687463e-01 3.99473370e-01 1.02528827e-02 1.19736807e+02] [-3.99441016e-01 9.16744605e-01 -5.11907049e-03 -2.59951669e+01] [-1.14442072e-02 5.97165857e-04 9.99934335e-01 -1.43568013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:-26.02, Z:-1.44 [[ 9.15023898e-01 4.03269357e-01 1.02514456e-02 1.19795095e+02] [-4.03237207e-01 9.15081155e-01 -5.12194683e-03 -2.60185102e+01] [-1.14464289e-02 5.52939464e-04 9.99934335e-01 -1.43950990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.85, Y:-26.04, Z:-1.44 [[ 9.13980570e-01 4.05628444e-01 1.02509955e-02 1.19852090e+02] [-4.05596432e-01 9.14037904e-01 -5.12284742e-03 -2.60424716e+01] [-1.14477711e-02 5.24415791e-04 9.99934335e-01 -1.44220461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.91, Y:-26.07, Z:-1.44 [[ 9.12991719e-01 4.07849316e-01 1.02497169e-02 1.19909390e+02] [-4.07817415e-01 9.13049115e-01 -5.12540436e-03 -2.60662958e+01] [-1.14488876e-02 4.99438668e-04 9.99934335e-01 -1.44205569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:-26.09, Z:-1.44 [[ 9.12584675e-01 4.08759310e-01 1.02488145e-02 1.19966095e+02] [-4.08727446e-01 9.12642091e-01 -5.12720825e-03 -2.60928569e+01] [-1.14492936e-02 4.90039907e-04 9.99934335e-01 -1.44164173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:-26.12, Z:-1.44 [[ 9.11111377e-01 4.12032827e-01 1.02473742e-02 1.20023388e+02] [-4.12001137e-01 9.11168889e-01 -5.13008519e-03 -2.61163466e+01] [-1.14508521e-02 4.52149148e-04 9.99934335e-01 -1.44099586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:-26.14, Z:-1.44 [[ 9.08746334e-01 4.17223105e-01 1.02460435e-02 1.20081635e+02] [-4.17191714e-01 9.08804010e-01 -5.13274163e-03 -2.61400989e+01] [-1.14531438e-02 3.89795700e-04 9.99934335e-01 -1.44075254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.14, Y:-26.17, Z:-1.44 [[ 9.06280146e-01 4.22553363e-01 1.02446045e-02 1.20139660e+02] [-4.22522279e-01 9.06337988e-01 -5.13561221e-03 -2.61652855e+01] [-1.14551444e-02 3.25729763e-04 9.99934335e-01 -1.44267485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:-26.19, Z:-1.44 [[ 9.01533681e-01 4.32587678e-01 1.02431643e-02 1.20197440e+02] [-4.32557205e-01 9.01591848e-01 -5.13848309e-03 -2.61907390e+01] [-1.14579979e-02 2.01761068e-04 9.99934335e-01 -1.44387602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.26, Y:-26.22, Z:-1.45 [[ 8.97896191e-01 4.40088102e-01 1.02417081e-02 1.20255252e+02] [-4.40058082e-01 8.97954593e-01 -5.14138391e-03 -2.62166617e+01] [-1.14592507e-02 1.09482619e-04 9.99934335e-01 -1.44670503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.31, Y:-26.24, Z:-1.45 [[ 8.93440143e-01 4.49065527e-01 1.02402724e-02 1.20310974e+02] [-4.49036061e-01 8.93498826e-01 -5.14424180e-03 -2.62441971e+01] [-1.14597730e-02 -2.17944318e-06 9.99934335e-01 -1.44886837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.37, Y:-26.27, Z:-1.45 [[ 8.91799113e-01 4.52315713e-01 1.02390108e-02 1.20366128e+02] [-4.52286432e-01 8.91857889e-01 -5.14675166e-03 -2.62737188e+01] [-1.14596992e-02 -4.10970874e-05 9.99934335e-01 -1.45010551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.42, Y:-26.31, Z:-1.45 [[ 8.91071432e-01 4.53747612e-01 1.02375510e-02 1.20419313e+02] [-4.53718393e-01 8.91130238e-01 -5.14965378e-03 -2.63076626e+01] [-1.14596343e-02 -5.62557928e-05 9.99934335e-01 -1.45034452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.47, Y:-26.34, Z:-1.45 [[ 8.91320579e-01 4.53258037e-01 1.02360752e-02 1.20471912e+02] [-4.53228751e-01 8.91379352e-01 -5.15258545e-03 -2.63420871e+01] [-1.14596769e-02 -4.66781509e-05 9.99934335e-01 -1.45020689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.53, Y:-26.38, Z:-1.45 [[ 8.91716149e-01 4.52479346e-01 1.02347915e-02 1.20525858e+02] [-4.52449980e-01 8.91774882e-01 -5.15513405e-03 -2.63753597e+01] [-1.14597217e-02 -3.38149418e-05 9.99934335e-01 -1.45085876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.58, Y:-26.41, Z:-1.45 [[ 8.92145662e-01 4.51631925e-01 1.02333234e-02 1.20577336e+02] [-4.51602470e-01 8.92204351e-01 -5.15804680e-03 -2.64120432e+01] [-1.14597543e-02 -1.96650361e-05 9.99934335e-01 -1.45205359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.63, Y:-26.45, Z:-1.45 [[ 8.92312198e-01 4.51302838e-01 1.02318464e-02 1.20630747e+02] [-4.51273327e-01 8.92370858e-01 -5.16097505e-03 -2.64465209e+01] [-1.14597642e-02 -1.21583566e-05 9.99934335e-01 -1.45276473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.68, Y:-26.48, Z:-1.45 [[ 8.92769189e-01 4.50398174e-01 1.02303932e-02 1.20683126e+02] [-4.50368571e-01 8.92827803e-01 -5.16385391e-03 -2.64828883e+01] [-1.14597699e-02 2.68208701e-06 9.99934335e-01 -1.45273577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.74, Y:-26.52, Z:-1.45 [[ 8.93342502e-01 4.49259995e-01 1.02289286e-02 1.20735453e+02] [-4.49230284e-01 8.93401061e-01 -5.16675360e-03 -2.65162457e+01] [-1.14597513e-02 2.05360904e-05 9.99934335e-01 -1.45383813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.79, Y:-26.54, Z:-1.45 [[ 8.92320764e-01 4.51285997e-01 1.02275776e-02 1.20791893e+02] [-4.51256388e-01 8.92379375e-01 -5.16942642e-03 -2.65448991e+01] [-1.14597691e-02 -2.47320640e-06 9.99934335e-01 -1.45385917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.85, Y:-26.57, Z:-1.45 [[ 8.92962065e-01 4.50015751e-01 1.02261433e-02 1.20848482e+02] [-4.49986027e-01 8.93020618e-01 -5.17226217e-03 -2.65735986e+01] [-1.14597563e-02 1.70123031e-05 9.99934335e-01 -1.45448043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.90, Y:-26.60, Z:-1.45 [[ 8.96514231e-01 4.42896910e-01 1.02255158e-02 1.20903348e+02] [-4.42866706e-01 8.96572538e-01 -5.17350256e-03 -2.66020546e+01] [-1.14592449e-02 1.09578175e-04 9.99934335e-01 -1.45336889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.96, Y:-26.63, Z:-1.45 [[ 9.01318431e-01 4.33036432e-01 1.02241941e-02 1.20959326e+02] [-4.33005562e-01 9.01376387e-01 -5.17611317e-03 -2.66282950e+01] [-1.14572927e-02 2.38193282e-04 9.99934335e-01 -1.45399540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.02, Y:-26.65, Z:-1.46 [[ 9.05906133e-01 4.23355135e-01 1.02229070e-02 1.21015835e+02] [-4.23323617e-01 9.05963739e-01 -5.17865407e-03 -2.66549672e+01] [-1.14539928e-02 3.63776526e-04 9.99934335e-01 -1.45571541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.07, Y:-26.68, Z:-1.45 [[ 9.12653461e-01 4.08606387e-01 1.02215306e-02 1.21073350e+02] [-4.08573908e-01 9.12710532e-01 -5.18136925e-03 -2.66810971e+01] [-1.14464392e-02 5.52543860e-04 9.99934335e-01 -1.45454852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.13, Y:-26.71, Z:-1.45 [[ 9.16040374e-01 4.00955837e-01 1.02200579e-02 1.21130324e+02] [-4.00922850e-01 9.16097152e-01 -5.18427250e-03 -2.67080951e+01] [-1.14412303e-02 6.51548181e-04 9.99934335e-01 -1.45457068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.19, Y:-26.73, Z:-1.46 [[ 9.19639107e-01 3.92631498e-01 1.02185723e-02 1.21191148e+02] [-3.92597964e-01 9.19695565e-01 -5.18719915e-03 -2.67274139e+01] [-1.14346334e-02 7.58560533e-04 9.99934335e-01 -1.45991870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.25, Y:-26.75, Z:-1.46 [[ 9.17121740e-01 3.98476256e-01 1.02170455e-02 1.21245246e+02] [-3.98443049e-01 9.17178390e-01 -5.19020455e-03 -2.67549139e+01] [-1.14390267e-02 6.89138654e-04 9.99934335e-01 -1.45892422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.30, Y:-26.78, Z:-1.46 [[ 9.12415206e-01 4.09138263e-01 1.02163068e-02 1.21304834e+02] [-4.09105702e-01 9.12472230e-01 -5.19165825e-03 -2.67769176e+01] [-1.14462023e-02 5.57398553e-04 9.99934335e-01 -1.45967921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.36, Y:-26.80, Z:-1.46 [[ 9.05734417e-01 4.23722577e-01 1.02148543e-02 1.21364215e+02] [-4.23690903e-01 9.05791938e-01 -5.19451457e-03 -2.67984319e+01] [-1.14535658e-02 3.76909783e-04 9.99934335e-01 -1.45957109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.42, Y:-26.82, Z:-1.46 [[ 9.01332428e-01 4.33007552e-01 1.02134169e-02 1.21423404e+02] [-4.32976439e-01 9.01390254e-01 -5.19733931e-03 -2.68217740e+01] [-1.14567616e-02 2.62361594e-04 9.99934335e-01 -1.46063905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.48, Y:-26.84, Z:-1.46 [[ 8.96594342e-01 4.42735024e-01 1.02119903e-02 1.21481363e+02] [-4.42704507e-01 8.96652485e-01 -5.20014078e-03 -2.68441798e+01] [-1.14588909e-02 1.41522677e-04 9.99934335e-01 -1.46261342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.54, Y:-26.87, Z:-1.47 [[ 8.94931181e-01 4.46087351e-01 1.02106707e-02 1.21539017e+02] [-4.46057021e-01 8.94989422e-01 -5.20273052e-03 -2.68703513e+01] [-1.14593146e-02 1.01544393e-04 9.99934335e-01 -1.46522598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.60, Y:-26.90, Z:-1.47 [[ 8.95404243e-01 4.45137072e-01 1.02092302e-02 1.21595361e+02] [-4.45106648e-01 8.95462436e-01 -5.20555578e-03 -2.68987093e+01] [-1.14591680e-02 1.16880518e-04 9.99934335e-01 -1.46547204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.65, Y:-26.93, Z:-1.47 [[ 8.98273257e-01 4.39318743e-01 1.02077489e-02 1.21650766e+02] [-4.39287910e-01 8.98331233e-01 -5.20845876e-03 -2.69289218e+01] [-1.14581132e-02 1.94478522e-04 9.99934335e-01 -1.46744671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:-26.96, Z:-1.47 [[ 8.99459163e-01 4.36885622e-01 1.02062945e-02 1.21705799e+02] [-4.36854600e-01 8.99517038e-01 -5.21130717e-03 -2.69586598e+01] [-1.14574810e-02 2.28691270e-04 9.99934335e-01 -1.46805658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:-26.99, Z:-1.47 [[ 9.01784219e-01 4.32066065e-01 1.02048273e-02 1.21759926e+02] [-4.32034701e-01 9.01841910e-01 -5.21417884e-03 -2.69899622e+01] [-1.14560106e-02 2.93224699e-04 9.99934335e-01 -1.46847133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.897628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:-27.02, Z:-1.47 [[ 9.06247487e-01 4.22624401e-01 1.02033419e-02 1.21812887e+02] [-4.22592404e-01 9.06304828e-01 -5.21708378e-03 -2.70226827e+01] [-1.14522050e-02 4.16114270e-04 9.99934335e-01 -1.46931799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.957628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:-27.05, Z:-1.47 [[ 9.09665299e-01 4.15216756e-01 1.02024270e-02 1.21866871e+02] [-4.15184271e-01 9.09722366e-01 -5.21887230e-03 -2.70541594e+01] [-1.14483393e-02 5.11539789e-04 9.99934335e-01 -1.47084422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.92, Y:-27.09, Z:-1.47 [[ 9.13654820e-01 4.06362905e-01 1.02009576e-02 1.21920144e+02] [-4.06329836e-01 9.13711550e-01 -5.22174287e-03 -2.70867482e+01] [-1.14426554e-02 6.25917098e-04 9.99934335e-01 -1.47167621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.98, Y:-27.12, Z:-1.47 [[ 9.15653003e-01 4.01840178e-01 1.02004746e-02 1.21975419e+02] [-4.01806819e-01 9.15709563e-01 -5.22268636e-03 -2.71171579e+01] [-1.14393573e-02 6.83548218e-04 9.99934335e-01 -1.46935867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.03, Y:-27.15, Z:-1.47 [[ 9.15555299e-01 4.02062779e-01 1.01988875e-02 1.22031517e+02] [-4.02029399e-01 9.15611847e-01 -5.22578372e-03 -2.71451405e+01] [-1.14393154e-02 6.84241361e-04 9.99934335e-01 -1.47027619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.197628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:122.09, Y:-27.17, Z:-1.47 [[ 9.14311909e-01 4.04882386e-01 1.01973985e-02 1.22087592e+02] [-4.04849148e-01 9.14368541e-01 -5.22868770e-03 -2.71723659e+01] [-1.14411839e-02 6.52243332e-04 9.99934335e-01 -1.47111140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.14, Y:-27.20, Z:-1.47 [[ 9.12751151e-01 4.08388756e-01 1.01961096e-02 1.22143984e+02] [-4.08355708e-01 9.12807893e-01 -5.23119992e-03 -2.71992741e+01] [-1.14434525e-02 6.11144193e-04 9.99934335e-01 -1.46836654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.20, Y:-27.22, Z:-1.47 [[ 9.09820560e-01 4.14876630e-01 1.01946109e-02 1.22201524e+02] [-4.14843954e-01 9.09877518e-01 -5.23411898e-03 -2.72236541e+01] [-1.14473609e-02 5.32936372e-04 9.99934335e-01 -1.46779872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:-27.25, Z:-1.47 [[ 9.06555741e-01 4.21963016e-01 1.01932276e-02 1.22257793e+02] [-4.21930755e-01 9.06612935e-01 -5.23681149e-03 -2.72508521e+01] [-1.14510528e-02 4.46625306e-04 9.99934335e-01 -1.46632549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:-27.27, Z:-1.47 [[ 9.02818662e-01 4.29900678e-01 1.01917128e-02 1.22315304e+02] [-4.29868887e-01 9.02876118e-01 -5.23975792e-03 -2.72734521e+01] [-1.14544296e-02 3.49450998e-04 9.99934335e-01 -1.46787990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.37, Y:-27.30, Z:-1.47 [[ 8.98606330e-01 4.38637461e-01 1.01903094e-02 1.22373541e+02] [-4.38606198e-01 8.98664075e-01 -5.24248584e-03 -2.72983940e+01] [-1.14572156e-02 2.41398103e-04 9.99934335e-01 -1.46996681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.43, Y:-27.33, Z:-1.47 [[ 8.95970106e-01 4.43997474e-01 1.01888284e-02 1.22430507e+02] [-4.43966524e-01 8.96028020e-01 -5.24536247e-03 -2.73256643e+01] [-1.14584035e-02 1.76189223e-04 9.99934335e-01 -1.47136374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.49, Y:-27.36, Z:-1.47 [[ 8.92460124e-01 4.51011246e-01 1.01873500e-02 1.22486056e+02] [-4.50980718e-01 8.92518262e-01 -5.24823237e-03 -2.73559079e+01] [-1.14594077e-02 8.95397101e-05 9.99934335e-01 -1.47268386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.54, Y:-27.38, Z:-1.47 [[ 8.91252647e-01 4.53392713e-01 1.01865956e-02 1.22542567e+02] [-4.53362323e-01 8.91310857e-01 -5.24969608e-03 -2.73808531e+01] [-1.14595972e-02 6.05868675e-05 9.99934335e-01 -1.47273704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.60, Y:-27.41, Z:-1.47 [[ 8.90777009e-01 4.54326520e-01 1.01849828e-02 1.22597993e+02] [-4.54296156e-01 8.90835232e-01 -5.25282320e-03 -2.74109488e+01] [-1.14596384e-02 5.20955864e-05 9.99934335e-01 -1.47333251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.65, Y:-27.44, Z:-1.47 [[ 8.92630461e-01 4.50674114e-01 1.01834939e-02 1.22651940e+02] [-4.50643479e-01 8.92688542e-01 -5.25570824e-03 -2.74433045e+01] [-1.14592999e-02 1.02280163e-04 9.99934335e-01 -1.47363618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.71, Y:-27.48, Z:-1.47 [[ 8.95422941e-01 4.45100083e-01 1.01819975e-02 1.22706365e+02] [-4.45069053e-01 8.95480812e-01 -5.25860566e-03 -2.74757629e+01] [-1.14583892e-02 1.76984180e-04 9.99934335e-01 -1.47398172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.76, Y:-27.51, Z:-1.48 [[ 9.00769384e-01 4.34178390e-01 1.01804950e-02 1.22758518e+02] [-4.34146626e-01 9.00826856e-01 -5.26151273e-03 -2.75108438e+01] [-1.14552984e-02 3.19582019e-04 9.99934335e-01 -1.47558150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.81, Y:-27.55, Z:-1.48 [[ 9.06264779e-01 4.22587902e-01 1.01791974e-02 1.22810554e+02] [-4.22555375e-01 9.06321822e-01 -5.26402191e-03 -2.75456671e+01] [-1.14501407e-02 4.69323051e-04 9.99934335e-01 -1.47639063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.86, Y:-27.58, Z:-1.48 [[ 9.09176822e-01 4.16285860e-01 1.01778960e-02 1.22863537e+02] [-4.16252910e-01 9.09233622e-01 -5.26653696e-03 -2.75779744e+01] [-1.14464701e-02 5.51634498e-04 9.99934335e-01 -1.47716576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.92, Y:-27.61, Z:-1.48 [[ 9.11674530e-01 4.10787037e-01 1.01765245e-02 1.22916387e+02] [-4.10753716e-01 9.11731112e-01 -5.26918587e-03 -2.76107329e+01] [-1.14427672e-02 6.23737308e-04 9.99934335e-01 -1.47806596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.97, Y:-27.64, Z:-1.48 [[ 9.11362359e-01 4.11479160e-01 1.01760402e-02 1.22971657e+02] [-4.11445871e-01 9.11418960e-01 -5.27012090e-03 -2.76414040e+01] [-1.14431809e-02 6.16100076e-04 9.99934335e-01 -1.47585425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.03, Y:-27.67, Z:-1.48 [[ 9.10214346e-01 4.14012470e-01 1.01744572e-02 1.23026825e+02] [-4.13979304e-01 9.10271020e-01 -5.27317541e-03 -2.76696250e+01] [-1.14446739e-02 5.87705207e-04 9.99934335e-01 -1.47591215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.08, Y:-27.70, Z:-1.48 [[ 9.07315952e-01 4.20326385e-01 1.01731479e-02 1.23083483e+02] [-4.20293586e-01 9.07372839e-01 -5.27570007e-03 -2.76965132e+01] [-1.14483540e-02 5.11018026e-04 9.99934335e-01 -1.47736258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.14, Y:-27.72, Z:-1.48 [[ 9.05089869e-01 4.25098654e-01 1.01716699e-02 1.23139837e+02] [-4.25066122e-01 9.05146910e-01 -5.27854812e-03 -2.77235588e+01] [-1.14507593e-02 4.53928141e-04 9.99934335e-01 -1.47868595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.20, Y:-27.75, Z:-1.48 [[ 9.02027886e-01 4.31557944e-01 1.01702029e-02 1.23197350e+02] [-4.31525789e-01 9.02085140e-01 -5.28137310e-03 -2.77499703e+01] [-1.14536074e-02 3.75240976e-04 9.99934335e-01 -1.48025081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:-27.78, Z:-1.48 [[ 9.00721050e-01 4.34278927e-01 1.01687219e-02 1.23254155e+02] [-4.34246913e-01 9.00778383e-01 -5.28422311e-03 -2.77780699e+01] [-1.14545916e-02 3.43874905e-04 9.99934335e-01 -1.48077747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:-27.81, Z:-1.48 [[ 8.99445400e-01 4.36914866e-01 1.01672352e-02 1.23311092e+02] [-4.36882988e-01 8.99502808e-01 -5.28708209e-03 -2.78054364e+01] [-1.14554614e-02 3.13549575e-04 9.99934335e-01 -1.48113395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:-27.83, Z:-1.48 [[ 8.98226415e-01 4.39415481e-01 1.01657405e-02 1.23367034e+02] [-4.39383730e-01 8.98283894e-01 -5.28995433e-03 -2.78337732e+01] [-1.14562088e-02 2.84915718e-04 9.99934335e-01 -1.48096051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.42, Y:-27.86, Z:-1.48 [[ 8.95721566e-01 4.44499228e-01 1.01642571e-02 1.23423318e+02] [-4.44467772e-01 8.95779206e-01 -5.29280310e-03 -2.78604375e+01] [-1.14575771e-02 2.23193169e-04 9.99934335e-01 -1.48156978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:-27.89, Z:-1.48 [[ 8.94511565e-01 4.46929273e-01 1.01629547e-02 1.23479821e+02] [-4.46897945e-01 8.94569275e-01 -5.29530268e-03 -2.78890153e+01] [-1.14580928e-02 1.94905900e-04 9.99934335e-01 -1.48267422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.53, Y:-27.92, Z:-1.48 [[ 8.90464829e-01 4.54938604e-01 1.01614585e-02 1.23534978e+02] [-4.54907762e-01 8.90522800e-01 -5.29817229e-03 -2.79175458e+01] [-1.14593536e-02 9.53097205e-05 9.99934335e-01 -1.48484286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.817628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:123.59, Y:-27.95, Z:-1.49 [[ 8.87843942e-01 4.60032508e-01 1.01600766e-02 1.23589979e+02] [-4.60001968e-01 8.87902073e-01 -5.30082104e-03 -2.79466114e+01] [-1.14597031e-02 3.26466198e-05 9.99934335e-01 -1.48931736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.64, Y:-27.98, Z:-1.49 [[ 8.84282018e-01 4.66842705e-01 1.01587832e-02 1.23644372e+02] [-4.66812585e-01 8.84340367e-01 -5.30329852e-03 -2.79766762e+01] [-1.14596283e-02 -5.26363448e-05 9.99934335e-01 -1.48923512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.70, Y:-28.01, Z:-1.49 [[ 8.83037997e-01 4.69191562e-01 1.01574689e-02 1.23698613e+02] [-4.69161568e-01 8.83096411e-01 -5.30581476e-03 -2.80076785e+01] [-1.14594678e-02 -8.02579823e-05 9.99934335e-01 -1.49025246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:-28.04, Z:-1.49 [[ 8.83510590e-01 4.68301073e-01 1.01559554e-02 1.23750509e+02] [-4.68270986e-01 8.83568957e-01 -5.30871015e-03 -2.80414155e+01] [-1.14595616e-02 -6.54376193e-05 9.99934335e-01 -1.48948989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:-28.08, Z:-1.49 [[ 8.85449782e-01 4.64624100e-01 1.01552334e-02 1.23801952e+02] [-4.64593755e-01 8.85508016e-01 -5.31009095e-03 -2.80766781e+01] [-1.14597368e-02 -1.62391374e-05 9.99934335e-01 -1.48799423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.86, Y:-28.11, Z:-1.49 [[ 8.89072336e-01 4.57654103e-01 1.01539212e-02 1.23856194e+02] [-4.57623274e-01 8.89130314e-01 -5.31259896e-03 -2.81072145e+01] [-1.14594918e-02 7.66141241e-05 9.99934335e-01 -1.49046761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.90, Y:-28.15, Z:-1.49 [[ 8.92174301e-01 4.51577172e-01 1.01525175e-02 1.23903940e+02] [-4.51545917e-01 8.92232051e-01 -5.31528009e-03 -2.81467500e+01] [-1.14586607e-02 1.57828475e-04 9.99934335e-01 -1.49008799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.96, Y:-28.18, Z:-1.49 [[ 8.93520624e-01 4.48907393e-01 1.01512398e-02 1.23957976e+02] [-4.48875938e-01 8.93578264e-01 -5.31771912e-03 -2.81787712e+01] [-1.14580907e-02 1.94844421e-04 9.99934335e-01 -1.48946333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.01, Y:-28.21, Z:-1.49 [[ 8.93319215e-01 4.49308095e-01 1.01497345e-02 1.24012936e+02] [-4.49276632e-01 8.93376852e-01 -5.32059072e-03 -2.82093914e+01] [-1.14581223e-02 1.92947391e-04 9.99934335e-01 -1.49052450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.07, Y:-28.24, Z:-1.49 [[ 8.94210075e-01 4.47532519e-01 1.01482271e-02 1.24068636e+02] [-4.47500910e-01 8.94267631e-01 -5.32346429e-03 -2.82396070e+01] [-1.14576544e-02 2.18954540e-04 9.99934335e-01 -1.49084369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.12, Y:-28.27, Z:-1.49 [[ 8.96706196e-01 4.42509935e-01 1.01467107e-02 1.24123869e+02] [-4.42477970e-01 8.96763556e-01 -5.32635311e-03 -2.82660295e+01] [-1.14561645e-02 2.86477899e-04 9.99934335e-01 -1.49172927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.477628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:124.18, Y:-28.29, Z:-1.49 [[ 8.99375837e-01 4.37058535e-01 1.01459925e-02 1.24179450e+02] [-4.37026208e-01 8.99432993e-01 -5.32772082e-03 -2.82943941e+01] [-1.14541662e-02 3.57558750e-04 9.99934335e-01 -1.49382175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.23, Y:-28.32, Z:-1.49 [[ 9.02695022e-01 4.30161351e-01 1.01444661e-02 1.24233912e+02] [-4.30128554e-01 9.02751910e-01 -5.33062551e-03 -2.83225755e+01] [-1.14509652e-02 4.48504564e-04 9.99934335e-01 -1.48906996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.29, Y:-28.35, Z:-1.49 [[ 9.04217384e-01 4.26952032e-01 1.01432484e-02 1.24290659e+02] [-4.26919008e-01 9.04274140e-01 -5.33294163e-03 -2.83502746e+01] [-1.14491875e-02 4.91792987e-04 9.99934335e-01 -1.48897514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.35, Y:-28.38, Z:-1.49 [[ 9.03864483e-01 4.27698657e-01 1.01417727e-02 1.24348256e+02] [-4.27665648e-01 9.03921249e-01 -5.33574656e-03 -2.83752761e+01] [-1.14494555e-02 4.85504021e-04 9.99934335e-01 -1.49171939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.40, Y:-28.40, Z:-1.50 [[ 9.01891391e-01 4.31843829e-01 1.01403215e-02 1.24404414e+02] [-4.31811050e-01 9.01948290e-01 -5.33850310e-03 -2.84020037e+01] [-1.14514452e-02 4.36047127e-04 9.99934335e-01 -1.49501433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.46, Y:-28.43, Z:-1.50 [[ 8.98257290e-01 4.39352983e-01 1.01388453e-02 1.24462038e+02] [-4.39320649e-01 8.98314443e-01 -5.34130518e-03 -2.84267294e+01] [-1.14545895e-02 3.43662229e-04 9.99934335e-01 -1.49743125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.52, Y:-28.45, Z:-1.50 [[ 8.94501849e-01 4.46949295e-01 1.01375301e-02 1.24519419e+02] [-4.46917417e-01 8.94559258e-01 -5.34380017e-03 -2.84523957e+01] [-1.14570291e-02 2.49400368e-04 9.99934335e-01 -1.49915032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.58, Y:-28.48, Z:-1.50 [[ 8.93206185e-01 4.49533059e-01 1.01361048e-02 1.24575997e+02] [-4.49501317e-01 8.93263668e-01 -5.34650232e-03 -2.84806232e+01] [-1.14576437e-02 2.19336476e-04 9.99934335e-01 -1.50015317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.63, Y:-28.51, Z:-1.50 [[ 8.92980305e-01 4.49981625e-01 1.01346899e-02 1.24630636e+02] [-4.49949882e-01 8.93037787e-01 -5.34918298e-03 -2.85106714e+01] [-1.14576951e-02 2.16612516e-04 9.99934335e-01 -1.50046571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.69, Y:-28.54, Z:-1.50 [[ 8.93144021e-01 4.49656616e-01 1.01333813e-02 1.24686299e+02] [-4.49624823e-01 8.93201477e-01 -5.35166085e-03 -2.85403196e+01] [-1.14575609e-02 2.23584117e-04 9.99934335e-01 -1.50116199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.74, Y:-28.57, Z:-1.50 [[ 8.92950164e-01 4.50041496e-01 1.01319292e-02 1.24740592e+02] [-4.50009698e-01 8.93007616e-01 -5.35440863e-03 -2.85707447e+01] [-1.14575960e-02 2.21753673e-04 9.99934335e-01 -1.50247485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.80, Y:-28.60, Z:-1.50 [[ 8.92185305e-01 4.51555924e-01 1.01305884e-02 1.24795852e+02] [-4.51524194e-01 8.92242795e-01 -5.35694415e-03 -2.86017361e+01] [-1.14579044e-02 2.05181084e-04 9.99934335e-01 -1.50153333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:-28.63, Z:-1.50 [[ 8.90386695e-01 4.55092227e-01 1.01290886e-02 1.24851051e+02] [-4.55060693e-01 8.90444293e-01 -5.35977857e-03 -2.86327509e+01] [-1.14585827e-02 1.62925449e-04 9.99934335e-01 -1.50251566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:-28.66, Z:-1.50 [[ 8.88875403e-01 4.58037061e-01 1.01275851e-02 1.24906658e+02] [-4.58005686e-01 8.88933088e-01 -5.36261808e-03 -2.86630364e+01] [-1.14590233e-02 1.28207759e-04 9.99934335e-01 -1.50498444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.96, Y:-28.70, Z:-1.51 [[ 8.87585253e-01 4.60532171e-01 1.01260933e-02 1.24959460e+02] [-4.60500925e-01 8.87643008e-01 -5.36543354e-03 -2.86956435e+01] [-1.14593106e-02 9.92043700e-05 9.99934335e-01 -1.50740641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.01, Y:-28.73, Z:-1.51 [[ 8.87193395e-01 4.61286644e-01 1.01247674e-02 1.25012622e+02] [-4.61255419e-01 8.87251161e-01 -5.36793435e-03 -2.87290406e+01] [-1.14593680e-02 9.22920766e-05 9.99934335e-01 -1.50849644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.07, Y:-28.76, Z:-1.51 [[ 8.87006531e-01 4.61645879e-01 1.01240575e-02 1.25065901e+02] [-4.61614663e-01 8.87064301e-01 -5.36927297e-03 -2.87612738e+01] [-1.14593927e-02 8.91668203e-05 9.99934335e-01 -1.50738179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.12, Y:-28.79, Z:-1.50 [[ 8.86986853e-01 4.61683715e-01 1.01227535e-02 1.25118384e+02] [-4.61652473e-01 8.87044609e-01 -5.37173023e-03 -2.87949789e+01] [-1.14593743e-02 9.14599078e-05 9.99934335e-01 -1.50408781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.17, Y:-28.82, Z:-1.50 [[ 8.84718301e-01 4.66016186e-01 1.01213965e-02 1.25173365e+02] [-4.65985197e-01 8.84776194e-01 -5.37428589e-03 -2.88243899e+01] [-1.14596749e-02 3.83081465e-05 9.99934335e-01 -1.50433802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.23, Y:-28.85, Z:-1.51 [[ 8.83725578e-01 4.67896014e-01 1.01204399e-02 1.25228436e+02] [-4.67865128e-01 8.83783525e-01 -5.37608656e-03 -2.88532829e+01] [-1.14597276e-02 1.59842727e-05 9.99934335e-01 -1.50539642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.29, Y:-28.88, Z:-1.51 [[ 8.83226636e-01 4.68837193e-01 1.01190340e-02 1.25285175e+02] [-4.68806339e-01 8.83284601e-01 -5.37873164e-03 -2.88815559e+01] [-1.14597363e-02 6.77178687e-06 9.99934335e-01 -1.50557455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.34, Y:-28.91, Z:-1.51 [[ 8.85033351e-01 4.65417666e-01 1.01175031e-02 1.25341134e+02] [-4.65386554e-01 8.85091178e-01 -5.38160966e-03 -2.89107262e+01] [-1.14596090e-02 5.43541235e-05 9.99934335e-01 -1.50563651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.40, Y:-28.94, Z:-1.51 [[ 8.90346233e-01 4.55171673e-01 1.01159887e-02 1.25396886e+02] [-4.55139864e-01 8.90403679e-01 -5.38445493e-03 -2.89393845e+01] [-1.14581649e-02 1.89839461e-04 9.99934335e-01 -1.50578350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.45, Y:-28.97, Z:-1.51 [[ 8.94742739e-01 4.46467387e-01 1.01144919e-02 1.25452588e+02] [-4.46434988e-01 8.94799854e-01 -5.38726511e-03 -2.89688755e+01] [-1.14556840e-02 3.04753289e-04 9.99934335e-01 -1.50681095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.51, Y:-29.00, Z:-1.51 [[ 9.01103536e-01 4.33486038e-01 1.01129586e-02 1.25509264e+02] [-4.33452783e-01 9.01160158e-01 -5.39014185e-03 -2.89953303e+01] [-1.14499466e-02 4.73585832e-04 9.99934335e-01 -1.50905018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:-29.02, Z:-1.51 [[ 9.04919381e-01 4.25462893e-01 1.01114249e-02 1.25565369e+02] [-4.25429105e-01 9.04975686e-01 -5.39301743e-03 -2.90230576e+01] [-1.14451225e-02 5.78551555e-04 9.99934335e-01 -1.50989788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:-29.05, Z:-1.51 [[ 9.08605607e-01 4.17532802e-01 1.01099003e-02 1.25621877e+02] [-4.17498492e-01 9.08661595e-01 -5.39587389e-03 -2.90492193e+01] [-1.14394325e-02 6.81853143e-04 9.99934335e-01 -1.51021513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.68, Y:-29.08, Z:-1.51 [[ 9.09233973e-01 4.16162709e-01 1.01084929e-02 1.25678535e+02] [-4.16128285e-01 9.09289891e-01 -5.39850920e-03 -2.90756392e+01] [-1.14382086e-02 7.02078144e-04 9.99934335e-01 -1.51134805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:-29.10, Z:-1.51 [[ 9.06727622e-01 4.21595622e-01 1.01069720e-02 1.25737263e+02] [-4.21561501e-01 9.06783726e-01 -5.40135505e-03 -2.90984214e+01] [-1.14420254e-02 6.36847511e-04 9.99934335e-01 -1.51379972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:-29.12, Z:-1.51 [[ 9.03224822e-01 4.29048716e-01 1.01054541e-02 1.25795570e+02] [-4.29015027e-01 9.03281186e-01 -5.40419354e-03 -2.91235244e+01] [-1.14467288e-02 5.45810093e-04 9.99934335e-01 -1.51497092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27762799999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:125.85, Y:-29.15, Z:-1.52 [[ 8.97430731e-01 4.41039675e-01 1.01039279e-02 1.25854124e+02] [-4.41006707e-01 8.97487520e-01 -5.40704550e-03 -2.91450187e+01] [-1.14528707e-02 3.96548835e-04 9.99934335e-01 -1.51836470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:-29.17, Z:-1.52 [[ 8.93498607e-01 4.48952312e-01 1.01025153e-02 1.25912559e+02] [-4.48919818e-01 8.93555668e-01 -5.40968336e-03 -2.91699448e+01] [-1.14558497e-02 2.98325194e-04 9.99934335e-01 -1.51771394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.97, Y:-29.19, Z:-1.52 [[ 8.87856205e-01 4.60010140e-01 1.01009984e-02 1.25969756e+02] [-4.59978325e-01 8.87913648e-01 -5.41251439e-03 -2.91942315e+01] [-1.14586258e-02 1.59294182e-04 9.99934335e-01 -1.51818809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.03, Y:-29.22, Z:-1.52 [[ 8.83148465e-01 4.68984847e-01 1.00995963e-02 1.26026849e+02] [-4.68953586e-01 8.83206211e-01 -5.41512941e-03 -2.92203671e+01] [-1.14596398e-02 4.61213427e-05 9.99934335e-01 -1.51738386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.08, Y:-29.25, Z:-1.52 [[ 8.80540240e-01 4.73863814e-01 1.00981302e-02 1.26083255e+02] [-4.73832841e-01 8.80598141e-01 -5.41786189e-03 -2.92477095e+01] [-1.14597234e-02 -1.41803340e-05 9.99934335e-01 -1.51796526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.14, Y:-29.28, Z:-1.52 [[ 8.78235255e-01 4.78122261e-01 1.00965660e-02 1.26139296e+02] [-4.78091535e-01 8.78293288e-01 -5.42077531e-03 -2.92758904e+01] [-1.14595395e-02 -6.63667709e-05 9.99934335e-01 -1.51991321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.19, Y:-29.31, Z:-1.52 [[ 8.77528920e-01 4.79417444e-01 1.00950169e-02 1.26194149e+02] [-4.79386771e-01 8.77586980e-01 -5.42365869e-03 -2.93058262e+01] [-1.14594520e-02 -8.00002099e-05 9.99934335e-01 -1.52098521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.25, Y:-29.34, Z:-1.52 [[ 8.78465635e-01 4.77698913e-01 1.00934441e-02 1.26247484e+02] [-4.77668092e-01 8.78523617e-01 -5.42658404e-03 -2.93378569e+01] [-1.14596024e-02 -5.42486151e-05 9.99934335e-01 -1.52279694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:-29.37, Z:-1.52 [[ 8.79960850e-01 4.74938990e-01 1.00924743e-02 1.26301272e+02] [-4.74907967e-01 8.80018724e-01 -5.42838709e-03 -2.93706408e+01] [-1.14597191e-02 -1.62283581e-05 9.99934335e-01 -1.52427893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:-29.41, Z:-1.53 [[ 8.84010765e-01 4.67357614e-01 1.00909670e-02 1.26353501e+02] [-4.67326062e-01 8.84068353e-01 -5.43118770e-03 -2.94058421e+01] [-1.14594115e-02 8.54565302e-05 9.99934335e-01 -1.52618488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.41, Y:-29.44, Z:-1.53 [[ 8.87169818e-01 4.61332761e-01 1.00894609e-02 1.26406506e+02] [-4.61300787e-01 8.87227173e-01 -5.43398420e-03 -2.94405116e+01] [-1.14585188e-02 1.66590544e-04 9.99934335e-01 -1.52646678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.46, Y:-29.48, Z:-1.53 [[ 8.91990291e-01 4.51941982e-01 1.00879172e-02 1.26458501e+02] [-4.51909372e-01 8.92047286e-01 -5.43684849e-03 -2.94774157e+01] [-1.14560392e-02 2.90791762e-04 9.99934335e-01 -1.52622741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.51, Y:-29.51, Z:-1.53 [[ 8.96611926e-01 4.42702292e-01 1.00863793e-02 1.26512877e+02] [-4.42669062e-01 8.96668563e-01 -5.43970004e-03 -2.95084074e+01] [-1.14523069e-02 4.12371878e-04 9.99934335e-01 -1.52796221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.56, Y:-29.55, Z:-1.53 [[ 8.99236089e-01 4.37347405e-01 1.00847680e-02 1.26563254e+02] [-4.37313806e-01 8.99292507e-01 -5.44268561e-03 -2.95457733e+01] [-1.14495007e-02 4.84051057e-04 9.99934335e-01 -1.52692903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.62, Y:-29.58, Z:-1.53 [[ 9.00449602e-01 4.34843467e-01 1.00832922e-02 1.26617177e+02] [-4.34809680e-01 9.00505908e-01 -5.44541829e-03 -2.95787632e+01] [-1.14479688e-02 5.19011673e-04 9.99934335e-01 -1.52581699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:-29.61, Z:-1.53 [[ 9.00428359e-01 4.34887490e-01 1.00817389e-02 1.26671481e+02] [-4.34853674e-01 9.00484647e-01 -5.44829252e-03 -2.96100881e+01] [-1.14478454e-02 5.21715878e-04 9.99934335e-01 -1.52605992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.73, Y:-29.64, Z:-1.53 [[ 8.99252035e-01 4.37314723e-01 1.00801802e-02 1.26726542e+02] [-4.37281026e-01 8.99308395e-01 -5.45117488e-03 -2.96403599e+01] [-1.14490697e-02 4.94108544e-04 9.99934335e-01 -1.52716796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.78, Y:-29.67, Z:-1.53 [[ 8.96052892e-01 4.43832892e-01 1.00786324e-02 1.26782644e+02] [-4.43799573e-01 8.96109476e-01 -5.45403511e-03 -2.96695119e+01] [-1.14522382e-02 4.14211169e-04 9.99934335e-01 -1.52769107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.84, Y:-29.70, Z:-1.53 [[ 8.93229194e-01 4.49488665e-01 1.00770796e-02 1.26838374e+02] [-4.49455672e-01 8.93285968e-01 -5.45690268e-03 -2.96991164e+01] [-1.14545297e-02 3.45064213e-04 9.99934335e-01 -1.52831918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.89, Y:-29.73, Z:-1.53 [[ 8.88975826e-01 4.57843276e-01 1.00755349e-02 1.26894907e+02] [-4.57810784e-01 8.89032889e-01 -5.45975328e-03 -2.97262935e+01] [-1.14571932e-02 2.40900155e-04 9.99934335e-01 -1.53131060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.95, Y:-29.75, Z:-1.53 [[ 8.86162920e-01 4.63264282e-01 1.00739873e-02 1.26949833e+02] [-4.63232107e-01 8.86220162e-01 -5.46260730e-03 -2.97549252e+01] [-1.14584015e-02 1.74165675e-04 9.99934335e-01 -1.53318158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.01, Y:-29.78, Z:-1.54 [[ 8.83320078e-01 4.68662121e-01 1.00725556e-02 1.27005681e+02] [-4.68630266e-01 8.83377499e-01 -5.46524602e-03 -2.97841682e+01] [-1.14592227e-02 1.07257154e-04 9.99934335e-01 -1.53504164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:-29.81, Z:-1.54 [[ 8.80803094e-01 4.73375626e-01 1.00710535e-02 1.27061078e+02] [-4.73344047e-01 8.80860667e-01 -5.46801246e-03 -2.98141155e+01] [-1.14596188e-02 4.91690552e-05 9.99934335e-01 -1.53607228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.12, Y:-29.84, Z:-1.54 [[ 8.78404597e-01 4.77811645e-01 1.00695629e-02 1.27115900e+02] [-4.77780325e-01 8.78462311e-01 -5.47075623e-03 -2.98445901e+01] [-1.14597225e-02 -5.50159122e-06 9.99934335e-01 -1.53645487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:-29.88, Z:-1.54 [[ 8.77224488e-01 4.79974825e-01 1.00679985e-02 1.27170023e+02] [-4.79943614e-01 8.77282261e-01 -5.47363366e-03 -2.98757837e+01] [-1.14596829e-02 -3.04661029e-05 9.99934335e-01 -1.53710542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:-29.91, Z:-1.54 [[ 8.75715353e-01 4.82722785e-01 1.00664449e-02 1.27223724e+02] [-4.82691723e-01 8.75773206e-01 -5.47648941e-03 -2.99095924e+01] [-1.14595489e-02 -6.31437625e-05 9.99934335e-01 -1.53660348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.28, Y:-29.94, Z:-1.54 [[ 8.74529006e-01 4.84868761e-01 1.00648874e-02 1.27277992e+02] [-4.84837808e-01 8.74586918e-01 -5.47935033e-03 -2.99418776e+01] [-1.14593846e-02 -8.79871389e-05 9.99934335e-01 -1.53756721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.33, Y:-29.98, Z:-1.54 [[ 8.73527202e-01 4.86671302e-01 1.00633137e-02 1.27330719e+02] [-4.86640435e-01 8.73585160e-01 -5.48223897e-03 -2.99758697e+01] [-1.14592099e-02 -1.08330503e-04 9.99934335e-01 -1.54126217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:127.38, Y:-30.01, Z:-1.55 [[ 8.73501793e-01 4.86716917e-01 1.00628274e-02 1.27383187e+02] [-4.86686043e-01 8.73559747e-01 -5.48313150e-03 -3.00087730e+01] [-1.14592138e-02 -1.07912450e-04 9.99934335e-01 -1.54600107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.44, Y:-30.04, Z:-1.54 [[ 8.73597625e-01 4.86544917e-01 1.00614737e-02 1.27437593e+02] [-4.86514002e-01 8.73655558e-01 -5.48561444e-03 -3.00397709e+01] [-1.14592602e-02 -1.02828076e-04 9.99934335e-01 -1.54444378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.49, Y:-30.07, Z:-1.54 [[ 8.76440599e-01 4.81404897e-01 1.00599271e-02 1.27491024e+02] [-4.81373610e-01 8.76498331e-01 -5.48844914e-03 -3.00683623e+01] [-1.14596756e-02 -3.22837887e-05 9.99934335e-01 -1.54235615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137628 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:127.55, Y:-30.10, Z:-1.54 [[ 8.80286511e-01 4.74335828e-01 1.00588758e-02 1.27545589e+02] [-4.74304056e-01 8.80343977e-01 -5.49037522e-03 -3.00985666e+01] [-1.14595524e-02 6.21376468e-05 9.99934335e-01 -1.54157717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.60, Y:-30.13, Z:-1.54 [[ 8.84399602e-01 4.66622106e-01 1.00575237e-02 1.27599926e+02] [-4.66589805e-01 8.84456773e-01 -5.49285107e-03 -3.01279663e+01] [-1.14585307e-02 1.65137298e-04 9.99934335e-01 -1.53925501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.66, Y:-30.16, Z:-1.54 [[ 8.91651678e-01 4.52610382e-01 1.00561757e-02 1.27655100e+02] [-4.52577155e-01 8.91708316e-01 -5.49531777e-03 -3.01566976e+01] [-1.14544134e-02 3.48713920e-04 9.99934335e-01 -1.53863964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.71, Y:-30.19, Z:-1.54 [[ 8.96264783e-01 4.43405389e-01 1.00548104e-02 1.27711017e+02] [-4.43371552e-01 8.96321059e-01 -5.49781476e-03 -3.01854518e+01] [-1.14500990e-02 4.69480866e-04 9.99934335e-01 -1.53906896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.77, Y:-30.21, Z:-1.54 [[ 9.01935228e-01 4.31754303e-01 1.00532081e-02 1.27766964e+02] [-4.31719708e-01 9.01991040e-01 -5.50074318e-03 -3.02120264e+01] [-1.14428731e-02 6.21146002e-04 9.99934335e-01 -1.54252744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.82, Y:-30.24, Z:-1.54 [[ 9.03651008e-01 4.28151628e-01 1.00518236e-02 1.27822687e+02] [-4.28116782e-01 9.03706664e-01 -5.50327197e-03 -3.02397022e+01] [-1.14401348e-02 6.69682902e-04 9.99934335e-01 -1.54387265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.88, Y:-30.26, Z:-1.55 [[ 9.02700194e-01 4.30152704e-01 1.00504603e-02 1.27882027e+02] [-4.30117954e-01 9.02755910e-01 -5.50576058e-03 -3.02632449e+01] [-1.14414302e-02 6.47167737e-04 9.99934335e-01 -1.54525018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.94, Y:-30.28, Z:-1.54 [[ 8.97785409e-01 4.40318497e-01 1.00489096e-02 1.27940286e+02] [-4.40284346e-01 8.97841495e-01 -5.50858939e-03 -3.02844157e+01] [-1.14478618e-02 5.21153586e-04 9.99934335e-01 -1.54447839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.00, Y:-30.31, Z:-1.54 [[ 8.93490743e-01 4.48969182e-01 1.00481760e-02 1.27998222e+02] [-4.48935560e-01 8.93547147e-01 -5.50992723e-03 -3.03088454e+01] [-1.14523065e-02 4.12085468e-04 9.99934335e-01 -1.54302825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.06, Y:-30.33, Z:-1.54 [[ 8.89007624e-01 4.57782165e-01 1.00466046e-02 1.28055508e+02] [-4.57749070e-01 8.89064339e-01 -5.51279100e-03 -3.03341574e+01] [-1.14557353e-02 3.02089326e-04 9.99934335e-01 -1.54271703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.11, Y:-30.36, Z:-1.54 [[ 8.82821454e-01 4.69601294e-01 1.00451509e-02 1.28114339e+02] [-4.69568929e-01 8.82878588e-01 -5.51543852e-03 -3.03569412e+01] [-1.14587057e-02 1.52256704e-04 9.99934335e-01 -1.54371925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.17, Y:-30.38, Z:-1.55 [[ 8.79265759e-01 4.76225631e-01 1.00436181e-02 1.28171817e+02] [-4.76193664e-01 8.79323117e-01 -5.51822834e-03 -3.03828927e+01] [-1.14595074e-02 6.92819189e-05 9.99934335e-01 -1.54551463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:-30.41, Z:-1.55 [[ 8.75841104e-01 4.82495096e-01 1.00420423e-02 1.28228975e+02] [-4.82463507e-01 8.75898671e-01 -5.52109444e-03 -3.04092186e+01] [-1.14597125e-02 -9.31751201e-06 9.99934335e-01 -1.54625837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.28, Y:-30.44, Z:-1.55 [[ 8.74532635e-01 4.84862722e-01 1.00404559e-02 1.28283250e+02] [-4.84831255e-01 8.74590269e-01 -5.52397797e-03 -3.04382084e+01] [-1.14596560e-02 -3.70278350e-05 9.99934335e-01 -1.54772673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.34, Y:-30.47, Z:-1.55 [[ 8.74418241e-01 4.85069025e-01 1.00389914e-02 1.28337936e+02] [-4.85037541e-01 8.74475866e-01 -5.52663815e-03 -3.04692145e+01] [-1.14596567e-02 -3.66945111e-05 9.99934335e-01 -1.54937883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:-30.50, Z:-1.55 [[ 8.76276772e-01 4.81703507e-01 1.00374407e-02 1.28391144e+02] [-4.81671770e-01 8.76334258e-01 -5.52945307e-03 -3.05036946e+01] [-1.14597101e-02 1.05794373e-05 9.99934335e-01 -1.54925441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:-30.54, Z:-1.55 [[ 8.78141940e-01 4.78294902e-01 1.00358771e-02 1.28444786e+02] [-4.78262910e-01 8.78199284e-01 -5.53228964e-03 -3.05374692e+01] [-1.14595660e-02 5.83477937e-05 9.99934335e-01 -1.54878790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.50, Y:-30.57, Z:-1.55 [[ 8.81426134e-01 4.72215293e-01 1.00343227e-02 1.28497635e+02] [-4.72182872e-01 8.81483237e-01 -5.53510746e-03 -3.05727740e+01] [-1.14588497e-02 1.40753050e-04 9.99934335e-01 -1.54912755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.55, Y:-30.61, Z:-1.55 [[ 8.83066069e-01 4.69141410e-01 1.00327490e-02 1.28551438e+02] [-4.69108758e-01 8.83123040e-01 -5.53795854e-03 -3.06058434e+01] [-1.14582374e-02 1.83932871e-04 9.99934335e-01 -1.55105491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.60, Y:-30.64, Z:-1.55 [[ 8.85327423e-01 4.64859904e-01 1.00311589e-02 1.28603392e+02] [-4.64826945e-01 8.85384216e-01 -5.54083723e-03 -3.06410168e+01] [-1.14571428e-02 2.42702209e-04 9.99934335e-01 -1.55225110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.66, Y:-30.67, Z:-1.55 [[ 8.86165531e-01 4.63260250e-01 1.00295596e-02 1.28656005e+02] [-4.63227155e-01 8.86222246e-01 -5.54373058e-03 -3.06733627e+01] [-1.14566089e-02 2.66698596e-04 9.99934335e-01 -1.55267368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.71, Y:-30.71, Z:-1.55 [[ 8.86589038e-01 4.62449256e-01 1.00280850e-02 1.28709642e+02] [-4.62416080e-01 8.86645705e-01 -5.54639679e-03 -3.07060437e+01] [-1.14562855e-02 2.80226856e-04 9.99934335e-01 -1.55301165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.76, Y:-30.74, Z:-1.55 [[ 8.86888825e-01 4.61874095e-01 1.00265502e-02 1.28763835e+02] [-4.61840850e-01 8.86945452e-01 -5.54916985e-03 -3.07389020e+01] [-1.14560209e-02 2.90826247e-04 9.99934335e-01 -1.55311419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.82, Y:-30.77, Z:-1.55 [[ 8.86802225e-01 4.62040380e-01 1.00250066e-02 1.28817687e+02] [-4.62007115e-01 8.86858840e-01 -5.55195720e-03 -3.07709879e+01] [-1.14559941e-02 2.91863650e-04 9.99934335e-01 -1.55299520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.87, Y:-30.80, Z:-1.55 [[ 8.85081319e-01 4.65328474e-01 1.00234501e-02 1.28871361e+02] [-4.65295387e-01 8.85138039e-01 -5.55476582e-03 -3.08034001e+01] [-1.14569276e-02 2.52554374e-04 9.99934335e-01 -1.55326245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.93, Y:-30.83, Z:-1.56 [[ 8.82995018e-01 4.69275357e-01 1.00218793e-02 1.28925105e+02] [-4.69242491e-01 8.83051866e-01 -5.55759843e-03 -3.08342493e+01] [-1.14578832e-02 2.04640132e-04 9.99934335e-01 -1.55520931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.98, Y:-30.87, Z:-1.56 [[ 8.79409772e-01 4.75960128e-01 1.00204285e-02 1.28979020e+02] [-4.75927665e-01 8.79466851e-01 -5.56021303e-03 -3.08661304e+01] [-1.14590744e-02 1.20706562e-04 9.99934335e-01 -1.55662019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:-30.90, Z:-1.56 [[ 8.77052756e-01 4.80289585e-01 1.00188524e-02 1.29032663e+02] [-4.80257371e-01 8.77109976e-01 -5.56305143e-03 -3.08979357e+01] [-1.14595111e-02 6.74618795e-05 9.99934335e-01 -1.55786896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.09, Y:-30.93, Z:-1.56 [[ 8.74333724e-01 4.85221795e-01 1.00173944e-02 1.29086021e+02] [-4.85189874e-01 8.74391108e-01 -5.56567571e-03 -3.09305495e+01] [-1.14597077e-02 5.91965725e-06 9.99934335e-01 -1.55797706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.14, Y:-30.96, Z:-1.56 [[ 8.72761759e-01 4.88043640e-01 1.00158210e-02 1.29140201e+02] [-4.88011872e-01 8.72819228e-01 -5.56850559e-03 -3.09635210e+01] [-1.14596749e-02 -2.78608333e-05 9.99934335e-01 -1.55935384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:-31.00, Z:-1.56 [[ 8.71037123e-01 4.91115103e-01 1.00142611e-02 1.29193165e+02] [-4.91083505e-01 8.71094686e-01 -5.57130957e-03 -3.09972924e+01] [-1.14595239e-02 -6.50209749e-05 9.99934335e-01 -1.56138443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.24, Y:-31.03, Z:-1.56 [[ 8.70011622e-01 4.92929531e-01 1.00126834e-02 1.29244476e+02] [-4.92898021e-01 8.70069233e-01 -5.57414341e-03 -3.10315558e+01] [-1.14593877e-02 -8.56623068e-05 9.99934335e-01 -1.56147044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.30, Y:-31.07, Z:-1.56 [[ 8.69621069e-01 4.93618246e-01 1.00112283e-02 1.29297658e+02] [-4.93586751e-01 8.69678687e-01 -5.57675561e-03 -3.10655161e+01] [-1.14593402e-02 -9.17454863e-05 9.99934335e-01 -1.56136821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.35, Y:-31.10, Z:-1.56 [[ 8.68745540e-01 4.95157544e-01 1.00096319e-02 1.29349306e+02] [-4.95126118e-01 8.68803197e-01 -5.57961955e-03 -3.10996200e+01] [-1.14591909e-02 -1.08760585e-04 9.99934335e-01 -1.56159573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.40, Y:-31.13, Z:-1.56 [[ 8.68744712e-01 4.95159028e-01 1.00081557e-02 1.29404364e+02] [-4.95127571e-01 8.68802352e-01 -5.58226612e-03 -3.11297961e+01] [-1.14592187e-02 -1.05749661e-04 9.99934335e-01 -1.56333344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.46, Y:-31.16, Z:-1.57 [[ 8.68835990e-01 4.94998881e-01 1.00065648e-02 1.29459830e+02] [-4.94967381e-01 8.68893606e-01 -5.58511646e-03 -3.11586008e+01] [-1.14592666e-02 -1.00372989e-04 9.99934335e-01 -1.56613397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.51, Y:-31.19, Z:-1.57 [[ 8.69290537e-01 4.94200222e-01 1.00051655e-02 1.29514691e+02] [-4.94168641e-01 8.69348108e-01 -5.58762206e-03 -3.11882425e+01] [-1.14593758e-02 -8.69720557e-05 9.99934335e-01 -1.56812650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.57, Y:-31.22, Z:-1.57 [[ 8.69553211e-01 4.93737925e-01 1.00037847e-02 1.29569138e+02] [-4.93706284e-01 8.69610750e-01 -5.59009299e-03 -3.12187832e+01] [-1.14594397e-02 -7.80480867e-05 9.99934335e-01 -1.56831364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.62, Y:-31.25, Z:-1.57 [[ 8.70874298e-01 4.91404022e-01 1.00022201e-02 1.29623680e+02] [-4.91372195e-01 8.70931734e-01 -5.59289122e-03 -3.12489125e+01] [-1.14596201e-02 -4.41076143e-05 9.99934335e-01 -1.56666003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.68, Y:-31.28, Z:-1.57 [[ 8.74454832e-01 4.85003845e-01 1.00008503e-02 1.29677760e+02] [-4.84971570e-01 8.74512018e-01 -5.59533942e-03 -3.12798935e+01] [-1.14596249e-02 4.27435137e-05 9.99934335e-01 -1.56541930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.73, Y:-31.31, Z:-1.56 [[ 8.78088377e-01 4.78393993e-01 9.99947479e-03 1.29732345e+02] [-4.78361259e-01 8.78145301e-01 -5.59779659e-03 -3.13117862e+01] [-1.14589441e-02 1.31998770e-04 9.99934335e-01 -1.56299907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.78, Y:-31.34, Z:-1.57 [[ 8.83366855e-01 4.68575547e-01 9.99776844e-03 1.29784761e+02] [-4.68542147e-01 8.83423391e-01 -5.60084251e-03 -3.13432030e+01] [-1.14566803e-02 2.63222747e-04 9.99934335e-01 -1.56558098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.84, Y:-31.37, Z:-1.57 [[ 8.86530418e-01 4.62562296e-01 9.99696354e-03 1.29840582e+02] [-4.62528496e-01 8.86586716e-01 -5.60227880e-03 -3.13719028e+01] [-1.14545780e-02 3.42710047e-04 9.99934335e-01 -1.56754228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.90, Y:-31.40, Z:-1.57 [[ 8.91648503e-01 4.52617985e-01 9.99535159e-03 1.29895784e+02] [-4.52583526e-01 8.91704399e-01 -5.60515331e-03 -3.14020769e+01] [-1.14498922e-02 4.74095092e-04 9.99934335e-01 -1.56898115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.95, Y:-31.43, Z:-1.57 [[ 8.94276452e-01 4.47403344e-01 9.99375360e-03 1.29950148e+02] [-4.47368527e-01 8.94332126e-01 -5.60800100e-03 -3.14318326e+01] [-1.14467733e-02 5.44212414e-04 9.99934335e-01 -1.56928980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.01, Y:-31.46, Z:-1.57 [[ 8.95894565e-01 4.44154345e-01 9.99227950e-03 1.30006447e+02] [-4.44119297e-01 8.95950094e-01 -5.61062632e-03 -3.14599375e+01] [-1.14445678e-02 5.88765482e-04 9.99934335e-01 -1.57021272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:-31.49, Z:-1.57 [[ 8.95243586e-01 4.45465047e-01 9.99070276e-03 1.30064721e+02] [-4.45430049e-01 8.95299146e-01 -5.61343257e-03 -3.14852164e+01] [-1.14452557e-02 5.75230283e-04 9.99934335e-01 -1.57130379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:-31.51, Z:-1.57 [[ 8.92827670e-01 4.50287652e-01 9.98911750e-03 1.30121578e+02] [-4.50252922e-01 8.92883399e-01 -5.61625212e-03 -3.15125110e+01] [-1.14480462e-02 5.16715951e-04 9.99934335e-01 -1.57070125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:-31.54, Z:-1.57 [[ 8.87425900e-01 4.60842188e-01 9.98751851e-03 1.30180165e+02] [-4.60808089e-01 8.87482017e-01 -5.61909421e-03 -3.15367749e+01] [-1.14532587e-02 3.84200409e-04 9.99934335e-01 -1.57135138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.24, Y:-31.56, Z:-1.57 [[ 8.82751373e-01 4.69734280e-01 9.98593127e-03 1.30236841e+02] [-4.69700716e-01 8.82807811e-01 -5.62191356e-03 -3.15631139e+01] [-1.14564636e-02 2.72352849e-04 9.99934335e-01 -1.57285400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.29, Y:-31.59, Z:-1.57 [[ 8.75143372e-01 4.83760672e-01 9.98446265e-03 1.30294836e+02] [-4.83727983e-01 8.75200322e-01 -5.62452059e-03 -3.15878023e+01] [-1.14593268e-02 9.24979383e-05 9.99934335e-01 -1.57491411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:-31.61, Z:-1.58 [[ 8.68957590e-01 4.94785862e-01 9.98287094e-03 1.30351580e+02] [-4.94753862e-01 8.69014930e-01 -5.62734428e-03 -3.16142532e+01] [-1.14595943e-02 -4.91404320e-05 9.99934335e-01 -1.57746502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:-31.64, Z:-1.58 [[ 8.66405617e-01 4.99241105e-01 9.98126622e-03 1.30406996e+02] [-4.99209368e-01 8.66463103e-01 -5.63018915e-03 -3.16442674e+01] [-1.14592207e-02 -1.04714089e-04 9.99934335e-01 -1.57807255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.46, Y:-31.68, Z:-1.58 [[ 8.65779197e-01 5.00326682e-01 9.97967894e-03 1.30461961e+02] [-5.00294984e-01 8.65836704e-01 -5.63300124e-03 -3.16752553e+01] [-1.14591131e-02 -1.15848031e-04 9.99934335e-01 -1.57846802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.51, Y:-31.71, Z:-1.58 [[ 8.66314664e-01 4.99398980e-01 9.97806037e-03 1.30514617e+02] [-4.99367188e-01 8.66372119e-01 -5.63586684e-03 -3.17072749e+01] [-1.14592595e-02 -1.00281857e-04 9.99934336e-01 -1.57885312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.57, Y:-31.74, Z:-1.58 [[ 8.68194004e-01 4.96124611e-01 9.97706138e-03 1.30568276e+02] [-4.96092581e-01 8.68251328e-01 -5.63763479e-03 -3.17406962e+01] [-1.14595662e-02 -5.49854068e-05 9.99934336e-01 -1.58045496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.62, Y:-31.78, Z:-1.58 [[ 8.71182456e-01 4.90858042e-01 9.97549047e-03 1.30620215e+02] [-4.90825634e-01 8.71239567e-01 -5.64041306e-03 -3.17759706e+01] [-1.14596841e-02 1.76024649e-05 9.99934336e-01 -1.58270782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:-31.81, Z:-1.58 [[ 8.73149298e-01 4.87350822e-01 9.97394403e-03 1.30673462e+02] [-4.87318154e-01 8.73206260e-01 -5.64314630e-03 -3.18103412e+01] [-1.14595024e-02 6.68252398e-05 9.99934336e-01 -1.58417530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:-31.85, Z:-1.59 [[ 8.76615180e-01 4.81088742e-01 9.97241953e-03 1.30725149e+02] [-4.81055636e-01 8.76671888e-01 -5.64583908e-03 -3.18462350e+01] [-1.14586895e-02 1.51939627e-04 9.99934336e-01 -1.58568345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:-31.88, Z:-1.59 [[ 8.79485815e-01 4.75820641e-01 9.97091789e-03 1.30777608e+02] [-4.75787166e-01 8.79542306e-01 -5.64848982e-03 -3.18806901e+01] [-1.14575122e-02 2.23731909e-04 9.99934336e-01 -1.58611859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.83, Y:-31.92, Z:-1.59 [[ 8.84618158e-01 4.66209514e-01 9.97015162e-03 1.30829123e+02] [-4.66175410e-01 8.84674271e-01 -5.64984204e-03 -3.19177124e+01] [-1.14543467e-02 3.50113337e-04 9.99934336e-01 -1.58690299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.88, Y:-31.95, Z:-1.59 [[ 8.87535209e-01 4.60632047e-01 9.96850876e-03 1.30881863e+02] [-4.60597557e-01 8.87591086e-01 -5.65273920e-03 -3.19515606e+01] [-1.14517923e-02 4.25534284e-04 9.99934336e-01 -1.58712597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.94, Y:-31.98, Z:-1.59 [[ 8.90023136e-01 4.55806405e-01 9.96688393e-03 1.30935284e+02] [-4.55771581e-01 8.90078805e-01 -5.65560265e-03 -3.19826013e+01] [-1.14491721e-02 4.90994756e-04 9.99934336e-01 -1.58637668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.99, Y:-32.01, Z:-1.59 [[ 8.91063317e-01 4.53769604e-01 9.96548103e-03 1.30988801e+02] [-4.53734625e-01 8.91118890e-01 -5.65807356e-03 -3.20130455e+01] [-1.14478902e-02 5.20017992e-04 9.99934336e-01 -1.58614267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.04, Y:-32.04, Z:-1.59 [[ 8.91870745e-01 4.52180598e-01 9.96399903e-03 1.31044147e+02] [-4.52145491e-01 8.91926237e-01 -5.66068219e-03 -3.20422961e+01] [-1.14468028e-02 5.43419606e-04 9.99934336e-01 -1.58662677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.10, Y:-32.07, Z:-1.59 [[ 8.92115985e-01 4.51696601e-01 9.96239137e-03 1.31100944e+02] [-4.51661432e-01 8.92171438e-01 -5.66351014e-03 -3.20704697e+01] [-1.14463493e-02 5.52879970e-04 9.99934336e-01 -1.58809250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:-32.10, Z:-1.59 [[ 8.92329975e-01 4.51273752e-01 9.96077853e-03 1.31158088e+02] [-4.51238526e-01 8.92385391e-01 -5.66634532e-03 -3.20955121e+01] [-1.14459262e-02 5.61562752e-04 9.99934336e-01 -1.59005384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:-32.12, Z:-1.59 [[ 8.93512152e-01 4.48928554e-01 9.95928911e-03 1.31216165e+02] [-4.48893154e-01 8.93567457e-01 -5.66896196e-03 -3.21209822e+01] [-1.14442555e-02 5.94629703e-04 9.99934336e-01 -1.58863169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:-32.15, Z:-1.59 [[ 8.92592821e-01 4.50753703e-01 9.95762260e-03 1.31272334e+02] [-4.50718383e-01 8.92648178e-01 -5.67188769e-03 -3.21482002e+01] [-1.14452780e-02 5.74602681e-04 9.99934336e-01 -1.59080270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.33, Y:-32.17, Z:-1.59 [[ 8.92442178e-01 4.51051920e-01 9.95608685e-03 1.31329709e+02] [-4.51016588e-01 8.92497527e-01 -5.67458218e-03 -3.21746500e+01] [-1.14453141e-02 5.73876161e-04 9.99934336e-01 -1.59312437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.39, Y:-32.20, Z:-1.59 [[ 8.90890662e-01 4.54108728e-01 9.95448785e-03 1.31387649e+02] [-4.54073555e-01 8.90946112e-01 -5.67738579e-03 -3.22002622e+01] [-1.14470627e-02 5.37860295e-04 9.99934336e-01 -1.59476276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:-32.23, Z:-1.60 [[ 8.88680813e-01 4.58418316e-01 9.95290166e-03 1.31445049e+02] [-4.58383381e-01 8.88736413e-01 -5.68016515e-03 -3.22267158e+01] [-1.14493979e-02 4.85609069e-04 9.99934336e-01 -1.59625501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:-32.25, Z:-1.60 [[ 8.83535554e-01 4.68258366e-01 9.95129105e-03 1.31503524e+02] [-4.68224019e-01 8.83591519e-01 -5.68298543e-03 -3.22517535e+01] [-1.14539818e-02 3.61686191e-04 9.99934336e-01 -1.59837582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.56, Y:-32.28, Z:-1.60 [[ 8.79296511e-01 4.76170820e-01 9.94968281e-03 1.31560461e+02] [-4.76136945e-01 8.79352763e-01 -5.68579973e-03 -3.22795069e+01] [-1.14566930e-02 2.62092282e-04 9.99934336e-01 -1.59940031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.62, Y:-32.31, Z:-1.60 [[ 8.70964445e-01 4.91245328e-01 9.94805618e-03 1.31616915e+02] [-4.91212394e-01 8.71021253e-01 -5.68864430e-03 -3.23054454e+01] [-1.14594883e-02 6.79984267e-05 9.99934336e-01 -1.60077248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.67, Y:-32.33, Z:-1.60 [[ 8.63048062e-01 5.05023869e-01 9.94655285e-03 1.31673118e+02] [-5.04991812e-01 8.63105370e-01 -5.69127166e-03 -3.23329502e+01] [-1.14591512e-02 -1.11086765e-04 9.99934336e-01 -1.60156515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.73, Y:-32.36, Z:-1.60 [[ 8.59634421e-01 5.10812843e-01 9.94492325e-03 1.31727920e+02] [-5.10781139e-01 8.59691924e-01 -5.69411780e-03 -3.23631353e+01] [-1.14581987e-02 -1.84819570e-04 9.99934336e-01 -1.60201523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.78, Y:-32.40, Z:-1.60 [[ 8.59234530e-01 5.11485243e-01 9.94331305e-03 1.31781443e+02] [-5.11453551e-01 8.59292040e-01 -5.69692821e-03 -3.23961031e+01] [-1.14581045e-02 -1.90545339e-04 9.99934336e-01 -1.60327338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.83, Y:-32.43, Z:-1.60 [[ 8.60863821e-01 5.08738286e-01 9.94169908e-03 1.31834040e+02] [-5.08706379e-01 8.60921212e-01 -5.69974335e-03 -3.24300530e+01] [-1.14586973e-02 -1.50702892e-04 9.99934336e-01 -1.60484773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.88, Y:-32.47, Z:-1.61 [[ 8.64894067e-01 5.01856002e-01 9.94009692e-03 1.31883763e+02] [-5.01823606e-01 8.64951184e-01 -5.70253608e-03 -3.24677487e+01] [-1.14595506e-02 -5.60856489e-05 9.99934336e-01 -1.60589473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.93, Y:-32.50, Z:-1.61 [[ 8.67746082e-01 4.96908400e-01 9.93871176e-03 1.31934695e+02] [-4.96875651e-01 8.67802997e-01 -5.70494920e-03 -3.25029982e+01] [-1.14596810e-02 1.21434455e-05 9.99934336e-01 -1.60745165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.98, Y:-32.54, Z:-1.61 [[ 8.70724361e-01 4.91670964e-01 9.93728989e-03 1.31984916e+02] [-4.91637844e-01 8.70781061e-01 -5.70742483e-03 -3.25398723e+01] [-1.14593789e-02 8.40460624e-05 9.99934336e-01 -1.60867270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:-32.58, Z:-1.61 [[ 8.75207569e-01 4.83645521e-01 9.93587319e-03 1.32033061e+02] [-4.83611853e-01 8.75263945e-01 -5.70989005e-03 -3.25804518e+01] [-1.14580743e-02 1.92232942e-04 9.99934336e-01 -1.60790149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.08, Y:-32.62, Z:-1.61 [[ 8.79166201e-01 4.76411689e-01 9.93446541e-03 1.32082198e+02] [-4.76377530e-01 8.79222280e-01 -5.71233835e-03 -3.26200253e+01] [-1.14560281e-02 2.89538715e-04 9.99934336e-01 -1.60729011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.13, Y:-32.66, Z:-1.61 [[ 8.81634326e-01 4.71828624e-01 9.93304009e-03 1.32133299e+02] [-4.71794145e-01 8.81690210e-01 -5.71481574e-03 -3.26574804e+01] [-1.14542778e-02 3.52027566e-04 9.99934336e-01 -1.60732028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:-32.69, Z:-1.61 [[ 8.82890070e-01 4.69474698e-01 9.93139351e-03 1.32186332e+02] [-4.69440038e-01 8.82945841e-01 -5.71767578e-03 -3.26920159e+01] [-1.14531867e-02 3.85885423e-04 9.99934336e-01 -1.60798353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:-32.73, Z:-1.61 [[ 8.85354613e-01 4.64810294e-01 9.92976567e-03 1.32237221e+02] [-4.64775309e-01 8.85410181e-01 -5.72050143e-03 -3.27303549e+01] [-1.14508636e-02 4.49562422e-04 9.99934336e-01 -1.60759720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.29, Y:-32.76, Z:-1.61 [[ 8.83991044e-01 4.67398404e-01 9.92810458e-03 1.32290804e+02] [-4.67363549e-01 8.84046694e-01 -5.72338285e-03 -3.27606208e+01] [-1.14520080e-02 4.19384992e-04 9.99934336e-01 -1.60766921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.34, Y:-32.79, Z:-1.61 [[ 8.80535360e-01 4.73876506e-01 9.92657352e-03 1.32344185e+02] [-4.73842031e-01 8.80591246e-01 -5.72603707e-03 -3.27913794e+01] [-1.14546882e-02 3.38350353e-04 9.99934336e-01 -1.60893558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.40, Y:-32.82, Z:-1.61 [[ 8.78112157e-01 4.78351891e-01 9.92516932e-03 1.32398474e+02] [-4.78317672e-01 8.78168201e-01 -5.72846999e-03 -3.28222647e+01] [-1.14561925e-02 2.82855250e-04 9.99934336e-01 -1.60985739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.45, Y:-32.85, Z:-1.61 [[ 8.75602828e-01 4.82929819e-01 9.92355000e-03 1.32454505e+02] [-4.82895862e-01 8.75659031e-01 -5.73127381e-03 -3.28500151e+01] [-1.14574492e-02 2.26278323e-04 9.99934336e-01 -1.61041675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.51, Y:-32.88, Z:-1.61 [[ 8.74209614e-01 4.85447322e-01 9.92215075e-03 1.32509972e+02] [-4.85413500e-01 8.74265897e-01 -5.73369520e-03 -3.28797130e+01] [-1.14580050e-02 1.96105541e-04 9.99934336e-01 -1.61041507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.56, Y:-32.91, Z:-1.61 [[ 8.71444543e-01 4.90393710e-01 9.92057176e-03 1.32564494e+02] [-4.90360176e-01 8.71500999e-01 -5.73642591e-03 -3.29114146e+01] [-1.14588954e-02 1.34323749e-04 9.99934336e-01 -1.60913083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.62, Y:-32.94, Z:-1.61 [[ 8.69578309e-01 4.93695432e-01 9.91894920e-03 1.32618819e+02] [-4.93662081e-01 8.69634873e-01 -5.73923013e-03 -3.29424619e+01] [-1.14592958e-02 9.41009314e-05 9.99934336e-01 -1.61105257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.67, Y:-32.97, Z:-1.62 [[ 8.66545337e-01 4.98999826e-01 9.91731965e-03 1.32672005e+02] [-4.98966788e-01 8.66602085e-01 -5.74204459e-03 -3.29730465e+01] [-1.14596491e-02 2.73288257e-05 9.99934336e-01 -1.61566903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.73, Y:-33.01, Z:-1.62 [[ 8.64603489e-01 5.02356925e-01 9.91601901e-03 1.32726000e+02] [-5.02324082e-01 8.64660349e-01 -5.74428981e-03 -3.30059399e+01] [-1.14596722e-02 -1.45221333e-05 9.99934336e-01 -1.61614592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:-33.04, Z:-1.62 [[ 8.62015273e-01 5.06785334e-01 9.91439023e-03 1.32777950e+02] [-5.06752750e-01 8.62072283e-01 -5.74709963e-03 -3.30401157e+01] [-1.14594668e-02 -7.00568624e-05 9.99934336e-01 -1.61638065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.83, Y:-33.07, Z:-1.62 [[ 8.60259798e-01 5.09759566e-01 9.91288327e-03 1.32831795e+02] [-5.09727150e-01 8.60316903e-01 -5.74969774e-03 -3.30731195e+01] [-1.14591845e-02 -1.06631923e-04 9.99934336e-01 -1.61571932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.89, Y:-33.10, Z:-1.62 [[ 8.57150741e-01 5.14970267e-01 9.91121602e-03 1.32886198e+02] [-5.14938164e-01 8.57208023e-01 -5.75257028e-03 -3.31042514e+01] [-1.14583765e-02 -1.72843515e-04 9.99934336e-01 -1.61650158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.94, Y:-33.14, Z:-1.62 [[ 8.55812588e-01 5.17191081e-01 9.90956806e-03 1.32939411e+02] [-5.17159095e-01 8.55869935e-01 -5.75540772e-03 -3.31352707e+01] [-1.14579469e-02 -1.99272877e-04 9.99934336e-01 -1.61796587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.99, Y:-33.17, Z:-1.62 [[ 8.56360653e-01 5.16283123e-01 9.90804227e-03 1.32993409e+02] [-5.16251045e-01 8.56417949e-01 -5.75803320e-03 -3.31675246e+01] [-1.14582006e-02 -1.84084102e-04 9.99934336e-01 -1.61838436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:-33.20, Z:-1.62 [[ 8.58870929e-01 5.12096272e-01 9.90639274e-03 1.33047261e+02] [-5.12063882e-01 8.58928049e-01 -5.76086973e-03 -3.31989391e+01] [-1.14589985e-02 -1.24862385e-04 9.99934336e-01 -1.62015195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.10, Y:-33.23, Z:-1.62 [[ 8.61380530e-01 5.07863637e-01 9.90497494e-03 1.33100572e+02] [-5.07830939e-01 8.61437474e-01 -5.76330640e-03 -3.32291215e+01] [-1.14594903e-02 -6.56527999e-05 9.99934336e-01 -1.62078524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.16, Y:-33.26, Z:-1.62 [[ 8.64755727e-01 5.02095050e-01 9.90420313e-03 1.33155406e+02] [-5.02061956e-01 8.64812443e-01 -5.76463244e-03 -3.32605422e+01] [-1.14596715e-02 1.24753127e-05 9.99934336e-01 -1.61895621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.21, Y:-33.29, Z:-1.62 [[ 8.75079442e-01 4.83877989e-01 9.90261681e-03 1.33210924e+02] [-4.83843684e-01 8.75135433e-01 -5.76735617e-03 -3.32894122e+01] [-1.14568276e-02 2.55576226e-04 9.99934336e-01 -1.61586786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:133.26, Y:-33.32, Z:-1.62 [[ 8.80249793e-01 4.74407284e-01 9.90106737e-03 1.33261047e+02] [-4.74372347e-01 8.80305392e-01 -5.77001494e-03 -3.33235759e+01] [-1.14533001e-02 3.82261892e-04 9.99934336e-01 -1.61786880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.32, Y:-33.35, Z:-1.62 [[ 8.87757208e-01 4.60205532e-01 9.89987544e-03 1.33316357e+02] [-4.60169684e-01 8.87812224e-01 -5.77205927e-03 -3.33515734e+01] [-1.14455640e-02 5.68564664e-04 9.99934336e-01 -1.61646312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:-33.38, Z:-1.62 [[ 8.90515624e-01 4.54844967e-01 9.89843457e-03 1.33372916e+02] [-4.54808761e-01 8.90570405e-01 -5.77452913e-03 -3.33803419e+01] [-1.14417684e-02 6.40413649e-04 9.99934336e-01 -1.61743077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.43, Y:-33.41, Z:-1.62 [[ 8.89674610e-01 4.56487833e-01 9.89678891e-03 1.33428183e+02] [-4.56451697e-01 8.89729437e-01 -5.77734820e-03 -3.34083659e+01] [-1.14427536e-02 6.22553918e-04 9.99934336e-01 -1.61955562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:-33.43, Z:-1.62 [[ 8.86887553e-01 4.61879368e-01 9.89537276e-03 1.33487412e+02] [-4.61843538e-01 8.86942580e-01 -5.77977275e-03 -3.34312626e+01] [-1.14461852e-02 5.55894541e-04 9.99934336e-01 -1.62224295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.54, Y:-33.46, Z:-1.62 [[ 8.84714690e-01 4.66027930e-01 9.89371659e-03 1.33543718e+02] [-4.65992327e-01 8.84769864e-01 -5.78260636e-03 -3.34584086e+01] [-1.14485184e-02 5.05560777e-04 9.99934336e-01 -1.62276138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.60, Y:-33.49, Z:-1.62 [[ 8.82368471e-01 4.70455127e-01 9.89218844e-03 1.33600222e+02] [-4.70419771e-01 8.82423804e-01 -5.78521936e-03 -3.34857463e+01] [-1.14507887e-02 4.51214133e-04 9.99934336e-01 -1.61847474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.66, Y:-33.51, Z:-1.62 [[ 8.81061674e-01 4.72897980e-01 9.89072872e-03 1.33655856e+02] [-4.72862750e-01 8.81117088e-01 -5.78771391e-03 -3.35128551e+01] [-1.14518883e-02 4.22375725e-04 9.99934336e-01 -1.61824743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.71, Y:-33.54, Z:-1.62 [[ 8.79387919e-01 4.76003237e-01 9.88969723e-03 1.33713709e+02] [-4.75968183e-01 8.79443444e-01 -5.78947592e-03 -3.35386682e+01] [-1.14532387e-02 3.84013962e-04 9.99934336e-01 -1.61843662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:-33.57, Z:-1.62 [[ 8.77996702e-01 4.78564538e-01 9.88807894e-03 1.33769835e+02] [-4.78529615e-01 8.78052309e-01 -5.79223853e-03 -3.35678545e+01] [-1.14542105e-02 3.53827721e-04 9.99934336e-01 -1.61876932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:-33.59, Z:-1.62 [[ 8.75965901e-01 4.82271706e-01 9.88645910e-03 1.33827991e+02] [-4.82236987e-01 8.76021636e-01 -5.79500204e-03 -3.35925959e+01] [-1.14555176e-02 3.08607930e-04 9.99934336e-01 -1.62183166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.88, Y:-33.62, Z:-1.62 [[ 8.72718733e-01 4.88123248e-01 9.88473622e-03 1.33882117e+02] [-4.88088870e-01 8.72774678e-01 -5.79793932e-03 -3.36225803e+01] [-1.14572565e-02 2.35340528e-04 9.99934336e-01 -1.62257248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.94, Y:-33.65, Z:-1.62 [[ 8.70518040e-01 4.92037260e-01 9.88315028e-03 1.33937838e+02] [-4.92003103e-01 8.70574121e-01 -5.80064145e-03 -3.36524141e+01] [-1.14581466e-02 1.87022419e-04 9.99934336e-01 -1.62316303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.99, Y:-33.68, Z:-1.62 [[ 8.68651751e-01 4.95324632e-01 9.88150917e-03 1.33993036e+02] [-4.95290655e-01 8.68707941e-01 -5.80343577e-03 -3.36829987e+01] [-1.14587302e-02 1.46945492e-04 9.99934336e-01 -1.62433727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.05, Y:-33.71, Z:-1.63 [[ 8.66488440e-01 4.99099359e-01 9.87988305e-03 1.34048232e+02] [-4.99065596e-01 8.66544759e-01 -5.80620280e-03 -3.37125105e+01] [-1.14592330e-02 1.00297893e-04 9.99934336e-01 -1.62636012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.10, Y:-33.74, Z:-1.63 [[ 8.65701174e-01 5.00463682e-01 9.87824117e-03 1.34102967e+02] [-5.00429975e-01 8.65757527e-01 -5.80899482e-03 -3.37444534e+01] [-1.14593526e-02 8.54856517e-05 9.99934336e-01 -1.62787691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.16, Y:-33.78, Z:-1.63 [[ 8.65148946e-01 5.01417743e-01 9.87661664e-03 1.34156180e+02] [-5.01384067e-01 8.65205317e-01 -5.81175558e-03 -3.37772218e+01] [-1.14594186e-02 7.60559957e-05 9.99934336e-01 -1.62901132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.21, Y:-33.81, Z:-1.63 [[ 8.64852130e-01 5.01929555e-01 9.87499822e-03 1.34209779e+02] [-5.01895880e-01 8.64908502e-01 -5.81450421e-03 -3.38106269e+01] [-1.14594414e-02 7.24654204e-05 9.99934336e-01 -1.63008214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.26, Y:-33.84, Z:-1.63 [[ 8.64219546e-01 5.03017984e-01 9.87339685e-03 1.34262192e+02] [-5.02984349e-01 8.64275942e-01 -5.81722217e-03 -3.38436840e+01] [-1.14595067e-02 6.11930126e-05 9.99934336e-01 -1.63100561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.31, Y:-33.88, Z:-1.63 [[ 8.63116852e-01 5.04907758e-01 9.87196679e-03 1.34314271e+02] [-5.04874219e-01 8.63173305e-01 -5.81964800e-03 -3.38796885e+01] [-1.14596036e-02 3.89347429e-05 9.99934336e-01 -1.63136534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.37, Y:-33.91, Z:-1.63 [[ 8.62309588e-01 5.06285247e-01 9.87032293e-03 1.34366824e+02] [-5.06251766e-01 8.62366076e-01 -5.82243471e-03 -3.39143290e+01] [-1.14596444e-02 2.38728616e-05 9.99934336e-01 -1.63108407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.42, Y:-33.95, Z:-1.63 [[ 8.61699199e-01 5.07323466e-01 9.86866895e-03 1.34418516e+02] [-5.07290022e-01 8.61755708e-01 -5.82523675e-03 -3.39496670e+01] [-1.14596611e-02 1.33245587e-05 9.99934336e-01 -1.63207350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:-33.99, Z:-1.63 [[ 8.61394200e-01 5.07841189e-01 9.86702270e-03 1.34469894e+02] [-5.07807747e-01 8.61450710e-01 -5.82802391e-03 -3.39851632e+01] [-1.14596643e-02 9.67543266e-06 9.99934336e-01 -1.63247864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:-34.02, Z:-1.63 [[ 8.60997656e-01 5.08513223e-01 9.86600784e-03 1.34520266e+02] [-5.08479805e-01 8.61054181e-01 -5.82974140e-03 -3.40233917e+01] [-1.14596679e-02 2.72793861e-06 9.99934336e-01 -1.63146941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:-34.06, Z:-1.63 [[ 8.61328336e-01 5.07952942e-01 9.86438776e-03 1.34570268e+02] [-5.07919456e-01 8.61384820e-01 -5.83248144e-03 -3.40602091e+01] [-1.14596600e-02 1.33670700e-05 9.99934336e-01 -1.63340468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.62, Y:-34.10, Z:-1.64 [[ 8.62290167e-01 5.06318469e-01 9.86289076e-03 1.34621967e+02] [-5.06284847e-01 8.62346570e-01 -5.83501181e-03 -3.40960014e+01] [-1.14596043e-02 3.80411711e-05 9.99934336e-01 -1.63521532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.67, Y:-34.13, Z:-1.64 [[ 8.64000262e-01 5.03394777e-01 9.86131722e-03 1.34673165e+02] [-5.03360933e-01 8.64056533e-01 -5.83766990e-03 -3.41328113e+01] [-1.14593881e-02 7.99464863e-05 9.99934336e-01 -1.63512325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:-34.17, Z:-1.64 [[ 8.68266758e-01 4.95999620e-01 9.85969414e-03 1.34721262e+02] [-4.95965267e-01 8.68322719e-01 -5.84040997e-03 -3.41709701e+01] [-1.14582376e-02 1.80967991e-04 9.99934336e-01 -1.63535335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.77, Y:-34.21, Z:-1.64 [[ 8.71447351e-01 4.90389963e-01 9.85892707e-03 1.34771084e+02] [-4.90355235e-01 8.71503080e-01 -5.84170453e-03 -3.42075410e+01] [-1.14567986e-02 2.56361439e-04 9.99934336e-01 -1.63505366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.82, Y:-34.25, Z:-1.63 [[ 8.74577883e-01 4.84784856e-01 9.85745965e-03 1.34820728e+02] [-4.84749743e-01 8.74633370e-01 -5.84417966e-03 -3.42464055e+01] [-1.14548330e-02 3.32789248e-04 9.99934336e-01 -1.63317211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.87, Y:-34.28, Z:-1.63 [[ 8.74869679e-01 4.84258096e-01 9.85602039e-03 1.34872817e+02] [-4.84222922e-01 8.74925128e-01 -5.84660591e-03 -3.42821763e+01] [-1.14545461e-02 3.42507244e-04 9.99934336e-01 -1.63419591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:-34.32, Z:-1.64 [[ 8.71595366e-01 4.90126931e-01 9.85438039e-03 1.34924693e+02] [-4.90092099e-01 8.71651031e-01 -5.84936881e-03 -3.43156364e+01] [-1.14565140e-02 2.68728785e-04 9.99934336e-01 -1.63647876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:-34.35, Z:-1.64 [[ 8.67381935e-01 4.97545475e-01 9.85286848e-03 1.34978476e+02] [-4.97511090e-01 8.67437877e-01 -5.85191441e-03 -3.43477915e+01] [-1.14583449e-02 1.73933499e-04 9.99934336e-01 -1.63773317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:-34.38, Z:-1.64 [[ 8.61501888e-01 5.07658793e-01 9.85127151e-03 1.35032460e+02] [-5.07625034e-01 8.61558210e-01 -5.85460156e-03 -3.43802796e+01] [-1.14595838e-02 4.29982550e-05 9.99934336e-01 -1.63936029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:-34.41, Z:-1.64 [[ 8.58346423e-01 5.12976026e-01 9.84961432e-03 1.35086031e+02] [-5.12942584e-01 8.58402933e-01 -5.85738824e-03 -3.44105726e+01] [-1.14596376e-02 -2.46183836e-05 9.99934336e-01 -1.64108218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:-34.44, Z:-1.64 [[ 8.57486368e-01 5.14412426e-01 9.84807301e-03 1.35140876e+02] [-5.14379049e-01 8.57542917e-01 -5.85997852e-03 -3.44410576e+01] [-1.14595910e-02 -4.07907236e-05 9.99934336e-01 -1.64300577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.19, Y:-34.47, Z:-1.64 [[ 8.56876043e-01 5.15428458e-01 9.84644116e-03 1.35194886e+02] [-5.15395117e-01 8.56932612e-01 -5.86271920e-03 -3.44706077e+01] [-1.14595489e-02 -5.11840642e-05 9.99934336e-01 -1.64492311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:-34.50, Z:-1.65 [[ 8.56302916e-01 5.16380076e-01 9.84544513e-03 1.35249364e+02] [-5.16346778e-01 8.56359512e-01 -5.86439139e-03 -3.45027186e+01] [-1.14594955e-02 -6.19684189e-05 9.99934336e-01 -1.64544667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.30, Y:-34.53, Z:-1.65 [[ 8.55998921e-01 5.16883880e-01 9.84387781e-03 1.35303996e+02] [-5.16850586e-01 8.56055518e-01 -5.86702110e-03 -3.45334731e+01] [-1.14594745e-02 -6.56502787e-05 9.99934336e-01 -1.64677508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.36, Y:-34.57, Z:-1.65 [[ 8.56336202e-01 5.16324935e-01 9.84233042e-03 1.35358020e+02] [-5.16291573e-01 8.56392760e-01 -5.86961581e-03 -3.45658538e+01] [-1.14595295e-02 -5.51477508e-05 9.99934336e-01 -1.64813668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.41, Y:-34.60, Z:-1.65 [[ 8.56923709e-01 5.15349315e-01 9.84079813e-03 1.35411857e+02] [-5.15315859e-01 8.56980211e-01 -5.87218366e-03 -3.45987631e+01] [-1.14595951e-02 -3.91059472e-05 9.99934336e-01 -1.64942794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.46, Y:-34.63, Z:-1.65 [[ 8.58169673e-01 5.13271859e-01 9.83928371e-03 1.35463663e+02] [-5.13238238e-01 8.58226077e-01 -5.87472009e-03 -3.46309527e+01] [-1.14596584e-02 -8.39001095e-06 9.99934336e-01 -1.65116800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.52, Y:-34.66, Z:-1.65 [[ 8.59924049e-01 5.10327182e-01 9.83854860e-03 1.35517684e+02] [-5.10293353e-01 8.59980329e-01 -5.87595095e-03 -3.46617844e+01] [-1.14596157e-02 3.23255794e-05 9.99934336e-01 -1.65316947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:-34.69, Z:-1.65 [[ 8.60705062e-01 5.09008866e-01 9.83717453e-03 1.35572111e+02] [-5.08974925e-01 8.60761274e-01 -5.87825043e-03 -3.46934221e+01] [-1.14595405e-02 5.25647345e-05 9.99934336e-01 -1.65375570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:-34.72, Z:-1.65 [[ 8.63096795e-01 5.04942750e-01 9.83571837e-03 1.35626534e+02] [-5.04908516e-01 8.63152830e-01 -5.88068593e-03 -3.47247289e+01] [-1.14591379e-02 1.09463209e-04 9.99934336e-01 -1.65318026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.68, Y:-34.76, Z:-1.65 [[ 8.69539476e-01 4.93765518e-01 9.83427695e-03 1.35680481e+02] [-4.93730537e-01 8.69595047e-01 -5.88309542e-03 -3.47578433e+01] [-1.14567082e-02 2.60100868e-04 9.99934336e-01 -1.65168235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.73, Y:-34.79, Z:-1.65 [[ 8.73953571e-01 4.85909942e-01 9.83279618e-03 1.35733474e+02] [-4.85874434e-01 8.74008807e-01 -5.88556929e-03 -3.47889013e+01] [-1.14538071e-02 3.66210013e-04 9.99934336e-01 -1.65181492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:-34.82, Z:-1.65 [[ 8.79373011e-01 4.76031982e-01 9.83151905e-03 1.35787969e+02] [-4.75995831e-01 8.79427828e-01 -5.88770189e-03 -3.48175919e+01] [-1.14488458e-02 4.97724059e-04 9.99934336e-01 -1.65387469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.84, Y:-34.85, Z:-1.65 [[ 8.82309106e-01 4.70567750e-01 9.83022883e-03 1.35844055e+02] [-4.70531235e-01 8.82363681e-01 -5.88985529e-03 -3.48461051e+01] [-1.14454128e-02 5.71243245e-04 9.99934336e-01 -1.65313940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:-34.88, Z:-1.65 [[ 8.82365899e-01 4.70461284e-01 9.82852654e-03 1.35899140e+02] [-4.70424731e-01 8.82420449e-01 -5.89269456e-03 -3.48752157e+01] [-1.14451775e-02 5.75930780e-04 9.99934336e-01 -1.65309033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:-34.90, Z:-1.65 [[ 8.80232167e-01 4.74441516e-01 9.82747920e-03 1.35955892e+02] [-4.74405191e-01 8.80286868e-01 -5.89444073e-03 -3.49029378e+01] [-1.14475683e-02 5.26269198e-04 9.99934336e-01 -1.65222619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.01, Y:-34.93, Z:-1.65 [[ 8.78181869e-01 4.78225950e-01 9.82579147e-03 1.36011178e+02] [-4.78189829e-01 8.78236705e-01 -5.89725278e-03 -3.49314785e+01] [-1.14495900e-02 4.80266925e-04 9.99934336e-01 -1.65274803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.07, Y:-34.96, Z:-1.65 [[ 8.75388393e-01 4.83320437e-01 9.82423304e-03 1.36068228e+02] [-4.83284606e-01 8.75443420e-01 -5.89984783e-03 -3.49577058e+01] [-1.14520772e-02 4.16757714e-04 9.99934336e-01 -1.65321712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.12, Y:-34.99, Z:-1.65 [[ 8.73944032e-01 4.85927304e-01 9.82258392e-03 1.36124712e+02] [-4.85891607e-01 8.73999145e-01 -5.90259214e-03 -3.49864585e+01] [-1.14531606e-02 3.85824095e-04 9.99934336e-01 -1.65277164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.18, Y:-35.02, Z:-1.65 [[ 8.72852439e-01 4.87885406e-01 9.82094102e-03 1.36181055e+02] [-4.87849801e-01 8.72907612e-01 -5.90532439e-03 -3.50157074e+01] [-1.14538958e-02 3.63332675e-04 9.99934336e-01 -1.65194298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.24, Y:-35.04, Z:-1.65 [[ 8.71812668e-01 4.89741008e-01 9.81925937e-03 1.36238158e+02] [-4.89705489e-01 8.71867896e-01 -5.90811929e-03 -3.50434432e+01] [-1.14545453e-02 3.42228032e-04 9.99934336e-01 -1.65296176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.29, Y:-35.07, Z:-1.66 [[ 8.70710246e-01 4.91698365e-01 9.81759196e-03 1.36293894e+02] [-4.91662939e-01 8.70765534e-01 -5.91088875e-03 -3.50723416e+01] [-1.14551950e-02 3.19725275e-04 9.99934336e-01 -1.65562789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:136.35, Y:-35.10, Z:-1.67 [[ 8.69362702e-01 4.94077058e-01 9.81594289e-03 1.36351431e+02] [-4.94041753e-01 8.69418067e-01 -5.91362601e-03 -3.50980477e+01] [-1.14559450e-02 2.91600253e-04 9.99934336e-01 -1.66514091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.41, Y:-35.13, Z:-1.66 [[ 8.65505197e-01 5.00803790e-01 9.81416155e-03 1.36405867e+02] [-5.00768881e-01 8.65560813e-01 -5.91658081e-03 -3.51276330e+01] [-1.14577998e-02 2.06204741e-04 9.99934336e-01 -1.66287150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:-35.16, Z:-1.66 [[ 8.62272989e-01 5.06348699e-01 9.81261437e-03 1.36457456e+02] [-5.06314119e-01 8.62328810e-01 -5.91914569e-03 -3.51609779e+01] [-1.14588518e-02 1.35654241e-04 9.99934336e-01 -1.66193359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.51, Y:-35.19, Z:-1.66 [[ 8.59326345e-01 5.11333525e-01 9.81119992e-03 1.36510465e+02] [-5.11299242e-01 8.59382349e-01 -5.92148927e-03 -3.51947041e+01] [-1.14594280e-02 7.20326570e-05 9.99934336e-01 -1.66038981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.56, Y:-35.23, Z:-1.66 [[ 8.57366091e-01 5.14613603e-01 9.80950676e-03 1.36563697e+02] [-5.14579502e-01 8.57422206e-01 -5.92429283e-03 -3.52277272e+01] [-1.14596106e-02 3.15166779e-05 9.99934336e-01 -1.66107541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.62, Y:-35.26, Z:-1.66 [[ 8.56115366e-01 5.16691675e-01 9.80783602e-03 1.36615348e+02] [-5.16657679e-01 8.56171544e-01 -5.92705748e-03 -3.52614147e+01] [-1.14596514e-02 6.95119292e-06 9.99934336e-01 -1.66101268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.67, Y:-35.30, Z:-1.66 [[ 8.55931585e-01 5.16996092e-01 9.80629185e-03 1.36666901e+02] [-5.16962086e-01 8.55987758e-01 -5.92961120e-03 -3.52979424e+01] [-1.14596516e-02 5.86042039e-06 9.99934336e-01 -1.66019681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.72, Y:-35.33, Z:-1.66 [[ 8.57155327e-01 5.14964674e-01 9.80457485e-03 1.36718217e+02] [-5.14930503e-01 8.57211399e-01 -5.93244891e-03 -3.53328023e+01] [-1.14595949e-02 3.63555228e-05 9.99934336e-01 -1.66196556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-35.37, Z:-1.66 [[ 8.61166734e-01 5.08228057e-01 9.80299006e-03 1.36768569e+02] [-5.08193418e-01 8.61222518e-01 -5.93506652e-03 -3.53685284e+01] [-1.14589231e-02 1.29266828e-04 9.99934336e-01 -1.66331545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.82, Y:-35.41, Z:-1.66 [[ 8.65949010e-01 5.00036233e-01 9.80197116e-03 1.36819390e+02] [-5.00001047e-01 8.66004451e-01 -5.93674879e-03 -3.54063869e+01] [-1.14571401e-02 2.39925891e-04 9.99934336e-01 -1.66132553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.87, Y:-35.44, Z:-1.66 [[ 8.68680723e-01 4.95275434e-01 9.80030425e-03 1.36871130e+02] [-4.95239913e-01 8.68735950e-01 -5.93949923e-03 -3.54419247e+01] [-1.14555647e-02 3.06026654e-04 9.99934336e-01 -1.66101011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.92, Y:-35.48, Z:-1.66 [[ 8.70687436e-01 4.91739133e-01 9.79866297e-03 1.36923591e+02] [-4.91703357e-01 8.70742499e-01 -5.94220568e-03 -3.54767409e+01] [-1.14541273e-02 3.55768355e-04 9.99934336e-01 -1.66154646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.98, Y:-35.51, Z:-1.66 [[ 8.72536150e-01 4.88451313e-01 9.79701602e-03 1.36976101e+02] [-4.88415299e-01 8.72591057e-01 -5.94491980e-03 -3.55120024e+01] [-1.14525924e-02 4.02144930e-04 9.99934336e-01 -1.66257997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.03, Y:-35.55, Z:-1.66 [[ 8.73433724e-01 4.86844514e-01 9.79537483e-03 1.37028835e+02] [-4.86808369e-01 8.73488545e-01 -5.94762274e-03 -3.55465580e+01] [-1.14517152e-02 4.26383834e-04 9.99934336e-01 -1.66267027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:-35.58, Z:-1.66 [[ 8.74085670e-01 4.85673064e-01 9.79371639e-03 1.37082995e+02] [-4.85636816e-01 8.74140422e-01 -5.95035238e-03 -3.55792955e+01] [-1.14510092e-02 4.44928499e-04 9.99934336e-01 -1.66443051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:-35.61, Z:-1.67 [[ 8.74370981e-01 4.85159256e-01 9.79202464e-03 1.37136929e+02] [-4.85122944e-01 8.74425691e-01 -5.95313505e-03 -3.56120229e+01] [-1.14506165e-02 4.54912705e-04 9.99934336e-01 -1.66507226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.19, Y:-35.64, Z:-1.66 [[ 8.75253370e-01 4.83565599e-01 9.79032434e-03 1.37191329e+02] [-4.83529156e-01 8.75307993e-01 -5.95593000e-03 -3.56441269e+01] [-1.14496320e-02 4.79040541e-04 9.99934336e-01 -1.66479632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.25, Y:-35.68, Z:-1.66 [[ 8.76018541e-01 4.82178078e-01 9.78860877e-03 1.37246365e+02] [-4.82141517e-01 8.76073085e-01 -5.95874822e-03 -3.56752761e+01] [-1.14487144e-02 5.00479238e-04 9.99934336e-01 -1.66428432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.30, Y:-35.71, Z:-1.66 [[ 8.77065494e-01 4.80271106e-01 9.78690496e-03 1.37301523e+02] [-4.80234396e-01 8.77119938e-01 -5.96154531e-03 -3.57062885e+01] [-1.14474474e-02 5.28657294e-04 9.99934336e-01 -1.66460101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.36, Y:-35.73, Z:-1.67 [[ 8.80232838e-01 4.74441146e-01 9.78522433e-03 1.37358782e+02] [-4.74404045e-01 8.80287015e-01 -5.96430260e-03 -3.57340236e+01] [-1.14435165e-02 6.07825003e-04 9.99934336e-01 -1.66593344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.41, Y:-35.77, Z:-1.67 [[ 8.79585326e-01 4.75640555e-01 9.78346026e-03 1.37411278e+02] [-4.75603496e-01 8.79639533e-01 -5.96719488e-03 -3.57660410e+01] [-1.14441583e-02 5.95609159e-04 9.99934336e-01 -1.66619373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.47, Y:-35.79, Z:-1.67 [[ 8.79656717e-01 4.75508544e-01 9.78184459e-03 1.37467302e+02] [-4.75471447e-01 8.79710898e-01 -5.96984221e-03 -3.57944666e+01] [-1.14439063e-02 6.00424000e-04 9.99934336e-01 -1.66900588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.52, Y:-35.82, Z:-1.67 [[ 8.78790001e-01 4.77108458e-01 9.78023358e-03 1.37523581e+02] [-4.77071431e-01 8.78844229e-01 -5.97248032e-03 -3.58209655e+01] [-1.14448227e-02 5.82685964e-04 9.99934336e-01 -1.67177384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:-35.85, Z:-1.67 [[ 8.77887247e-01 4.78767540e-01 9.77874475e-03 1.37579455e+02] [-4.78730587e-01 8.77941527e-01 -5.97491699e-03 -3.58508223e+01] [-1.14457624e-02 5.63919212e-04 9.99934336e-01 -1.67341021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:-35.88, Z:-1.68 [[ 8.75743319e-01 4.82677994e-01 9.77717842e-03 1.37637091e+02] [-4.82641256e-01 8.75797744e-01 -5.97747899e-03 -3.58774358e+01] [-1.14480284e-02 5.15867617e-04 9.99934336e-01 -1.67568925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.69, Y:-35.91, Z:-1.68 [[ 8.72404429e-01 4.88686966e-01 9.77550903e-03 1.37693377e+02] [-4.88650572e-01 8.72459085e-01 -5.98020784e-03 -3.59058267e+01] [-1.14511813e-02 4.40351726e-04 9.99934336e-01 -1.67533050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.75, Y:-35.94, Z:-1.68 [[ 8.69298762e-01 4.94190382e-01 9.77385156e-03 1.37749495e+02] [-4.94154304e-01 8.69353627e-01 -5.98291555e-03 -3.59354824e+01] [-1.14536326e-02 3.71150262e-04 9.99934336e-01 -1.67532321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:-35.96, Z:-1.68 [[ 8.63394719e-01 5.04434400e-01 9.77216077e-03 1.37806821e+02] [-5.04398942e-01 8.63449986e-01 -5.98567590e-03 -3.59617797e+01] [-1.14571529e-02 2.38933406e-04 9.99934336e-01 -1.67601655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.86, Y:-35.99, Z:-1.68 [[ 8.58880990e-01 5.12082009e-01 9.77047686e-03 1.37862183e+02] [-5.12047011e-01 8.58936550e-01 -5.98842331e-03 -3.59912986e+01] [-1.14587835e-02 1.40399466e-04 9.99934336e-01 -1.67676166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.92, Y:-36.02, Z:-1.68 [[ 8.52872809e-01 5.22027339e-01 9.76879360e-03 1.37917648e+02] [-5.21992959e-01 8.52928752e-01 -5.99116791e-03 -3.60211432e+01] [-1.14596384e-02 1.04627267e-05 9.99934336e-01 -1.67809236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.97, Y:-36.05, Z:-1.68 [[ 8.49589665e-01 5.27353776e-01 9.76712927e-03 1.37971823e+02] [-5.27319715e-01 8.49645804e-01 -5.99387997e-03 -3.60525848e+01] [-1.14594956e-02 -5.80613505e-05 9.99934336e-01 -1.68052545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.03, Y:-36.09, Z:-1.68 [[ 8.47401068e-01 5.30863511e-01 9.76540795e-03 1.38025410e+02] [-5.30829650e-01 8.47457328e-01 -5.99668309e-03 -3.60857017e+01] [-1.14591868e-02 -1.02172428e-04 9.99934336e-01 -1.68265060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.08, Y:-36.12, Z:-1.68 [[ 8.46123510e-01 5.32897435e-01 9.76367153e-03 1.38075747e+02] [-5.32863677e-01 8.46179832e-01 -5.99950896e-03 -3.61220733e+01] [-1.14589449e-02 -1.26380338e-04 9.99934336e-01 -1.68362868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:-36.16, Z:-1.69 [[ 8.45972002e-01 5.33137950e-01 9.76206846e-03 1.38126799e+02] [-5.33104178e-01 8.46028315e-01 -6.00211626e-03 -3.61593113e+01] [-1.14589423e-02 -1.26577167e-04 9.99934336e-01 -1.68500147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.18, Y:-36.20, Z:-1.69 [[ 8.46547246e-01 5.32224102e-01 9.76035798e-03 1.38176042e+02] [-5.32190237e-01 8.46603504e-01 -6.00489647e-03 -3.61986997e+01] [-1.14591039e-02 -1.10938658e-04 9.99934336e-01 -1.68738025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.22, Y:-36.24, Z:-1.69 [[ 8.47770347e-01 5.30273710e-01 9.75866369e-03 1.38224505e+02] [-5.30239684e-01 8.47826507e-01 -6.00764862e-03 -3.62398243e+01] [-1.14593519e-02 -8.13243914e-05 9.99934336e-01 -1.68775873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.27, Y:-36.28, Z:-1.69 [[ 8.48955434e-01 5.28374368e-01 9.75697235e-03 1.38274397e+02] [-5.28340185e-01 8.49011498e-01 -6.01039426e-03 -3.62791633e+01] [-1.14595200e-02 -5.24437097e-05 9.99934336e-01 -1.68732918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.32, Y:-36.32, Z:-1.69 [[ 8.50370371e-01 5.26094162e-01 9.75527235e-03 1.38324233e+02] [-5.26059797e-01 8.50426324e-01 -6.01315220e-03 -3.63181587e+01] [-1.14596247e-02 -1.84501256e-05 9.99934336e-01 -1.68722726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.37, Y:-36.36, Z:-1.69 [[ 8.53505329e-01 5.20992822e-01 9.75357574e-03 1.38371900e+02] [-5.20958091e-01 8.53561056e-01 -6.01590292e-03 -3.63599477e+01] [-1.14595147e-02 5.34010054e-05 9.99934336e-01 -1.68857454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.42, Y:-36.40, Z:-1.69 [[ 8.55968900e-01 5.16935337e-01 9.75190675e-03 1.38420917e+02] [-5.16900310e-01 8.56024442e-01 -6.01860717e-03 -3.64000864e+01] [-1.14591013e-02 1.10976930e-04 9.99934336e-01 -1.68882188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.47, Y:-36.44, Z:-1.69 [[ 8.60521668e-01 5.09320519e-01 9.75024742e-03 1.38467004e+02] [-5.09284971e-01 8.60576878e-01 -6.02129411e-03 -3.64423735e+01] [-1.14576061e-02 2.15799580e-04 9.99934336e-01 -1.69107502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.52, Y:-36.48, Z:-1.69 [[ 8.64231515e-01 5.02999848e-01 9.74892210e-03 1.38516631e+02] [-5.02963872e-01 8.64286446e-01 -6.02343915e-03 -3.64817482e+01] [-1.14556502e-02 3.02290333e-04 9.99934336e-01 -1.69205503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.56, Y:-36.52, Z:-1.69 [[ 8.69456083e-01 4.93914071e-01 9.74730365e-03 1.38564888e+02] [-4.93877492e-01 8.69510615e-01 -6.02605703e-03 -3.65219159e+01] [-1.14517384e-02 4.25418057e-04 9.99934336e-01 -1.69201425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.62, Y:-36.55, Z:-1.69 [[ 8.70294726e-01 4.92434879e-01 9.74581095e-03 1.38617863e+02] [-4.92398180e-01 8.70349177e-01 -6.02847018e-03 -3.65549672e+01] [-1.14508875e-02 4.47726226e-04 9.99934336e-01 -1.69194905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497628 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:-36.59, Z:-1.69 [[ 8.71908303e-01 4.89572223e-01 9.74424819e-03 1.38671034e+02] [-4.89535317e-01 8.71962614e-01 -6.03099511e-03 -3.65869384e+01] [-1.14492278e-02 4.88321085e-04 9.99934336e-01 -1.69382886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.72, Y:-36.62, Z:-1.69 [[ 8.73010477e-01 4.87604128e-01 9.74275089e-03 1.38724255e+02] [-4.87567074e-01 8.73064686e-01 -6.03341297e-03 -3.66181658e+01] [-1.14479688e-02 5.16988193e-04 9.99934336e-01 -1.69206621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.78, Y:-36.65, Z:-1.69 [[ 8.75463876e-01 4.83185379e-01 9.74124310e-03 1.38779671e+02] [-4.83148023e-01 8.75517879e-01 -6.03584637e-03 -3.66471996e+01] [-1.14450652e-02 5.77703113e-04 9.99934336e-01 -1.69415434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.84, Y:-36.68, Z:-1.69 [[ 8.76159858e-01 4.81922240e-01 9.73951833e-03 1.38835565e+02] [-4.81884776e-01 8.76213785e-01 -6.03862821e-03 -3.66754852e+01] [-1.14440495e-02 5.97478032e-04 9.99934336e-01 -1.69484690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:-36.71, Z:-1.69 [[ 8.74692695e-01 4.84580092e-01 9.73779511e-03 1.38889178e+02] [-4.84542761e-01 8.74746714e-01 -6.04140577e-03 -3.67062912e+01] [-1.14456492e-02 5.65995367e-04 9.99934336e-01 -1.69391082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.95, Y:-36.73, Z:-1.70 [[ 8.71604752e-01 4.90112601e-01 9.73620428e-03 1.38945626e+02] [-4.90075585e-01 8.71658988e-01 -6.04396843e-03 -3.67341700e+01] [-1.14488751e-02 4.96475604e-04 9.99934336e-01 -1.69580263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.00, Y:-36.76, Z:-1.70 [[ 8.70779040e-01 4.91578176e-01 9.73452833e-03 1.39000350e+02] [-4.91541221e-01 8.70833317e-01 -6.04666655e-03 -3.67649458e+01] [-1.14495609e-02 4.80388553e-04 9.99934336e-01 -1.69716667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.06, Y:-36.80, Z:-1.70 [[ 8.70355398e-01 4.92327892e-01 9.73281807e-03 1.39055962e+02] [-4.92290953e-01 8.70409686e-01 -6.04941814e-03 -3.67953333e+01] [-1.14498364e-02 4.73765454e-04 9.99934336e-01 -1.69874825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.11, Y:-36.83, Z:-1.70 [[ 8.69984529e-01 4.92982986e-01 9.73111997e-03 1.39109981e+02] [-4.92946057e-01 8.70038825e-01 -6.05214850e-03 -3.68280980e+01] [-1.14500584e-02 4.68358341e-04 9.99934336e-01 -1.69873886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.16, Y:-36.86, Z:-1.70 [[ 8.68085682e-01 4.96319039e-01 9.72937474e-03 1.39164445e+02] [-4.96282287e-01 8.68140097e-01 -6.05495281e-03 -3.68581109e+01] [-1.14516487e-02 4.27701489e-04 9.99934336e-01 -1.70151301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.22, Y:-36.89, Z:-1.70 [[ 8.66244886e-01 4.99524942e-01 9.72776420e-03 1.39219381e+02] [-4.99488363e-01 8.66299418e-01 -6.05753916e-03 -3.68891277e+01] [-1.14530484e-02 3.88407312e-04 9.99934336e-01 -1.70251022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.27, Y:-36.92, Z:-1.70 [[ 8.63474878e-01 5.04298065e-01 9.72606050e-03 1.39274014e+02] [-5.04261757e-01 8.63529590e-01 -6.06027341e-03 -3.69211026e+01] [-1.14549252e-02 3.28413486e-04 9.99934336e-01 -1.70359605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.33, Y:-36.95, Z:-1.71 [[ 8.59956396e-01 5.10274861e-01 9.72433197e-03 1.39327760e+02] [-5.10238902e-01 8.60011339e-01 -6.06304575e-03 -3.69520534e+01] [-1.14568556e-02 2.52222504e-04 9.99934336e-01 -1.70534837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:-36.98, Z:-1.71 [[ 8.57419272e-01 5.14526636e-01 9.72283314e-03 1.39381116e+02] [-5.14490922e-01 8.57474374e-01 -6.06544836e-03 -3.69844338e+01] [-1.14579150e-02 1.98322928e-04 9.99934336e-01 -1.70618866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.43, Y:-37.02, Z:-1.71 [[ 8.55573090e-01 5.17590752e-01 9.72112867e-03 1.39433687e+02] [-5.17555205e-01 8.55628300e-01 -6.06817889e-03 -3.70176382e+01] [-1.14585061e-02 1.60549830e-04 9.99934336e-01 -1.70527101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.49, Y:-37.05, Z:-1.70 [[ 8.54065946e-01 5.20073926e-01 9.71963828e-03 1.39486025e+02] [-5.20038512e-01 8.54121241e-01 -6.07056516e-03 -3.70522150e+01] [-1.14588922e-02 1.30076740e-04 9.99934336e-01 -1.70465020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.54, Y:-37.09, Z:-1.71 [[ 8.54040214e-01 5.20116212e-01 9.71792275e-03 1.39538936e+02] [-5.20080769e-01 8.54095491e-01 -6.07331019e-03 -3.70864018e+01] [-1.14588611e-02 1.32746401e-04 9.99934336e-01 -1.70725565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.59, Y:-37.12, Z:-1.71 [[ 8.55107086e-01 5.18360364e-01 9.71622063e-03 1.39590463e+02] [-5.18324777e-01 8.55162270e-01 -6.07603205e-03 -3.71223588e+01] [-1.14585195e-02 1.59500172e-04 9.99934336e-01 -1.70795971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.64, Y:-37.16, Z:-1.71 [[ 8.58862986e-01 5.12113267e-01 9.71453274e-03 1.39638439e+02] [-5.12077248e-01 8.58917890e-01 -6.07872950e-03 -3.71600405e+01] [-1.14569840e-02 2.46204581e-04 9.99934336e-01 -1.70639269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.69, Y:-37.20, Z:-1.71 [[ 8.63183924e-01 5.04796164e-01 9.71318459e-03 1.39688999e+02] [-5.04759656e-01 8.63238503e-01 -6.08088295e-03 -3.71978218e+01] [-1.14544013e-02 3.46096703e-04 9.99934336e-01 -1.70578998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:-37.23, Z:-1.71 [[ 8.65167150e-01 5.01389560e-01 9.71144112e-03 1.39740525e+02] [-5.01352806e-01 8.65221563e-01 -6.08366607e-03 -3.72348320e+01] [-1.14528349e-02 3.94529783e-04 9.99934336e-01 -1.70671594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.79, Y:-37.27, Z:-1.71 [[ 8.66404734e-01 4.99247994e-01 9.70969163e-03 1.39790795e+02] [-4.99211074e-01 8.66459035e-01 -6.08645703e-03 -3.72725490e+01] [-1.14517015e-02 4.26149598e-04 9.99934336e-01 -1.70708089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.84, Y:-37.31, Z:-1.71 [[ 8.66515942e-01 4.99054985e-01 9.70794285e-03 1.39842718e+02] [-4.99018021e-01 8.66570214e-01 -6.08924506e-03 -3.73074750e+01] [-1.14514822e-02 4.31989491e-04 9.99934336e-01 -1.70740063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.89, Y:-37.34, Z:-1.71 [[ 8.66170158e-01 4.99654928e-01 9.70618694e-03 1.39894414e+02] [-4.99617971e-01 8.66224434e-01 -6.09204269e-03 -3.73410996e+01] [-1.14516554e-02 4.27360160e-04 9.99934336e-01 -1.70889085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.95, Y:-37.38, Z:-1.71 [[ 8.66198869e-01 4.99605184e-01 9.70456615e-03 1.39946361e+02] [-4.99568195e-01 8.66253124e-01 -6.09462349e-03 -3.73761245e+01] [-1.14515162e-02 4.31063377e-04 9.99934336e-01 -1.71008588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.00, Y:-37.41, Z:-1.71 [[ 8.66704088e-01 4.98728261e-01 9.70282459e-03 1.39999931e+02] [-4.98691186e-01 8.66758284e-01 -6.09739485e-03 -3.74099176e+01] [-1.14509467e-02 4.45923937e-04 9.99934336e-01 -1.71229179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:-37.44, Z:-1.71 [[ 8.66838618e-01 4.98494433e-01 9.70105659e-03 1.40051843e+02] [-4.98457312e-01 8.66892782e-01 -6.10020647e-03 -3.74427693e+01] [-1.14506949e-02 4.52331957e-04 9.99934336e-01 -1.71445933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.10, Y:-37.48, Z:-1.71 [[ 8.67305126e-01 4.97682368e-01 9.69942479e-03 1.40104997e+02] [-4.97645168e-01 8.67359235e-01 -6.10279996e-03 -3.74763612e+01] [-1.14501416e-02 4.66117810e-04 9.99934336e-01 -1.71441157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.16, Y:-37.51, Z:-1.71 [[ 8.67459997e-01 4.97412412e-01 9.69771754e-03 1.40158833e+02] [-4.97375164e-01 8.67514074e-01 -6.10551167e-03 -3.75094152e+01] [-1.14498637e-02 4.72883287e-04 9.99934336e-01 -1.71442830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:-37.54, Z:-1.71 [[ 8.66897660e-01 4.98391848e-01 9.69603648e-03 1.40212456e+02] [-4.98354631e-01 8.66951759e-01 -6.10818017e-03 -3.75429931e+01] [-1.14502631e-02 4.63102417e-04 9.99934336e-01 -1.71386474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:-37.58, Z:-1.71 [[ 8.63329526e-01 5.04547470e-01 9.69428235e-03 1.40266378e+02] [-5.04510608e-01 8.63383867e-01 -6.11096288e-03 -3.75757398e+01] [-1.14531578e-02 3.84906403e-04 9.99934336e-01 -1.71327776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:-37.61, Z:-1.71 [[ 8.59396412e-01 5.11218018e-01 9.69252742e-03 1.40319772e+02] [-5.11181547e-01 8.59451016e-01 -6.11374508e-03 -3.76073643e+01] [-1.14557092e-02 2.99489432e-04 9.99934336e-01 -1.71404746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:-37.64, Z:-1.72 [[ 8.52834248e-01 5.22091775e-01 9.69144375e-03 1.40374460e+02] [-5.22055981e-01 8.52889298e-01 -6.11546242e-03 -3.76379828e+01] [-1.14585613e-02 1.55999622e-04 9.99934336e-01 -1.71708314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:-37.67, Z:-1.72 [[ 8.48750023e-01 5.28705481e-01 9.69090901e-03 1.40427344e+02] [-5.28670106e-01 8.48805343e-01 -6.11630969e-03 -3.76702536e+01] [-1.14594218e-02 6.79240993e-05 9.99934336e-01 -1.71979769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.48, Y:-37.70, Z:-1.72 [[ 8.47576603e-01 5.30584599e-01 9.68943382e-03 1.40480112e+02] [-5.30549320e-01 8.47631985e-01 -6.11864578e-03 -3.77037449e+01] [-1.14595332e-02 4.52984810e-05 9.99934336e-01 -1.72194318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.53, Y:-37.74, Z:-1.72 [[ 8.47690343e-01 5.30402890e-01 9.68795223e-03 1.40532387e+02] [-5.30367572e-01 8.47745700e-01 -6.12099076e-03 -3.77392364e+01] [-1.14595110e-02 5.05290627e-05 9.99934336e-01 -1.72286061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.58, Y:-37.78, Z:-1.72 [[ 8.48741396e-01 5.28719415e-01 9.68625058e-03 1.40582882e+02] [-5.28683956e-01 8.48796663e-01 -6.12368237e-03 -3.77770619e+01] [-1.14593669e-02 7.64574395e-05 9.99934336e-01 -1.72165075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.63, Y:-37.81, Z:-1.72 [[ 8.49166406e-01 5.28036576e-01 9.68453018e-03 1.40634133e+02] [-5.28001042e-01 8.49221624e-01 -6.12640196e-03 -3.78124998e+01] [-1.14592768e-02 8.88927003e-05 9.99934336e-01 -1.72162677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.69, Y:-37.85, Z:-1.72 [[ 8.49532348e-01 5.27447656e-01 9.68299674e-03 1.40685821e+02] [-5.27412057e-01 8.49587523e-01 -6.12882466e-03 -3.78485793e+01] [-1.14591874e-02 9.97055817e-05 9.99934336e-01 -1.72218878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:-37.89, Z:-1.72 [[ 8.49838223e-01 5.26954711e-01 9.68126326e-03 1.40737422e+02] [-5.26919048e-01 8.49893358e-01 -6.13156168e-03 -3.78851783e+01] [-1.14590967e-02 1.09593461e-04 9.99934336e-01 -1.72212185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.897628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:140.79, Y:-37.92, Z:-1.73 [[ 8.50029412e-01 5.26646281e-01 9.67953644e-03 1.40787813e+02] [-5.26610567e-01 8.50084514e-01 -6.13428651e-03 -3.79219652e+01] [-1.14590232e-02 1.16977782e-04 9.99934336e-01 -1.72767696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.84, Y:-37.95, Z:-1.73 [[ 8.47440753e-01 5.30801758e-01 9.67803285e-03 1.40840315e+02] [-5.30766288e-01 8.47496011e-01 -6.13665780e-03 -3.79533022e+01] [-1.14594430e-02 6.36803398e-05 9.99934336e-01 -1.72844922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.89, Y:-37.98, Z:-1.73 [[ 8.45528411e-01 5.33842738e-01 9.67665932e-03 1.40892467e+02] [-5.33807441e-01 8.45583781e-01 -6.13882290e-03 -3.79849523e+01] [-1.14595922e-02 2.50764181e-05 9.99934336e-01 -1.73149881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.94, Y:-38.02, Z:-1.73 [[ 8.45990922e-01 5.33109508e-01 9.67531907e-03 1.40944892e+02] [-5.33074139e-01 8.46046247e-01 -6.14093452e-03 -3.80184594e+01] [-1.14595580e-02 3.75124714e-05 9.99934336e-01 -1.73109508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.00, Y:-38.05, Z:-1.73 [[ 8.48603666e-01 5.28940673e-01 9.67380542e-03 1.40996197e+02] [-5.28905005e-01 8.48658798e-01 -6.14331805e-03 -3.80528632e+01] [-1.14592109e-02 9.67181104e-05 9.99934336e-01 -1.72718282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.05, Y:-38.09, Z:-1.72 [[ 8.50681213e-01 5.25592922e-01 9.67228948e-03 1.41048121e+02] [-5.25557010e-01 8.50736187e-01 -6.14570388e-03 -3.80861485e+01] [-1.14587051e-02 1.44695293e-04 9.99934336e-01 -1.72451256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.10, Y:-38.12, Z:-1.72 [[ 8.52548879e-01 5.22558018e-01 9.67089029e-03 1.41100451e+02] [-5.22521885e-01 8.52603708e-01 -6.14790486e-03 -3.81195733e+01] [-1.14580739e-02 1.88137574e-04 9.99934336e-01 -1.72225999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.15, Y:-38.15, Z:-1.72 [[ 8.52252865e-01 5.23040684e-01 9.66936638e-03 1.41153675e+02] [-5.23004555e-01 8.52307696e-01 -6.15030072e-03 -3.81523418e+01] [-1.14581329e-02 1.84488748e-04 9.99934336e-01 -1.72317278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.21, Y:-38.18, Z:-1.73 [[ 8.50165403e-01 5.26426941e-01 9.66764186e-03 1.41207787e+02] [-5.26391000e-01 8.50220357e-01 -6.15301030e-03 -3.81836815e+01] [-1.14587363e-02 1.42116812e-04 9.99934336e-01 -1.72584679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.26, Y:-38.22, Z:-1.73 [[ 8.47506113e-01 5.30697615e-01 9.66589316e-03 1.41260972e+02] [-5.30661920e-01 8.47561227e-01 -6.15575613e-03 -3.82156052e+01] [-1.14592814e-02 8.77195301e-05 9.99934336e-01 -1.72874120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.31, Y:-38.25, Z:-1.73 [[ 8.45872500e-01 5.33297584e-01 9.66438196e-03 1.41312750e+02] [-5.33262031e-01 8.45927706e-01 -6.15812777e-03 -3.82473101e+01] [-1.14594831e-02 5.53429860e-05 9.99934336e-01 -1.73114431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.37, Y:-38.28, Z:-1.73 [[ 8.44143397e-01 5.36030365e-01 9.66299943e-03 1.41366713e+02] [-5.35994966e-01 8.44198701e-01 -6.16029640e-03 -3.82799964e+01] [-1.14595975e-02 2.08544839e-05 9.99934336e-01 -1.73233289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.42, Y:-38.31, Z:-1.73 [[ 8.43773958e-01 5.36611747e-01 9.66131715e-03 1.41418874e+02] [-5.36576356e-01 8.43829268e-01 -6.16293362e-03 -3.83139225e+01] [-1.14596048e-02 1.60885489e-05 9.99934336e-01 -1.73114389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.47, Y:-38.35, Z:-1.73 [[ 8.43976880e-01 5.36292563e-01 9.65982253e-03 1.41468469e+02] [-5.36257124e-01 8.44032160e-01 -6.16527541e-03 -3.83491837e+01] [-1.14595922e-02 2.32012564e-05 9.99934336e-01 -1.73006236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.52, Y:-38.38, Z:-1.73 [[ 8.43116265e-01 5.37644555e-01 9.65901418e-03 1.41520573e+02] [-5.37609190e-01 8.43171592e-01 -6.16654158e-03 -3.83847242e+01] [-1.14596139e-02 6.33672043e-06 9.99934336e-01 -1.73159313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.57, Y:-38.42, Z:-1.74 [[ 8.39955594e-01 5.42569199e-01 9.65736288e-03 1.41572289e+02] [-5.42534129e-01 8.40011108e-01 -6.16912657e-03 -3.84191029e+01] [-1.14594702e-02 -5.76565875e-05 9.99934336e-01 -1.73686607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:-38.45, Z:-1.74 [[ 8.40098098e-01 5.42348549e-01 9.65590503e-03 1.41625114e+02] [-5.42313438e-01 8.40153586e-01 -6.17140756e-03 -3.84525607e+01] [-1.14594972e-02 -5.19393022e-05 9.99934336e-01 -1.73755033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.68, Y:-38.49, Z:-1.74 [[ 8.39950645e-01 5.42576916e-01 9.65422788e-03 1.41678464e+02] [-5.42541790e-01 8.40006124e-01 -6.17403008e-03 -3.84867894e+01] [-1.14594967e-02 -5.19415209e-05 9.99934336e-01 -1.73827816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.73, Y:-38.52, Z:-1.74 [[ 8.41852997e-01 5.39620570e-01 9.65254882e-03 1.41729875e+02] [-5.39585219e-01 8.41908333e-01 -6.17665403e-03 -3.85207449e+01] [-1.14596109e-02 -8.53796604e-06 9.99934336e-01 -1.73742922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:-38.56, Z:-1.73 [[ 8.45286333e-01 5.34226422e-01 9.65117386e-03 1.41781197e+02] [-5.34190693e-01 8.45341426e-01 -6.17880169e-03 -3.85554371e+01] [-1.14594162e-02 6.72893697e-05 9.99934336e-01 -1.73482217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.83, Y:-38.59, Z:-1.73 [[ 8.50894990e-01 5.25247180e-01 9.64965531e-03 1.41833308e+02] [-5.25210843e-01 8.50949683e-01 -6.18117237e-03 -3.85890385e+01] [-1.14580145e-02 1.91425001e-04 9.99934336e-01 -1.73155539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.89, Y:-38.62, Z:-1.73 [[ 8.56287734e-01 5.16408975e-01 9.64815428e-03 1.41886453e+02] [-5.16372048e-01 8.56342030e-01 -6.18351442e-03 -3.86214808e+01] [-1.14553424e-02 3.12830371e-04 9.99934336e-01 -1.73139850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:-38.65, Z:-1.73 [[ 8.62012806e-01 5.06794689e-01 9.64709552e-03 1.41940651e+02] [-5.06757138e-01 8.62066672e-01 -6.18516578e-03 -3.86513220e+01] [-1.14510487e-02 4.42957591e-04 9.99934336e-01 -1.73467486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:-38.68, Z:-1.74 [[ 8.62863754e-01 5.05344541e-01 9.64553028e-03 1.41994386e+02] [-5.05306872e-01 8.62917539e-01 -6.18760576e-03 -3.86843220e+01] [-1.14501700e-02 4.65108002e-04 9.99934336e-01 -1.73633645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.05, Y:-38.72, Z:-1.74 [[ 8.63530242e-01 5.04204839e-01 9.64376019e-03 1.42046853e+02] [-5.04167068e-01 8.63583954e-01 -6.19036332e-03 -3.87162368e+01] [-1.14494077e-02 4.83499633e-04 9.99934336e-01 -1.73908148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.10, Y:-38.75, Z:-1.74 [[ 8.64145365e-01 5.03149896e-01 9.64212874e-03 1.42102292e+02] [-5.03112032e-01 8.64199012e-01 -6.19290343e-03 -3.87470639e+01] [-1.14486768e-02 5.00497820e-04 9.99934336e-01 -1.73852983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.16, Y:-38.78, Z:-1.74 [[ 8.63264768e-01 5.04659295e-01 9.64037197e-03 1.42156723e+02] [-5.04621494e-01 8.63318459e-01 -6.19563695e-03 -3.87781210e+01] [-1.14493969e-02 4.83736189e-04 9.99934336e-01 -1.73936640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.21, Y:-38.81, Z:-1.74 [[ 8.60433203e-01 5.09472080e-01 9.63860047e-03 1.42210466e+02] [-5.09434549e-01 8.60487083e-01 -6.19839166e-03 -3.88069978e+01] [-1.14517987e-02 4.23065904e-04 9.99934337e-01 -1.73879926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.27, Y:-38.84, Z:-1.74 [[ 8.57707592e-01 5.14047480e-01 9.63718551e-03 1.42265428e+02] [-5.14010211e-01 8.57761654e-01 -6.20059085e-03 -3.88374793e+01] [-1.14538063e-02 3.64682089e-04 9.99934337e-01 -1.73891438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:-38.87, Z:-1.74 [[ 8.54777727e-01 5.18904804e-01 9.63544499e-03 1.42319372e+02] [-5.18867812e-01 8.54831979e-01 -6.20329436e-03 -3.88683412e+01] [-1.14556058e-02 3.02915591e-04 9.99934337e-01 -1.74158349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:-38.90, Z:-1.74 [[ 8.51939520e-01 5.23551566e-01 9.63386935e-03 1.42372066e+02] [-5.23514843e-01 8.51993954e-01 -6.20574040e-03 -3.88997808e+01] [-1.14570236e-02 2.43441901e-04 9.99934337e-01 -1.74362980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:-38.93, Z:-1.74 [[ 8.48575780e-01 5.28986164e-01 9.63243058e-03 1.42425078e+02] [-5.28949764e-01 8.48630431e-01 -6.20797283e-03 -3.89315597e+01] [-1.14583054e-02 1.72863506e-04 9.99934337e-01 -1.74324941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81762799999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:-38.96, Z:-1.74 [[ 8.44627191e-01 5.35268300e-01 9.63090826e-03 1.42479164e+02] [-5.35232280e-01 8.44682093e-01 -6.21033362e-03 -3.89621949e+01] [-1.14592505e-02 9.06436597e-05 9.99934337e-01 -1.74216756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:-38.99, Z:-1.74 [[ 8.38573608e-01 5.44703203e-01 9.62936121e-03 1.42534302e+02] [-5.44667772e-01 8.38628893e-01 -6.21273146e-03 -3.89933076e+01] [-1.14595553e-02 -3.49700785e-05 9.99934337e-01 -1.74290241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.59, Y:-39.03, Z:-1.74 [[ 8.33878513e-01 5.51864054e-01 9.62759556e-03 1.42586473e+02] [-5.51829067e-01 8.33934079e-01 -6.21546641e-03 -3.90276098e+01] [-1.14588725e-02 -1.29843178e-04 9.99934337e-01 -1.74171941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:142.64, Y:-39.06, Z:-1.75 [[ 8.31077477e-01 5.56073348e-01 9.62595347e-03 1.42639171e+02] [-5.56038612e-01 8.31133201e-01 -6.21800849e-03 -3.90617070e+01] [-1.14581183e-02 -1.84755002e-04 9.99934337e-01 -1.74509205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.69, Y:-39.10, Z:-1.75 [[ 8.28520384e-01 5.59876189e-01 9.62419996e-03 1.42691021e+02] [-5.59841678e-01 8.28576247e-01 -6.22072138e-03 -3.90967441e+01] [-1.14572173e-02 -2.34033785e-04 9.99934337e-01 -1.74729507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:-39.13, Z:-1.75 [[ 8.28626562e-01 5.59719046e-01 9.62337336e-03 1.42741595e+02] [-5.59684510e-01 8.28682410e-01 -6.22199986e-03 -3.91340224e+01] [-1.14572921e-02 -2.30338652e-04 9.99934337e-01 -1.74734887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.79, Y:-39.17, Z:-1.75 [[ 8.30959628e-01 5.56249513e-01 9.62160922e-03 1.42791858e+02] [-5.56214712e-01 8.31015311e-01 -6.22472670e-03 -3.91724316e+01] [-1.14582058e-02 -1.79184013e-04 9.99934337e-01 -1.74623819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:-39.21, Z:-1.75 [[ 8.34315639e-01 5.51203115e-01 9.61981381e-03 1.42842630e+02] [-5.51167945e-01 8.34371089e-01 -6.22750013e-03 -3.92098536e+01] [-1.14591120e-02 -1.06432258e-04 9.99934337e-01 -1.74645288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.89, Y:-39.25, Z:-1.74 [[ 8.40594662e-01 5.41579273e-01 9.61800355e-03 1.42890556e+02] [-5.41543436e-01 8.40649683e-01 -6.23029471e-03 -3.92508686e+01] [-1.14595701e-02 2.85857874e-05 9.99934337e-01 -1.74484843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.94, Y:-39.29, Z:-1.74 [[ 8.46792027e-01 5.31837185e-01 9.61620548e-03 1.42939633e+02] [-5.31800684e-01 8.46846610e-01 -6.23306872e-03 -3.92902478e+01] [-1.14584287e-02 1.64208252e-04 9.99934337e-01 -1.74330083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:-39.33, Z:-1.75 [[ 8.49855830e-01 5.26927540e-01 9.61440968e-03 1.42991241e+02] [-5.26890692e-01 8.49910179e-01 -6.23583749e-03 -3.93257066e+01] [-1.14572192e-02 2.33819870e-04 9.99934337e-01 -1.74530201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.04, Y:-39.36, Z:-1.75 [[ 8.50881033e-01 5.25270469e-01 9.61264509e-03 1.43044669e+02] [-5.25233484e-01 8.50935290e-01 -6.23855645e-03 -3.93596425e+01] [-1.14566684e-02 2.59386287e-04 9.99934337e-01 -1.74825515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.09, Y:-39.40, Z:-1.75 [[ 8.53735638e-01 5.20617989e-01 9.61088771e-03 1.43094718e+02] [-5.20580679e-01 8.53789672e-01 -6.24126262e-03 -3.93960056e+01] [-1.14549903e-02 3.25145875e-04 9.99934337e-01 -1.75194206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.15, Y:-39.43, Z:-1.75 [[ 8.56126543e-01 5.16676885e-01 9.60934658e-03 1.43147226e+02] [-5.16639299e-01 8.56180385e-01 -6.24363451e-03 -3.94300735e+01] [-1.14532757e-02 3.80775143e-04 9.99934337e-01 -1.75421503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:143.20, Y:-39.46, Z:-1.76 [[ 8.59424424e-01 5.11172506e-01 9.60879474e-03 1.43201006e+02] [-5.11134566e-01 8.59478017e-01 -6.24448368e-03 -3.94618737e+01] [-1.14505562e-02 4.55274656e-04 9.99934337e-01 -1.75659782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.25, Y:-39.49, Z:-1.75 [[ 8.61114184e-01 5.08320831e-01 9.60701326e-03 1.43253129e+02] [-5.08282683e-01 8.61167629e-01 -6.24722325e-03 -3.94937626e+01] [-1.14488425e-02 4.96494075e-04 9.99934337e-01 -1.75252397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.31, Y:-39.53, Z:-1.75 [[ 8.62400365e-01 5.06135696e-01 9.60559198e-03 1.43307718e+02] [-5.06097388e-01 8.62453697e-01 -6.24940781e-03 -3.95251552e+01] [-1.14474267e-02 5.28126561e-04 9.99934337e-01 -1.75165349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:-39.55, Z:-1.75 [[ 8.61604040e-01 5.07490143e-01 9.60383542e-03 1.43363602e+02] [-5.07451889e-01 8.61657409e-01 -6.25210606e-03 -3.95549661e+01] [-1.14480981e-02 5.13355412e-04 9.99934337e-01 -1.75305462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.42, Y:-39.58, Z:-1.75 [[ 8.58004002e-01 5.13553243e-01 9.60209255e-03 1.43420553e+02] [-5.13515336e-01 8.58057619e-01 -6.25478163e-03 -3.95819072e+01] [-1.14513121e-02 4.35805881e-04 9.99934337e-01 -1.75298506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:-39.61, Z:-1.75 [[ 8.52293872e-01 5.22975133e-01 9.60035630e-03 1.43478470e+02] [-5.22937790e-01 8.52347882e-01 -6.25744544e-03 -3.96090006e+01] [-1.14553317e-02 3.12793293e-04 9.99934337e-01 -1.75429613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:-39.63, Z:-1.76 [[ 8.49509823e-01 5.27485477e-01 9.59858993e-03 1.43540686e+02] [-5.27448390e-01 8.49564010e-01 -6.26015378e-03 -3.96294220e+01] [-1.14567568e-02 2.55301328e-04 9.99934337e-01 -1.76052035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.59, Y:-39.66, Z:-1.76 [[ 8.43617559e-01 5.36858750e-01 9.59669661e-03 1.43591559e+02] [-5.36822232e-01 8.43672131e-01 -6.26305487e-03 -3.96636647e+01] [-1.14588413e-02 1.31902961e-04 9.99934337e-01 -1.75919720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.65, Y:-39.69, Z:-1.76 [[ 8.42269046e-01 5.38971972e-01 9.59518910e-03 1.43648528e+02] [-5.38935565e-01 8.42323692e-01 -6.26536356e-03 -3.96919443e+01] [-1.14591105e-02 1.05933134e-04 9.99934337e-01 -1.76106359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.70, Y:-39.73, Z:-1.76 [[ 8.36458753e-01 5.47945912e-01 9.59331585e-03 1.43700117e+02] [-5.47910059e-01 8.36513764e-01 -6.26823052e-03 -3.97253452e+01] [-1.14595920e-02 -1.31579667e-05 9.99934337e-01 -1.76091414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.75, Y:-39.76, Z:-1.76 [[ 8.34107277e-01 5.51518844e-01 9.59240610e-03 1.43753107e+02] [-5.51483210e-01 8.34162431e-01 -6.26962242e-03 -3.97580894e+01] [-1.14594397e-02 -6.05132228e-05 9.99934337e-01 -1.76195324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.81, Y:-39.79, Z:-1.76 [[ 8.32251143e-01 5.54315832e-01 9.59130966e-03 1.43805960e+02] [-5.54280364e-01 8.32306403e-01 -6.27129931e-03 -3.97926358e+01] [-1.14591889e-02 -9.69785882e-05 9.99934337e-01 -1.76108720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.86, Y:-39.83, Z:-1.76 [[ 8.30968952e-01 5.56236139e-01 9.58952628e-03 1.43857668e+02] [-5.56200767e-01 8.31024274e-01 -6.27402512e-03 -3.98280423e+01] [-1.14589686e-02 -1.20181795e-04 9.99934337e-01 -1.76106177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.91, Y:-39.86, Z:-1.76 [[ 8.31253847e-01 5.55810325e-01 9.58770709e-03 1.43909054e+02] [-5.55774893e-01 8.31309130e-01 -6.27680389e-03 -3.98629048e+01] [-1.14590609e-02 -1.10989499e-04 9.99934337e-01 -1.76214052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:-39.90, Z:-1.76 [[ 8.33205046e-01 5.52881053e-01 9.58602768e-03 1.43958969e+02] [-5.52845397e-01 8.33260185e-01 -6.27936766e-03 -3.99008318e+01] [-1.14593986e-02 -6.75904572e-05 9.99934337e-01 -1.76335390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:-39.94, Z:-1.76 [[ 8.34216786e-01 5.51353331e-01 9.58426120e-03 1.44010234e+02] [-5.51317543e-01 8.34271840e-01 -6.28206271e-03 -3.99368041e+01] [-1.14595154e-02 -4.33691657e-05 9.99934337e-01 -1.76387857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:-39.97, Z:-1.76 [[ 8.37063853e-01 5.47021281e-01 9.58250340e-03 1.44060602e+02] [-5.46985178e-01 8.37118700e-01 -6.28474287e-03 -3.99747273e+01] [-1.14595809e-02 1.92437516e-05 9.99934337e-01 -1.76464667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.11, Y:-40.02, Z:-1.76 [[ 8.42754000e-01 5.38213624e-01 9.58075926e-03 1.44108848e+02] [-5.38176917e-01 8.42808445e-01 -6.28740059e-03 -4.00150349e+01] [-1.14587095e-02 1.42588522e-04 9.99934337e-01 -1.76356216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.16, Y:-40.06, Z:-1.76 [[ 8.48561423e-01 5.29010164e-01 9.57899159e-03 1.44156827e+02] [-5.28972837e-01 8.48615445e-01 -6.29009253e-03 -4.00550229e+01] [-1.14564031e-02 2.70503516e-04 9.99934337e-01 -1.76191978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:-40.09, Z:-1.76 [[ 8.53791668e-01 5.20526715e-01 9.57736155e-03 1.44206157e+02] [-5.20488823e-01 8.53845295e-01 -6.29257347e-03 -4.00923172e+01] [-1.14530377e-02 3.87637159e-04 9.99934337e-01 -1.76358781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.26, Y:-40.13, Z:-1.76 [[ 8.58819601e-01 5.12188624e-01 9.57629112e-03 1.44255446e+02] [-5.12150194e-01 8.58872844e-01 -6.29420206e-03 -4.01306818e+01] [-1.14486351e-02 5.01084747e-04 9.99934337e-01 -1.76426689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.31, Y:-40.17, Z:-1.77 [[ 8.60184543e-01 5.09892996e-01 9.57524223e-03 1.44307552e+02] [-5.09854406e-01 8.60237669e-01 -6.29579731e-03 -4.01666994e+01] [-1.14471670e-02 5.33568092e-04 9.99934337e-01 -1.76530871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.36, Y:-40.20, Z:-1.77 [[ 8.63306827e-01 5.04588614e-01 9.57358638e-03 1.44357793e+02] [-5.04549669e-01 8.63359695e-01 -6.29831425e-03 -4.02028200e+01] [-1.14435063e-02 6.07027852e-04 9.99934337e-01 -1.76600459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.41, Y:-40.24, Z:-1.77 [[ 8.62714075e-01 5.05601425e-01 9.57202274e-03 1.44409431e+02] [-5.05562517e-01 8.62766969e-01 -6.30068973e-03 -4.02360815e+01] [-1.14440628e-02 5.96437812e-04 9.99934337e-01 -1.76766627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:144.46, Y:-40.27, Z:-1.77 [[ 8.61140197e-01 5.08277449e-01 9.57059533e-03 1.44460958e+02] [-5.08238681e-01 8.61193194e-01 -6.30285719e-03 -4.02699320e+01] [-1.14457317e-02 5.63496940e-04 9.99934337e-01 -1.77056066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.51, Y:-40.30, Z:-1.76 [[ 8.58334024e-01 5.13002073e-01 9.56955820e-03 1.44513103e+02] [-5.12963579e-01 8.58387221e-01 -6.30443146e-03 -4.03033544e+01] [-1.14485729e-02 5.02473195e-04 9.99934337e-01 -1.76404952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.57, Y:-40.33, Z:-1.76 [[ 8.54187634e-01 5.19876851e-01 9.56797625e-03 1.44567492e+02] [-5.19838758e-01 8.54241119e-01 -6.30683140e-03 -4.03343456e+01] [-1.14521344e-02 4.13412494e-04 9.99934337e-01 -1.76386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.62, Y:-40.37, Z:-1.76 [[ 8.51121303e-01 5.24881902e-01 9.56641894e-03 1.44620526e+02] [-5.24844098e-01 8.51174992e-01 -6.30919270e-03 -4.03660852e+01] [-1.14542776e-02 3.49009793e-04 9.99934337e-01 -1.76459544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:-40.40, Z:-1.77 [[ 8.46179368e-01 5.32812333e-01 9.56531852e-03 1.44673806e+02] [-5.32775014e-01 8.46233395e-01 -6.31086059e-03 -4.03972246e+01] [-1.14569963e-02 2.43957320e-04 9.99934337e-01 -1.76544482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:-40.43, Z:-1.77 [[ 8.43437989e-01 5.37141409e-01 9.56374430e-03 1.44727436e+02] [-5.37104339e-01 8.43492188e-01 -6.31324533e-03 -4.04301508e+01] [-1.14580491e-02 1.88102382e-04 9.99934337e-01 -1.76743077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:-40.46, Z:-1.77 [[ 8.41182968e-01 5.40666056e-01 9.56196591e-03 1.44779992e+02] [-5.40629183e-01 8.41237300e-01 -6.31593772e-03 -4.04630451e+01] [-1.14586955e-02 1.43381424e-04 9.99934337e-01 -1.76959189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:-40.50, Z:-1.77 [[ 8.40350482e-01 5.41959092e-01 9.56086870e-03 1.44832190e+02] [-5.41922284e-01 8.40404858e-01 -6.31759821e-03 -4.04976276e+01] [-1.14588803e-02 1.27748893e-04 9.99934337e-01 -1.76970087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:-40.53, Z:-1.77 [[ 8.37773212e-01 5.45934674e-01 9.55914248e-03 1.44884874e+02] [-5.45898094e-01 8.37827743e-01 -6.32020907e-03 -4.05322299e+01] [-1.14593360e-02 7.65842002e-05 9.99934337e-01 -1.77264441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.94, Y:-40.57, Z:-1.77 [[ 8.34685214e-01 5.50644394e-01 9.55743957e-03 1.44936377e+02] [-5.50608093e-01 8.34739930e-01 -6.32278316e-03 -4.05675662e+01] [-1.14595815e-02 1.51300429e-05 9.99934337e-01 -1.77275975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.99, Y:-40.61, Z:-1.77 [[ 8.30314935e-01 5.57212526e-01 9.55563531e-03 1.44986407e+02] [-5.57176626e-01 8.30369915e-01 -6.32550876e-03 -4.06052483e+01] [-1.14593648e-02 -7.20122472e-05 9.99934337e-01 -1.77295979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.04, Y:-40.64, Z:-1.78 [[ 8.28148631e-01 5.60427128e-01 9.55407164e-03 1.45037041e+02] [-5.60391413e-01 8.28203732e-01 -6.32786967e-03 -4.06419206e+01] [-1.14590276e-02 -1.13603108e-04 9.99934337e-01 -1.77541050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.09, Y:-40.68, Z:-1.77 [[ 8.26005262e-01 5.63581454e-01 9.55252235e-03 1.45086483e+02] [-5.63545924e-01 8.26060482e-01 -6.33020760e-03 -4.06801829e+01] [-1.14585488e-02 -1.54500242e-04 9.99934337e-01 -1.77440795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.14, Y:-40.72, Z:-1.78 [[ 8.25777318e-01 5.63915420e-01 9.55092702e-03 1.45135569e+02] [-5.63879884e-01 8.25832534e-01 -6.33261369e-03 -4.07179002e+01] [-1.14585248e-02 -1.56246879e-04 9.99934337e-01 -1.77540157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.18, Y:-40.76, Z:-1.78 [[ 8.26786397e-01 5.62434942e-01 9.54933182e-03 1.45184695e+02] [-5.62399279e-01 8.26841532e-01 -6.33501828e-03 -4.07571366e+01] [-1.14588198e-02 -1.32830397e-04 9.99934337e-01 -1.77609808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.23, Y:-40.80, Z:-1.77 [[ 8.29544430e-01 5.58359078e-01 9.54875850e-03 1.45231432e+02] [-5.58323134e-01 8.29599382e-01 -6.33588233e-03 -4.07985785e+01] [-1.14593416e-02 -7.53968775e-05 9.99934337e-01 -1.77367157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.28, Y:-40.84, Z:-1.77 [[ 8.31971247e-01 5.54736601e-01 9.54716539e-03 1.45278925e+02] [-5.54700391e-01 8.32026023e-01 -6.33828198e-03 -4.08368210e+01] [-1.14595671e-02 -2.25480087e-05 9.99934337e-01 -1.77148515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:-40.88, Z:-1.77 [[ 8.35762258e-01 5.49008483e-01 9.54638257e-03 1.45326126e+02] [-5.48971884e-01 8.35816775e-01 -6.33946080e-03 -4.08780340e+01] [-1.14594445e-02 5.75864479e-05 9.99934337e-01 -1.76930628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.38, Y:-40.91, Z:-1.77 [[ 8.34891802e-01 5.50331333e-01 9.54478966e-03 1.45377308e+02] [-5.50294793e-01 8.34946359e-01 -6.34185820e-03 -4.09121775e+01] [-1.14595107e-02 4.23173743e-05 9.99934337e-01 -1.76997820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.43, Y:-40.95, Z:-1.77 [[ 8.33214152e-01 5.52868073e-01 9.54310929e-03 1.45428050e+02] [-5.52831669e-01 8.33268801e-01 -6.34438579e-03 -4.09462914e+01] [-1.14595836e-02 1.04989954e-05 9.99934337e-01 -1.77273863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:-40.98, Z:-1.78 [[ 8.32025670e-01 5.54655065e-01 9.54167360e-03 1.45481187e+02] [-5.54618755e-01 8.32080380e-01 -6.34654427e-03 -4.09790946e+01] [-1.14595823e-02 -1.15033789e-05 9.99934337e-01 -1.77740167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.53, Y:-41.01, Z:-1.78 [[ 8.33680022e-01 5.52165380e-01 9.54010999e-03 1.45533736e+02] [-5.52128879e-01 8.33734605e-01 -6.34889382e-03 -4.10128238e+01] [-1.14595592e-02 2.55756995e-05 9.99934337e-01 -1.77945425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:145.58, Y:-41.05, Z:-1.78 [[ 8.37945331e-01 5.45670815e-01 9.53856004e-03 1.45584954e+02] [-5.45633864e-01 8.37999611e-01 -6.35122160e-03 -4.10465564e+01] [-1.14589859e-02 1.17415111e-04 9.99934337e-01 -1.78121518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:-41.08, Z:-1.78 [[ 8.39007981e-01 5.44035524e-01 9.53714067e-03 1.45636625e+02] [-5.43998443e-01 8.39062172e-01 -6.35335225e-03 -4.10802969e+01] [-1.14587033e-02 1.42323561e-04 9.99934337e-01 -1.77798563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.69, Y:-41.11, Z:-1.78 [[ 8.41701083e-01 5.39859574e-01 9.53564445e-03 1.45688908e+02] [-5.39822199e-01 8.41755071e-01 -6.35559710e-03 -4.11144272e+01] [-1.14578070e-02 2.01960405e-04 9.99934337e-01 -1.77918891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.74, Y:-41.15, Z:-1.78 [[ 8.42138497e-01 5.39177014e-01 9.53415440e-03 1.45741439e+02] [-5.39139570e-01 8.42192438e-01 -6.35783156e-03 -4.11470804e+01] [-1.14575894e-02 2.13934811e-04 9.99934337e-01 -1.77677242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.80, Y:-41.18, Z:-1.78 [[ 8.41012312e-01 5.40931993e-01 9.53258872e-03 1.45795091e+02] [-5.40894636e-01 8.41066312e-01 -6.36017819e-03 -4.11799781e+01] [-1.14579631e-02 1.92862059e-04 9.99934337e-01 -1.77832804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.85, Y:-41.21, Z:-1.78 [[ 8.38602308e-01 5.44660750e-01 9.53079864e-03 1.45848230e+02] [-5.44623602e-01 8.38656453e-01 -6.36285952e-03 -4.12128212e+01] [-1.14586656e-02 1.45210798e-04 9.99934337e-01 -1.78160731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.90, Y:-41.25, Z:-1.78 [[ 8.34605645e-01 5.50765477e-01 9.52924563e-03 1.45900842e+02] [-5.50728698e-01 8.34660042e-01 -6.36518452e-03 -4.12451342e+01] [-1.14594044e-02 6.43898964e-05 9.99934337e-01 -1.78422775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.95, Y:-41.28, Z:-1.78 [[ 8.32007069e-01 5.54683207e-01 9.52768756e-03 1.45954215e+02] [-5.54646658e-01 8.32061620e-01 -6.36751586e-03 -4.12791313e+01] [-1.14595773e-02 1.33181441e-05 9.99934337e-01 -1.78469274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.01, Y:-41.31, Z:-1.78 [[ 8.29763968e-01 5.58033167e-01 9.52588617e-03 1.46005655e+02] [-5.57996807e-01 8.29818645e-01 -6.37020962e-03 -4.13123213e+01] [-1.14595462e-02 -2.96436608e-05 9.99934337e-01 -1.78446698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.06, Y:-41.35, Z:-1.79 [[ 8.30235204e-01 5.57331850e-01 9.52444744e-03 1.46057027e+02] [-5.57295419e-01 8.30289834e-01 -6.37236001e-03 -4.13475331e+01] [-1.14595711e-02 -1.73733125e-05 9.99934337e-01 -1.78630553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.11, Y:-41.38, Z:-1.79 [[ 8.33273101e-01 5.52779573e-01 9.52281409e-03 1.46106928e+02] [-5.52742816e-01 8.33327512e-01 -6.37479995e-03 -4.13837381e+01] [-1.14594822e-02 4.82822455e-05 9.99934337e-01 -1.78534275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.16, Y:-41.42, Z:-1.79 [[ 8.35693665e-01 5.49113323e-01 9.52138945e-03 1.46157622e+02] [-5.49076303e-01 8.35747898e-01 -6.37692708e-03 -4.14205036e+01] [-1.14591368e-02 1.01188241e-04 9.99934337e-01 -1.78553211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:-41.46, Z:-1.79 [[ 8.38124007e-01 5.45396667e-01 9.51967208e-03 1.46207716e+02] [-5.45359377e-01 8.38178055e-01 -6.37948979e-03 -4.14572057e+01] [-1.14585327e-02 1.55161103e-04 9.99934337e-01 -1.78747714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.26, Y:-41.49, Z:-1.79 [[ 8.39650589e-01 5.43043546e-01 9.51817003e-03 1.46258539e+02] [-5.43006079e-01 8.39704514e-01 -6.38173005e-03 -4.14937457e+01] [-1.14580077e-02 1.89999206e-04 9.99934337e-01 -1.79144698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.31, Y:-41.53, Z:-1.79 [[ 8.41348424e-01 5.40409331e-01 9.51763923e-03 1.46308743e+02] [-5.40371686e-01 8.41402225e-01 -6.38252158e-03 -4.15316381e+01] [-1.14573370e-02 2.26861708e-04 9.99934337e-01 -1.79119734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.36, Y:-41.57, Z:-1.79 [[ 8.42003282e-01 5.39388469e-01 9.51591295e-03 1.46360280e+02] [-5.39350730e-01 8.42057017e-01 -6.38509432e-03 -4.15674103e+01] [-1.14569875e-02 2.43855776e-04 9.99934337e-01 -1.79166158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:146.41, Y:-41.60, Z:-1.79 [[ 8.42713728e-01 5.38277858e-01 9.51420058e-03 1.46410581e+02] [-5.38240020e-01 8.42767393e-01 -6.38764484e-03 -4.16030696e+01] [-1.14565858e-02 2.62032497e-04 9.99934337e-01 -1.79020215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:-41.64, Z:-1.78 [[ 8.42654079e-01 5.38371260e-01 9.51259189e-03 1.46460203e+02] [-5.38333401e-01 8.42707729e-01 -6.39003964e-03 -4.16383288e+01] [-1.14565484e-02 2.63647026e-04 9.99934337e-01 -1.78495968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.51, Y:-41.67, Z:-1.78 [[ 8.41250987e-01 5.40561101e-01 9.51172827e-03 1.46512556e+02] [-5.40523367e-01 8.41304725e-01 -6.39132489e-03 -4.16725330e+01] [-1.14571636e-02 2.35396983e-04 9.99934337e-01 -1.78374490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:-41.71, Z:-1.79 [[ 8.39010691e-01 5.44031820e-01 9.50993184e-03 1.46565878e+02] [-5.43994278e-01 8.39064564e-01 -6.39399676e-03 -4.17054574e+01] [-1.14579845e-02 1.91283144e-04 9.99934337e-01 -1.78584786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.62, Y:-41.74, Z:-1.79 [[ 8.35374441e-01 5.49599072e-01 9.50812207e-03 1.46619209e+02] [-5.49561858e-01 8.35428540e-01 -6.39668683e-03 -4.17371561e+01] [-1.14589697e-02 1.18327449e-04 9.99934337e-01 -1.78906449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.67, Y:-41.77, Z:-1.79 [[ 8.33547970e-01 5.52365285e-01 9.50652681e-03 1.46671586e+02] [-5.52328224e-01 8.33602175e-01 -6.39905677e-03 -4.17699193e+01] [-1.14592782e-02 8.31977131e-05 9.99934337e-01 -1.79158143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.72, Y:-41.80, Z:-1.79 [[ 8.31876453e-01 5.54879467e-01 9.50495591e-03 1.46723767e+02] [-5.54842543e-01 8.31930751e-01 -6.40138929e-03 -4.18043423e+01] [-1.14594646e-02 5.14111080e-05 9.99934337e-01 -1.79230633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.77, Y:-41.84, Z:-1.79 [[ 8.31621414e-01 5.55261661e-01 9.50318047e-03 1.46774636e+02] [-5.55224732e-01 8.31675709e-01 -6.40402392e-03 -4.18393080e+01] [-1.14594733e-02 4.93225954e-05 9.99934337e-01 -1.78957820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.83, Y:-41.87, Z:-1.79 [[ 8.31443834e-01 5.55527561e-01 9.50160554e-03 1.46826604e+02] [-5.55490623e-01 8.31498122e-01 -6.40635979e-03 -4.18738539e+01] [-1.14594766e-02 4.84755586e-05 9.99934337e-01 -1.78880223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.88, Y:-41.91, Z:-1.79 [[ 8.31066594e-01 5.56091779e-01 9.50002224e-03 1.46878829e+02] [-5.56054850e-01 8.31120889e-01 -6.40870681e-03 -4.19090831e+01] [-1.14594961e-02 4.35286944e-05 9.99934337e-01 -1.79027670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.93, Y:-41.95, Z:-1.79 [[ 8.29810768e-01 5.57964043e-01 9.49823098e-03 1.46930678e+02] [-5.57927206e-01 8.29865126e-01 -6.41136050e-03 -4.19452752e+01] [-1.14595593e-02 2.08945045e-05 9.99934337e-01 -1.79080893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.98, Y:-41.98, Z:-1.79 [[ 8.27387592e-01 5.61551057e-01 9.49645706e-03 1.46982164e+02] [-5.61514427e-01 8.27442088e-01 -6.41398695e-03 -4.19795905e+01] [-1.14595494e-02 -2.55444165e-05 9.99934337e-01 -1.79231524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.03, Y:-42.02, Z:-1.79 [[ 8.25235560e-01 5.64708878e-01 9.49493581e-03 1.47034285e+02] [-5.64672430e-01 8.25290179e-01 -6.41623814e-03 -4.20151968e+01] [-1.14593839e-02 -6.66206001e-05 9.99934337e-01 -1.79195361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.09, Y:-42.05, Z:-1.79 [[ 8.21956622e-01 5.69470976e-01 9.49311618e-03 1.47085477e+02] [-5.69434813e-01 8.22011430e-01 -6.41892923e-03 -4.20508120e+01] [-1.14588439e-02 -1.29629447e-04 9.99934337e-01 -1.79365606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:147.14, Y:-42.09, Z:-1.79 [[ 8.20692791e-01 5.71290867e-01 9.49143541e-03 1.47136834e+02] [-5.71254797e-01 8.20747661e-01 -6.42141356e-03 -4.20869451e+01] [-1.14585683e-02 -1.52020188e-04 9.99934337e-01 -1.79496377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:147.19, Y:-42.12, Z:-1.79 [[ 8.20310654e-01 5.71839466e-01 9.48976748e-03 1.47187326e+02] [-5.71803404e-01 8.20365529e-01 -6.42387754e-03 -4.21249534e+01] [-1.14585048e-02 -1.56706164e-04 9.99934337e-01 -1.79378482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:-42.16, Z:-1.79 [[ 8.20914140e-01 5.70972814e-01 9.48795705e-03 1.47237711e+02] [-5.70936663e-01 8.20968955e-01 -6.42655041e-03 -4.21629474e+01] [-1.14587038e-02 -1.41376442e-04 9.99934337e-01 -1.79339810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.397628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:147.29, Y:-42.20, Z:-1.79 [[ 8.21462750e-01 5.70183272e-01 9.48612909e-03 1.47288982e+02] [-5.70147037e-01 8.21517511e-01 -6.42924749e-03 -4.21995992e+01] [-1.14588705e-02 -1.27101072e-04 9.99934337e-01 -1.79389783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:147.34, Y:-42.23, Z:-1.80 [[ 8.27097216e-01 5.61978864e-01 9.48431470e-03 1.47341994e+02] [-5.61942055e-01 8.27151592e-01 -6.43192293e-03 -4.22318741e+01] [-1.14595708e-02 -9.80974625e-06 9.99934337e-01 -1.80228028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.39, Y:-42.27, Z:-1.80 [[ 8.25053116e-01 5.64975606e-01 9.48261792e-03 1.47386457e+02] [-5.64938966e-01 8.25107607e-01 -6.43442354e-03 -4.22745661e+01] [-1.14594725e-02 -4.83591672e-05 9.99934337e-01 -1.79790074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577628 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:147.44, Y:-42.31, Z:-1.80 [[ 8.24987180e-01 5.65071899e-01 9.48166711e-03 1.47436508e+02] [-5.65035250e-01 8.25041664e-01 -6.43582433e-03 -4.23112054e+01] [-1.14594739e-02 -4.80035810e-05 9.99934337e-01 -1.79906110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.49, Y:-42.35, Z:-1.80 [[ 8.25494007e-01 5.64331262e-01 9.48009281e-03 1.47488021e+02] [-5.64294537e-01 8.25548439e-01 -6.43814247e-03 -4.23452784e+01] [-1.14595209e-02 -3.49165663e-05 9.99934337e-01 -1.80089062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.54, Y:-42.38, Z:-1.80 [[ 8.28173180e-01 5.60392132e-01 9.47853046e-03 1.47539690e+02] [-5.60355122e-01 8.28227419e-01 -6.44044181e-03 -4.23802963e+01] [-1.14595517e-02 2.24580751e-05 9.99934337e-01 -1.79999992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.59, Y:-42.42, Z:-1.80 [[ 8.31688925e-01 5.55160985e-01 9.47695608e-03 1.47590023e+02] [-5.55123608e-01 8.31742911e-01 -6.44275764e-03 -4.24155243e+01] [-1.14591587e-02 9.74881241e-05 9.99934337e-01 -1.79830144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.64, Y:-42.45, Z:-1.80 [[ 8.32499985e-01 5.53944031e-01 9.47551727e-03 1.47641921e+02] [-5.53906551e-01 8.32553900e-01 -6.44487304e-03 -4.24507362e+01] [-1.14589778e-02 1.16805616e-04 9.99934337e-01 -1.79846570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.69, Y:-42.48, Z:-1.80 [[ 8.34910167e-01 5.50304698e-01 9.47376771e-03 1.47694950e+02] [-5.50266953e-01 8.34963898e-01 -6.44744382e-03 -4.24832857e+01] [-1.14583126e-02 1.69935106e-04 9.99934337e-01 -1.79983059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.75, Y:-42.52, Z:-1.80 [[ 8.36553794e-01 5.47802910e-01 9.47215028e-03 1.47747794e+02] [-5.47764977e-01 8.36607393e-01 -6.44981916e-03 -4.25172935e+01] [-1.14577007e-02 2.07108509e-04 9.99934337e-01 -1.80050021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.80, Y:-42.55, Z:-1.80 [[ 8.38155759e-01 5.45348728e-01 9.47037828e-03 1.47800702e+02] [-5.45310609e-01 8.38209225e-01 -6.45241997e-03 -4.25516263e+01] [-1.14569775e-02 2.43835212e-04 9.99934337e-01 -1.80052539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.85, Y:-42.58, Z:-1.80 [[ 8.40429225e-01 5.41838597e-01 9.46854637e-03 1.47853948e+02] [-5.41800225e-01 8.40482509e-01 -6.45510707e-03 -4.25835623e+01] [-1.14557738e-02 2.95000079e-04 9.99934337e-01 -1.80127524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:-42.61, Z:-1.80 [[ 8.41455539e-01 5.40243421e-01 9.46685574e-03 1.47908120e+02] [-5.40204920e-01 8.41508730e-01 -6.45758555e-03 -4.26149555e+01] [-1.14551099e-02 3.19729077e-04 9.99934337e-01 -1.80058096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:-42.65, Z:-1.80 [[ 8.40837588e-01 5.41204721e-01 9.46570491e-03 1.47962170e+02] [-5.41166262e-01 8.40890810e-01 -6.45927202e-03 -4.26473146e+01] [-1.14554128e-02 3.08678555e-04 9.99934337e-01 -1.80067784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:-42.68, Z:-1.80 [[ 8.38231998e-01 5.45231650e-01 9.46389381e-03 1.48018322e+02] [-5.45193417e-01 8.38285382e-01 -6.46192449e-03 -4.26768010e+01] [-1.14566896e-02 2.56939272e-04 9.99934337e-01 -1.80186109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.07, Y:-42.71, Z:-1.80 [[ 8.35844407e-01 5.48884867e-01 9.46204782e-03 1.48072645e+02] [-5.48846836e-01 8.35897936e-01 -6.46462640e-03 -4.27082778e+01] [-1.14576418e-02 2.10206810e-04 9.99934337e-01 -1.80362411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.13, Y:-42.74, Z:-1.81 [[ 8.32023588e-01 5.54659584e-01 9.46019740e-03 1.48127582e+02] [-5.54621895e-01 8.32077357e-01 -6.46733314e-03 -4.27395165e+01] [-1.14587844e-02 1.34141115e-04 9.99934337e-01 -1.80508178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.18, Y:-42.77, Z:-1.81 [[ 8.29336096e-01 5.58670009e-01 9.45834019e-03 1.48181150e+02] [-5.58632549e-01 8.29390025e-01 -6.47004812e-03 -4.27729962e+01] [-1.14592749e-02 8.21077586e-05 9.99934337e-01 -1.80578297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.23, Y:-42.80, Z:-1.81 [[ 8.25384748e-01 5.64491446e-01 9.45648776e-03 1.48233440e+02] [-5.64454335e-01 8.25438918e-01 -6.47275447e-03 -4.28042330e+01] [-1.14595676e-02 4.75730669e-06 9.99934337e-01 -1.80912882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.29, Y:-42.84, Z:-1.81 [[ 8.22708690e-01 5.68384565e-01 9.45500560e-03 1.48285952e+02] [-5.68347685e-01 8.22763018e-01 -6.47491879e-03 -4.28383884e+01] [-1.14594728e-02 -4.67585864e-05 9.99934337e-01 -1.80903051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.34, Y:-42.87, Z:-1.81 [[ 8.23351445e-01 5.67453113e-01 9.45314783e-03 1.48339095e+02] [-5.67416141e-01 8.23405710e-01 -6.47762993e-03 -4.28714903e+01] [-1.14595272e-02 -3.05026925e-05 9.99934337e-01 -1.81101626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.39, Y:-42.91, Z:-1.81 [[ 8.23019244e-01 5.67934855e-01 9.45115848e-03 1.48390046e+02] [-5.67897881e-01 8.23073508e-01 -6.48053119e-03 -4.29090497e+01] [-1.14595177e-02 -3.36909876e-05 9.99934337e-01 -1.81065204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:-42.95, Z:-1.81 [[ 8.22190851e-01 5.69133479e-01 9.44916159e-03 1.48439445e+02] [-5.69096551e-01 8.22245146e-01 -6.48344152e-03 -4.29458802e+01] [-1.14594709e-02 -4.68589696e-05 9.99934337e-01 -1.80930783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.49, Y:-42.98, Z:-1.81 [[ 8.22587086e-01 5.68560669e-01 9.44732209e-03 1.48490438e+02] [-5.68523672e-01 8.22641334e-01 -6.48612083e-03 -4.29826430e+01] [-1.14595108e-02 -3.56270121e-05 9.99934337e-01 -1.81142589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.54, Y:-43.02, Z:-1.82 [[ 8.25176084e-01 5.64796612e-01 9.44552035e-03 1.48539559e+02] [-5.64759338e-01 8.25230141e-01 -6.48874359e-03 -4.30213677e+01] [-1.14595485e-02 1.99102016e-05 9.99934337e-01 -1.81535764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.59, Y:-43.06, Z:-1.82 [[ 8.28391330e-01 5.60070189e-01 9.44390068e-03 1.48587572e+02] [-5.60032580e-01 8.28445155e-01 -6.49110004e-03 -4.30592518e+01] [-1.14592254e-02 8.82789326e-05 9.99934337e-01 -1.81787727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:-43.10, Z:-1.82 [[ 8.32623580e-01 5.53758806e-01 9.44242092e-03 1.48636441e+02] [-5.53720764e-01 8.32677100e-01 -6.49325190e-03 -4.30987017e+01] [-1.14581831e-02 1.77970115e-04 9.99934337e-01 -1.81862041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:-43.14, Z:-1.82 [[ 8.40290261e-01 5.42054565e-01 9.44063847e-03 1.48684376e+02] [-5.42015748e-01 8.40343223e-01 -6.49584239e-03 -4.31407126e+01] [-1.14544776e-02 3.41418371e-04 9.99934337e-01 -1.81707873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.73, Y:-43.18, Z:-1.81 [[ 8.47744376e-01 5.30321017e-01 9.43880328e-03 1.48731426e+02] [-5.30281439e-01 8.47796771e-01 -6.49850792e-03 -4.31821280e+01] [-1.14484823e-02 5.03851362e-04 9.99934337e-01 -1.81474160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.78, Y:-43.22, Z:-1.81 [[ 8.51318562e-01 5.24564243e-01 9.43722139e-03 1.48781967e+02] [-5.24524285e-01 8.51370668e-01 -6.50080435e-03 -4.32200631e+01] [-1.14446630e-02 5.84203603e-04 9.99934337e-01 -1.81448904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.84, Y:-43.25, Z:-1.82 [[ 8.52047287e-01 5.23379781e-01 9.43536889e-03 1.48835171e+02] [-5.23339721e-01 8.52099314e-01 -6.50349199e-03 -4.32536537e+01] [-1.14436676e-02 6.03379374e-04 9.99934337e-01 -1.81573530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.89, Y:-43.29, Z:-1.82 [[ 8.51288655e-01 5.24612842e-01 9.43353492e-03 1.48886945e+02] [-5.24572828e-01 8.51340718e-01 -6.50615114e-03 -4.32886361e+01] [-1.14443628e-02 5.90036562e-04 9.99934337e-01 -1.81740144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31762799999998 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:148.94, Y:-43.32, Z:-1.82 [[ 8.48554872e-01 5.29023319e-01 9.43169525e-03 1.48940232e+02] [-5.28983547e-01 8.48607119e-01 -6.50881694e-03 -4.33209525e+01] [-1.14471197e-02 5.33876722e-04 9.99934337e-01 -1.82321359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:-43.35, Z:-1.82 [[ 8.43483770e-01 5.37071879e-01 9.43004014e-03 1.48995966e+02] [-5.37032579e-01 8.43536373e-01 -6.51121400e-03 -4.33482504e+01] [-1.14515718e-02 4.27864565e-04 9.99934337e-01 -1.82452715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.05, Y:-43.38, Z:-1.82 [[ 8.39950335e-01 5.42581355e-01 9.42911880e-03 1.49050617e+02] [-5.42542385e-01 8.40003183e-01 -6.51254794e-03 -4.33796839e+01] [-1.14540769e-02 3.54520216e-04 9.99934337e-01 -1.82426188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.10, Y:-43.41, Z:-1.82 [[ 8.36446574e-01 5.47967385e-01 9.42723396e-03 1.49103442e+02] [-5.47928725e-01 8.36499650e-01 -6.51527521e-03 -4.34121863e+01] [-1.14560362e-02 2.84227354e-04 9.99934337e-01 -1.82329421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.16, Y:-43.44, Z:-1.83 [[ 8.33169522e-01 5.52937345e-01 9.42549036e-03 1.49158929e+02] [-5.52898972e-01 8.33222806e-01 -6.51779665e-03 -4.34392543e+01] [-1.14574667e-02 2.19085589e-04 9.99934337e-01 -1.82710175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.21, Y:-43.47, Z:-1.82 [[ 8.26817095e-01 5.62391927e-01 9.42401243e-03 1.49212239e+02] [-5.62354139e-01 8.26870796e-01 -6.51993287e-03 -4.34728744e+01] [-1.14591983e-02 9.11595578e-05 9.99934337e-01 -1.82342411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.26, Y:-43.51, Z:-1.83 [[ 8.23999712e-01 5.66511869e-01 9.42216592e-03 1.49264699e+02] [-5.66474320e-01 8.24053579e-01 -6.52260024e-03 -4.35070670e+01] [-1.14595000e-02 3.72056924e-05 9.99934337e-01 -1.82598926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.32, Y:-43.54, Z:-1.82 [[ 8.20831571e-01 5.71092628e-01 9.42033462e-03 1.49316580e+02] [-5.71055349e-01 8.20885625e-01 -6.52524405e-03 -4.35423944e+01] [-1.14595360e-02 -2.34061476e-05 9.99934337e-01 -1.82484308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.37, Y:-43.58, Z:-1.83 [[ 8.17637526e-01 5.75656293e-01 9.41847309e-03 1.49368850e+02] [-5.75619285e-01 8.17691766e-01 -6.52792985e-03 -4.35778436e+01] [-1.14592518e-02 -8.39743295e-05 9.99934337e-01 -1.82625245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.42, Y:-43.61, Z:-1.83 [[ 8.16462807e-01 5.77321238e-01 9.41658911e-03 1.49420635e+02] [-5.77284309e-01 8.16517102e-01 -6.53064638e-03 -4.36141156e+01] [-1.14590869e-02 -1.04019260e-04 9.99934337e-01 -1.82778158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.47, Y:-43.65, Z:-1.83 [[ 8.15596078e-01 5.78545073e-01 9.41468669e-03 1.49469847e+02] [-5.78508194e-01 8.15650406e-01 -6.53338778e-03 -4.36540584e+01] [-1.14589523e-02 -1.17867946e-04 9.99934337e-01 -1.82821598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.52, Y:-43.69, Z:-1.83 [[ 8.15375496e-01 5.78855940e-01 9.41281404e-03 1.49519159e+02] [-5.78819050e-01 8.15429817e-01 -6.53608464e-03 -4.36925387e+01] [-1.14589407e-02 -1.18952826e-04 9.99934337e-01 -1.82938371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.57, Y:-43.73, Z:-1.83 [[ 8.15641440e-01 5.78481180e-01 9.41095149e-03 1.49567347e+02] [-5.78444234e-01 8.15695723e-01 -6.53876532e-03 -4.37325320e+01] [-1.14590256e-02 -1.10422665e-04 9.99934337e-01 -1.83263889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:-43.77, Z:-1.83 [[ 8.17327310e-01 5.76096813e-01 9.40909462e-03 1.49615651e+02] [-5.76059678e-01 8.17381464e-01 -6.54143622e-03 -4.37721276e+01] [-1.14593201e-02 -7.37055519e-05 9.99934337e-01 -1.83446034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:-43.81, Z:-1.83 [[ 8.21722877e-01 5.69809621e-01 9.40795066e-03 1.49660962e+02] [-5.69772053e-01 8.21776731e-01 -6.54308105e-03 -4.38145968e+01] [-1.14595455e-02 1.62120242e-05 9.99934337e-01 -1.83482505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.71, Y:-43.85, Z:-1.84 [[ 8.25912725e-01 5.63719517e-01 9.40628012e-03 1.49709455e+02] [-5.63681524e-01 8.25966280e-01 -6.54548173e-03 -4.38549770e+01] [-1.14590860e-02 1.03850333e-04 9.99934337e-01 -1.83527516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:-43.89, Z:-1.83 [[ 8.30436803e-01 5.57033455e-01 9.40454516e-03 1.49759365e+02] [-5.56995004e-01 8.30490030e-01 -6.54797357e-03 -4.38935213e+01] [-1.14578213e-02 1.99393571e-04 9.99934337e-01 -1.83245942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.81, Y:-43.93, Z:-1.83 [[ 8.34050467e-01 5.51608020e-01 9.40271160e-03 1.49810122e+02] [-5.51569193e-01 8.34103420e-01 -6.55060546e-03 -4.39303772e+01] [-1.14562004e-02 2.77289492e-04 9.99934337e-01 -1.82958736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.86, Y:-43.97, Z:-1.83 [[ 8.36685836e-01 5.47602443e-01 9.40086095e-03 1.49862499e+02] [-5.47563332e-01 8.36738580e-01 -6.55326028e-03 -4.39653622e+01] [-1.14546444e-02 3.35453306e-04 9.99934337e-01 -1.83136262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:-44.00, Z:-1.83 [[ 8.40048050e-01 5.42430580e-01 9.39896396e-03 1.49914224e+02] [-5.42391114e-01 8.40100529e-01 -6.55597990e-03 -4.40007326e+01] [-1.14522386e-02 4.09423594e-04 9.99934337e-01 -1.83299431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:-44.03, Z:-1.84 [[ 8.44295323e-01 5.35795765e-01 9.39708693e-03 1.49968143e+02] [-5.35755858e-01 8.44347467e-01 -6.55866925e-03 -4.40329240e+01] [-1.14485138e-02 5.02909405e-04 9.99934337e-01 -1.83601248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.02, Y:-44.07, Z:-1.84 [[ 8.45337113e-01 5.34150630e-01 9.39522349e-03 1.50021056e+02] [-5.34110591e-01 8.45389156e-01 -6.56133753e-03 -4.40656011e+01] [-1.14473626e-02 5.28453757e-04 9.99934337e-01 -1.83778636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.08, Y:-44.10, Z:-1.84 [[ 8.44136922e-01 5.36045352e-01 9.39350356e-03 1.50076356e+02] [-5.36005402e-01 8.44189034e-01 -6.56379893e-03 -4.40967797e+01] [-1.14483866e-02 5.05776375e-04 9.99934337e-01 -1.83778850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.13, Y:-44.13, Z:-1.84 [[ 8.41692157e-01 5.39876014e-01 9.39165009e-03 1.50130783e+02] [-5.39836272e-01 8.41744427e-01 -6.56644984e-03 -4.41294101e+01] [-1.14504379e-02 4.56975953e-04 9.99934337e-01 -1.83779905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.19, Y:-44.16, Z:-1.84 [[ 8.38463505e-01 5.44876851e-01 9.38980830e-03 1.50185376e+02] [-5.44837392e-01 8.38515989e-01 -6.56908249e-03 -4.41617721e+01] [-1.14528454e-02 3.92017268e-04 9.99934337e-01 -1.83853892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.24, Y:-44.19, Z:-1.84 [[ 8.33155076e-01 5.52959750e-01 9.38798288e-03 1.50240276e+02] [-5.52920771e-01 8.33207918e-01 -6.57169019e-03 -4.41909755e+01] [-1.14560218e-02 2.84426313e-04 9.99934337e-01 -1.83900694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:-44.22, Z:-1.84 [[ 8.29465840e-01 5.58478574e-01 9.38629406e-03 1.50293999e+02] [-5.58439920e-01 8.29518919e-01 -6.57410144e-03 -4.42235116e+01] [-1.14576033e-02 2.11311271e-04 9.99934337e-01 -1.83887332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.35, Y:-44.26, Z:-1.84 [[ 8.23632122e-01 5.67046786e-01 9.38453676e-03 1.50348080e+02] [-5.67008655e-01 8.23685579e-01 -6.57660902e-03 -4.42553540e+01] [-1.14591526e-02 9.55928750e-05 9.99934337e-01 -1.84004174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.40, Y:-44.29, Z:-1.84 [[ 8.19418321e-01 5.73119168e-01 9.38269906e-03 1.50400164e+02] [-5.73081403e-01 8.19472037e-01 -6.57922980e-03 -4.42893291e+01] [-1.14595422e-02 1.40910954e-05 9.99934337e-01 -1.84448310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.45, Y:-44.33, Z:-1.85 [[ 8.18361728e-01 5.74626905e-01 9.38099677e-03 1.50450599e+02] [-5.74589211e-01 8.18415494e-01 -6.58165611e-03 -4.43260270e+01] [-1.14595498e-02 -4.04406722e-06 9.99934337e-01 -1.84729952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.50, Y:-44.36, Z:-1.85 [[ 8.18257226e-01 5.74775721e-01 9.37988153e-03 1.50500528e+02] [-5.74738019e-01 8.18310987e-01 -6.58324511e-03 -4.43646323e+01] [-1.14595496e-02 -4.18664633e-06 9.99934337e-01 -1.84854372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.55, Y:-44.40, Z:-1.85 [[ 8.18661035e-01 5.74200455e-01 9.37800602e-03 1.50549471e+02] [-5.74162685e-01 8.18714747e-01 -6.58591574e-03 -4.44036197e+01] [-1.14595476e-02 7.13147995e-06 9.99934337e-01 -1.84892690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.60, Y:-44.44, Z:-1.85 [[ 8.19085978e-01 5.73594149e-01 9.37613531e-03 1.50597867e+02] [-5.73556309e-01 8.19139641e-01 -6.58857793e-03 -4.44435096e+01] [-1.14595339e-02 1.88702468e-05 9.99934337e-01 -1.84917554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.65, Y:-44.49, Z:-1.85 [[ 8.19382139e-01 5.73171033e-01 9.37429134e-03 1.50645046e+02] [-5.73133135e-01 8.19435761e-01 -6.59120050e-03 -4.44855883e+01] [-1.14595148e-02 2.79949734e-05 9.99934337e-01 -1.85154699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.69, Y:-44.53, Z:-1.85 [[ 8.19231549e-01 5.73386280e-01 9.37243719e-03 1.50693597e+02] [-5.73348366e-01 8.19285160e-01 -6.59383598e-03 -4.45260276e+01] [-1.14595138e-02 2.82069175e-05 9.99934337e-01 -1.85234150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.74, Y:-44.57, Z:-1.85 [[ 8.18568517e-01 5.74332460e-01 9.37056330e-03 1.50740445e+02] [-5.74294577e-01 8.18622150e-01 -6.59649792e-03 -4.45678759e+01] [-1.14595336e-02 1.82218332e-05 9.99934337e-01 -1.85298919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.79, Y:-44.61, Z:-1.85 [[ 8.17996744e-01 5.75146548e-01 9.36882639e-03 1.50788661e+02] [-5.75108691e-01 8.18050394e-01 -6.59896388e-03 -4.46083547e+01] [-1.14595434e-02 9.83748872e-06 9.99934337e-01 -1.85377675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.84, Y:-44.65, Z:-1.85 [[ 8.15493334e-01 5.78690661e-01 9.36699332e-03 1.50837937e+02] [-5.78653006e-01 8.15547128e-01 -6.60156483e-03 -4.46476396e+01] [-1.14594884e-02 -3.67067297e-05 9.99934337e-01 -1.85272487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.89, Y:-44.68, Z:-1.85 [[ 8.13314782e-01 5.81748537e-01 9.36512874e-03 1.50889700e+02] [-5.81711054e-01 8.13368695e-01 -6.60420890e-03 -4.46829179e+01] [-1.14592914e-02 -7.64981817e-05 9.99934337e-01 -1.85370359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:-44.72, Z:-1.86 [[ 8.14892462e-01 5.79536544e-01 9.36323908e-03 1.50941994e+02] [-5.79498884e-01 8.14946252e-01 -6.60688692e-03 -4.47159791e+01] [-1.14594690e-02 -4.20842424e-05 9.99934337e-01 -1.85711546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:-44.75, Z:-1.86 [[ 8.16417451e-01 5.77386272e-01 9.36149364e-03 1.50993902e+02] [-5.77348442e-01 8.16471122e-01 -6.60935916e-03 -4.47513613e+01] [-1.14595425e-02 -8.84761411e-06 9.99934337e-01 -1.85740413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:-44.79, Z:-1.86 [[ 8.16844656e-01 5.76781765e-01 9.35965370e-03 1.51045879e+02] [-5.76743866e-01 8.16898277e-01 -6.61196371e-03 -4.47875949e+01] [-1.14595451e-02 2.82436312e-06 9.99934337e-01 -1.85580736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.10, Y:-44.82, Z:-1.86 [[ 8.16356743e-01 5.77472164e-01 9.35777559e-03 1.51096091e+02] [-5.77434280e-01 8.16410374e-01 -6.61462069e-03 -4.48233540e+01] [-1.14595444e-02 -3.61020423e-06 9.99934337e-01 -1.85679336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.15, Y:-44.86, Z:-1.86 [[ 8.15929956e-01 5.78075047e-01 9.35662038e-03 1.51145970e+02] [-5.78037183e-01 8.15983603e-01 -6.61625437e-03 -4.48601658e+01] [-1.14595404e-02 -1.00743465e-05 9.99934337e-01 -1.85774701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.20, Y:-44.90, Z:-1.86 [[ 8.15351992e-01 5.78889985e-01 9.35494417e-03 1.51196683e+02] [-5.78852147e-01 8.15405657e-01 -6.61862358e-03 -4.48952634e+01] [-1.14595293e-02 -1.86216050e-05 9.99934337e-01 -1.86257294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.25, Y:-44.93, Z:-1.86 [[ 8.13962143e-01 5.80842609e-01 9.35376144e-03 1.51248005e+02] [-5.80804882e-01 8.14015885e-01 -6.62029465e-03 -4.49307882e+01] [-1.14594596e-02 -4.40410827e-05 9.99934337e-01 -1.86318962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:-44.96, Z:-1.86 [[ 8.10843971e-01 5.85187658e-01 9.35194976e-03 1.51300098e+02] [-5.85150189e-01 8.10897894e-01 -6.62285287e-03 -4.49646365e+01] [-1.14590881e-02 -1.02194847e-04 9.99934337e-01 -1.86393620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.35, Y:-45.00, Z:-1.86 [[ 8.09644128e-01 5.86846622e-01 9.35027665e-03 1.51351780e+02] [-5.86809236e-01 8.09698108e-01 -6.62521417e-03 -4.50002703e+01] [-1.14588859e-02 -1.22762952e-04 9.99934337e-01 -1.86361251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.40, Y:-45.04, Z:-1.86 [[ 8.11252146e-01 5.84621724e-01 9.34851733e-03 1.51402193e+02] [-5.84584162e-01 8.11306004e-01 -6.62769571e-03 -4.50375517e+01] [-1.14592031e-02 -8.82627974e-05 9.99934337e-01 -1.86432675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.45, Y:-45.07, Z:-1.87 [[ 8.13883197e-01 5.80953339e-01 9.34662238e-03 1.51452934e+02] [-5.80915503e-01 8.13936863e-01 -6.63036697e-03 -4.50742953e+01] [-1.14594943e-02 -3.32535744e-05 9.99934337e-01 -1.86531909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.50, Y:-45.11, Z:-1.87 [[ 8.17270092e-01 5.76179028e-01 9.34472619e-03 1.51503012e+02] [-5.76140848e-01 8.17323514e-01 -6.63303836e-03 -4.51107860e+01] [-1.14594820e-02 3.71054008e-05 9.99934337e-01 -1.86638077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:-45.15, Z:-1.87 [[ 8.18462133e-01 5.74484495e-01 9.34355841e-03 1.51554999e+02] [-5.74446185e-01 8.18515462e-01 -6.63468292e-03 -4.51454897e+01] [-1.14593695e-02 6.28652466e-05 9.99934337e-01 -1.86896882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:-45.18, Z:-1.87 [[ 8.21712133e-01 5.69826204e-01 9.34169998e-03 1.51606356e+02] [-5.69787563e-01 8.21765222e-01 -6.63729858e-03 -4.51807807e+01] [-1.14587908e-02 1.31164310e-04 9.99934337e-01 -1.87333198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.66, Y:-45.22, Z:-1.87 [[ 8.24083326e-01 5.66391591e-01 9.34006588e-03 1.51657958e+02] [-5.66352702e-01 8.24136234e-01 -6.63959731e-03 -4.52173985e+01] [-1.14580988e-02 1.81809885e-04 9.99934337e-01 -1.87353471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.557628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:-45.25, Z:-1.87 [[ 8.26926505e-01 5.62232472e-01 9.33819674e-03 1.51710324e+02] [-5.62193287e-01 8.26979195e-01 -6.64222510e-03 -4.52529167e+01] [-1.14569691e-02 2.42760463e-04 9.99934337e-01 -1.87499907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.76, Y:-45.29, Z:-1.87 [[ 8.25857605e-01 5.63801427e-01 9.33634182e-03 1.51762337e+02] [-5.63762313e-01 8.25910347e-01 -6.64483136e-03 -4.52870593e+01] [-1.14573467e-02 2.24206851e-04 9.99934337e-01 -1.87317302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.81, Y:-45.32, Z:-1.87 [[ 8.22910465e-01 5.68094386e-01 9.33463013e-03 1.51814189e+02] [-5.68055520e-01 8.22963390e-01 -6.64723507e-03 -4.53222556e+01] [-1.14583158e-02 1.67491137e-04 9.99934337e-01 -1.87453630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.87, Y:-45.36, Z:-1.88 [[ 8.17451046e-01 5.75922465e-01 9.33279142e-03 1.51866548e+02] [-5.75884076e-01 8.17504318e-01 -6.64981564e-03 -4.53576482e+01] [-1.14593755e-02 6.12927834e-05 9.99934337e-01 -1.87611396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.92, Y:-45.39, Z:-1.88 [[ 8.14410014e-01 5.80214843e-01 9.33089696e-03 1.51917715e+02] [-5.80176705e-01 8.14463465e-01 -6.65247285e-03 -4.53944107e+01] [-1.14595382e-02 4.27145606e-06 9.99934337e-01 -1.87718113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:-45.43, Z:-1.88 [[ 8.12600543e-01 5.82746365e-01 9.32901407e-03 1.51968005e+02] [-5.82708363e-01 8.12654092e-01 -6.65511225e-03 -4.54326659e+01] [-1.14595039e-02 -2.81466924e-05 9.99934337e-01 -1.87811433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.02, Y:-45.47, Z:-1.88 [[ 8.13130395e-01 5.82006844e-01 9.32709147e-03 1.52017289e+02] [-5.81968762e-01 8.13183887e-01 -6.65780567e-03 -4.54697856e+01] [-1.14595290e-02 -1.44117195e-05 9.99934337e-01 -1.88006008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.07, Y:-45.51, Z:-1.88 [[ 8.15241171e-01 5.79046519e-01 9.32531743e-03 1.52067266e+02] [-5.79008215e-01 8.15294504e-01 -6.66028957e-03 -4.55080835e+01] [-1.14594975e-02 3.03068702e-05 9.99934337e-01 -1.88125900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.12, Y:-45.54, Z:-1.88 [[ 8.15557599e-01 5.78600791e-01 9.32344545e-03 1.52118827e+02] [-5.78562428e-01 8.15610889e-01 -6.66290904e-03 -4.55445052e+01] [-1.14594681e-02 3.97908734e-05 9.99934337e-01 -1.88077915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.17, Y:-45.58, Z:-1.88 [[ 8.15426663e-01 5.78785336e-01 9.32157978e-03 1.52169213e+02] [-5.78746955e-01 8.15479941e-01 -6.66551814e-03 -4.55797802e+01] [-1.14594655e-02 4.04053049e-05 9.99934337e-01 -1.88123710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.22, Y:-45.62, Z:-1.88 [[ 8.16095555e-01 5.77841825e-01 9.32043101e-03 1.52220224e+02] [-5.77803364e-01 8.16148775e-01 -6.66712408e-03 -4.56164031e+01] [-1.14594015e-02 5.56339347e-05 9.99934337e-01 -1.88317385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.27, Y:-45.65, Z:-1.89 [[ 8.17336299e-01 5.76085531e-01 9.31853771e-03 1.52271044e+02] [-5.76046926e-01 8.17389414e-01 -6.66976926e-03 -4.56537490e+01] [-1.14592316e-02 8.35295253e-05 9.99934337e-01 -1.88618915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.32, Y:-45.69, Z:-1.89 [[ 8.17307164e-01 5.76126895e-01 9.31663286e-03 1.52322458e+02] [-5.76088262e-01 8.17360259e-01 -6.67242899e-03 -4.56894017e+01] [-1.14592112e-02 8.62211873e-05 9.99934337e-01 -1.88986654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.37, Y:-45.73, Z:-1.89 [[ 8.17303534e-01 5.76132076e-01 9.31471728e-03 1.52373476e+02] [-5.76093413e-01 8.17356607e-01 -6.67510207e-03 -4.57256270e+01] [-1.14591861e-02 8.94372521e-05 9.99934337e-01 -1.89489897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.42, Y:-45.76, Z:-1.90 [[ 8.17190153e-01 5.76292895e-01 9.31411733e-03 1.52422118e+02] [-5.76254233e-01 8.17243226e-01 -6.67593910e-03 -4.57618255e+01] [-1.14591956e-02 8.82121625e-05 9.99934337e-01 -1.89674811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.47, Y:-45.80, Z:-1.89 [[ 8.18538796e-01 5.74375752e-01 9.31318337e-03 1.52472147e+02] [-5.74336951e-01 8.18591767e-01 -6.67724176e-03 -4.57981728e+01] [-1.14589410e-02 1.16676089e-04 9.99934337e-01 -1.89386822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.52, Y:-45.84, Z:-1.89 [[ 8.20914522e-01 5.70975169e-01 9.31151554e-03 1.52520338e+02] [-5.70936122e-01 8.20967313e-01 -6.67956677e-03 -4.58351130e+01] [-1.14583167e-02 1.67072787e-04 9.99934337e-01 -1.89027997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.57, Y:-45.87, Z:-1.89 [[ 8.22097572e-01 5.69270493e-01 9.31069391e-03 1.52570882e+02] [-5.69231323e-01 8.22150272e-01 -6.68071185e-03 -4.58732441e+01] [-1.14579217e-02 1.92258381e-04 9.99934337e-01 -1.88866817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.62, Y:-45.91, Z:-1.89 [[ 8.21992987e-01 5.69421527e-01 9.30882121e-03 1.52621715e+02] [-5.69382338e-01 8.22045672e-01 -6.68332022e-03 -4.59096040e+01] [-1.14579026e-02 1.93363968e-04 9.99934337e-01 -1.88905554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.67, Y:-45.95, Z:-1.89 [[ 8.19554667e-01 5.72925413e-01 9.30691979e-03 1.52672371e+02] [-5.72886419e-01 8.19607497e-01 -6.68596701e-03 -4.59450289e+01] [-1.14585816e-02 1.47707519e-04 9.99934337e-01 -1.89075863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:-45.98, Z:-1.89 [[ 8.17059047e-01 5.76478904e-01 9.30522904e-03 1.52722998e+02] [-5.76440113e-01 8.17112026e-01 -6.68831929e-03 -4.59798671e+01] [-1.14590895e-02 1.00844508e-04 9.99934337e-01 -1.89307407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.77, Y:-46.02, Z:-1.89 [[ 8.13690719e-01 5.81223575e-01 9.30428640e-03 1.52773477e+02] [-5.81185078e-01 8.13743912e-01 -6.68963038e-03 -4.60157173e+01] [-1.14594773e-02 3.57777374e-05 9.99934337e-01 -1.89407229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.82, Y:-46.05, Z:-1.89 [[ 8.12096267e-01 5.83449324e-01 9.30261128e-03 1.52823788e+02] [-5.83410946e-01 8.12149547e-01 -6.69195898e-03 -4.60527674e+01] [-1.14595305e-02 7.26966136e-06 9.99934337e-01 -1.89460745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.87, Y:-46.09, Z:-1.89 [[ 8.10514370e-01 5.85644904e-01 9.30072072e-03 1.52872673e+02] [-5.85606639e-01 8.10567731e-01 -6.69458552e-03 -4.60913363e+01] [-1.14595140e-02 -2.05060393e-05 9.99934337e-01 -1.89459556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.92, Y:-46.13, Z:-1.90 [[ 8.10149185e-01 5.86150002e-01 9.29906025e-03 1.52920637e+02] [-5.86111745e-01 8.10202552e-01 -6.69689119e-03 -4.61296273e+01] [-1.14595051e-02 -2.48074806e-05 9.99934337e-01 -1.89553462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.97, Y:-46.17, Z:-1.89 [[ 8.09925331e-01 5.86459293e-01 9.29813359e-03 1.52970241e+02] [-5.86421041e-01 8.09978702e-01 -6.69817753e-03 -4.61664905e+01] [-1.14594986e-02 -2.75975244e-05 9.99934337e-01 -1.89387850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.02, Y:-46.20, Z:-1.89 [[ 8.08795786e-01 5.88016115e-01 9.29647373e-03 1.53022071e+02] [-5.87977940e-01 8.08849211e-01 -6.70048048e-03 -4.62021455e+01] [-1.14594359e-02 -4.68010938e-05 9.99934337e-01 -1.89284835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.07, Y:-46.24, Z:-1.90 [[ 8.07158410e-01 5.90261732e-01 9.29454649e-03 1.53072679e+02] [-5.90223675e-01 8.07211919e-01 -6.70315278e-03 -4.62364188e+01] [-1.14592833e-02 -7.53552458e-05 9.99934337e-01 -1.89516561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.12, Y:-46.27, Z:-1.90 [[ 8.05908440e-01 5.91967252e-01 9.29300571e-03 1.53123215e+02] [-5.91929283e-01 8.05962011e-01 -6.70528819e-03 -4.62718346e+01] [-1.14591206e-02 -9.69538578e-05 9.99934337e-01 -1.89920183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.17, Y:-46.31, Z:-1.90 [[ 8.05452763e-01 5.92587139e-01 9.29135451e-03 1.53171985e+02] [-5.92549184e-01 8.05506345e-01 -6.70757544e-03 -4.63095622e+01] [-1.14590679e-02 -1.02949365e-04 9.99934337e-01 -1.90243364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:-46.35, Z:-1.90 [[ 8.05433247e-01 5.92613691e-01 9.28969904e-03 1.53220875e+02] [-5.92575712e-01 8.05486812e-01 -6.70986741e-03 -4.63460867e+01] [-1.14590893e-02 -1.00499725e-04 9.99934337e-01 -1.90233629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.27, Y:-46.38, Z:-1.90 [[ 8.05234499e-01 5.92883742e-01 9.28818733e-03 1.53270543e+02] [-5.92845757e-01 8.05288059e-01 -6.71195934e-03 -4.63825145e+01] [-1.14590779e-02 -1.01761236e-04 9.99934337e-01 -1.90076912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.32, Y:-46.42, Z:-1.90 [[ 8.04591530e-01 5.93756034e-01 9.28663126e-03 1.53321119e+02] [-5.93718083e-01 8.04645114e-01 -6.71411163e-03 -4.64177344e+01] [-1.14589868e-02 -1.11523558e-04 9.99934337e-01 -1.89976554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.37, Y:-46.45, Z:-1.90 [[ 8.04959935e-01 5.93256513e-01 9.28506649e-03 1.53371616e+02] [-5.93218503e-01 8.05013478e-01 -6.71627488e-03 -4.64543964e+01] [-1.14590775e-02 -1.01741051e-04 9.99934337e-01 -1.89979858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.42, Y:-46.49, Z:-1.90 [[ 8.06736984e-01 5.90837759e-01 9.28337740e-03 1.53421406e+02] [-5.90799561e-01 8.06790393e-01 -6.71860876e-03 -4.64919855e+01] [-1.14593474e-02 -6.44651262e-05 9.99934337e-01 -1.90056750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.47, Y:-46.53, Z:-1.90 [[ 8.09273762e-01 5.87358350e-01 9.28159202e-03 1.53470581e+02] [-5.87319894e-01 8.09326985e-01 -6.72107432e-03 -4.65298252e+01] [-1.14595220e-02 -1.20745452e-05 9.99934337e-01 -1.90098605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.52, Y:-46.57, Z:-1.90 [[ 8.10842625e-01 5.85190670e-01 9.27994026e-03 1.53521198e+02] [-5.85152046e-01 8.10895727e-01 -6.72335417e-03 -4.65675398e+01] [-1.14595080e-02 2.14061181e-05 9.99934337e-01 -1.90211106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.57, Y:-46.60, Z:-1.90 [[ 8.13138696e-01 5.81996030e-01 9.27804548e-03 1.53569487e+02] [-5.81957168e-01 8.13191623e-01 -6.72596790e-03 -4.66049691e+01] [-1.14593155e-02 6.97196984e-05 9.99934337e-01 -1.90268951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.62, Y:-46.64, Z:-1.90 [[ 8.14640800e-01 5.79891639e-01 9.27653353e-03 1.53619637e+02] [-5.79852616e-01 8.14693609e-01 -6.72805255e-03 -4.66418317e+01] [-1.14590740e-02 1.01923870e-04 9.99934337e-01 -1.90090697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.67, Y:-46.68, Z:-1.90 [[ 8.15585537e-01 5.78562191e-01 9.27486250e-03 1.53669367e+02] [-5.78523056e-01 8.15638263e-01 -6.73035533e-03 -4.66771486e+01] [-1.14588619e-02 1.23458666e-04 9.99934337e-01 -1.90126012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.72, Y:-46.71, Z:-1.90 [[ 8.18290617e-01 5.74729912e-01 9.27333640e-03 1.53719953e+02] [-5.74690506e-01 8.18343141e-01 -6.73245740e-03 -4.67137582e+01] [-1.14581159e-02 1.79808334e-04 9.99934337e-01 -1.90138137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:-46.75, Z:-1.90 [[ 8.19393210e-01 5.73156878e-01 9.27142572e-03 1.53770055e+02] [-5.73117342e-01 8.19445636e-01 -6.73508761e-03 -4.67502445e+01] [-1.14576911e-02 2.05070188e-04 9.99934337e-01 -1.90220496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.82, Y:-46.79, Z:-1.90 [[ 8.22835921e-01 5.68203405e-01 9.27024948e-03 1.53821608e+02] [-5.68163535e-01 8.22888093e-01 -6.73670621e-03 -4.67870938e+01] [-1.14561973e-02 2.76186137e-04 9.99934337e-01 -1.90258008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.87, Y:-46.82, Z:-1.90 [[ 8.24945325e-01 5.65136539e-01 9.26834535e-03 1.53874029e+02] [-5.65096446e-01 8.24997326e-01 -6.73932490e-03 -4.68224184e+01] [-1.14549989e-02 3.22065556e-04 9.99934337e-01 -1.90183856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.93, Y:-46.86, Z:-1.90 [[ 8.25240656e-01 5.64705227e-01 9.26641766e-03 1.53927019e+02] [-5.64665077e-01 8.25292613e-01 -6.74197439e-03 -4.68572220e+01] [-1.14547342e-02 3.31328930e-04 9.99934337e-01 -1.90234843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.98, Y:-46.89, Z:-1.90 [[ 8.23820089e-01 5.66775643e-01 9.26450735e-03 1.53982058e+02] [-5.66735594e-01 8.23872124e-01 -6.74459843e-03 -4.68885350e+01] [-1.14554435e-02 3.05809599e-04 9.99934337e-01 -1.90281889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.03, Y:-46.92, Z:-1.90 [[ 8.23009527e-01 5.67952042e-01 9.26260751e-03 1.54034080e+02] [-5.67912038e-01 8.23061597e-01 -6.74720653e-03 -4.69237676e+01] [-1.14557863e-02 2.92668941e-04 9.99934337e-01 -1.90384867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.09, Y:-46.96, Z:-1.90 [[ 8.21150493e-01 5.70636581e-01 9.26068414e-03 1.54087025e+02] [-5.70596718e-01 8.21202670e-01 -6.74984536e-03 -4.69579062e+01] [-1.14566072e-02 2.58522868e-04 9.99934338e-01 -1.90495990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.14, Y:-46.99, Z:-1.91 [[ 8.17332396e-01 5.76092033e-01 9.25873297e-03 1.54139819e+02] [-5.76052487e-01 8.17384815e-01 -6.75252071e-03 -4.69903947e+01] [-1.14580211e-02 1.85537772e-04 9.99934338e-01 -1.90818163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.19, Y:-47.03, Z:-1.91 [[ 8.14289590e-01 5.80385021e-01 9.25693127e-03 1.54192526e+02] [-5.80345724e-01 8.14342195e-01 -6.75498974e-03 -4.70254316e+01] [-1.14588046e-02 1.28297349e-04 9.99934338e-01 -1.91030052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:-47.06, Z:-1.91 [[ 8.08553757e-01 5.88349527e-01 9.25503523e-03 1.54245945e+02] [-5.88310719e-01 8.08606724e-01 -6.75758651e-03 -4.70596983e+01] [-1.14595065e-02 1.90355373e-05 9.99934338e-01 -1.91299000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.30, Y:-47.09, Z:-1.91 [[ 8.04565248e-01 5.93792171e-01 9.25313033e-03 1.54296189e+02] [-5.93753690e-01 8.04618453e-01 -6.76019387e-03 -4.70938450e+01] [-1.14593896e-02 -5.50632249e-05 9.99934338e-01 -1.91411232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.35, Y:-47.13, Z:-1.91 [[ 8.00590963e-01 5.99139806e-01 9.25222004e-03 1.54349582e+02] [-5.99101666e-01 8.00644413e-01 -6.76143950e-03 -4.71278384e+01] [-1.14587858e-02 -1.29873083e-04 9.99934338e-01 -1.91087552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.40, Y:-47.16, Z:-1.91 [[ 7.98511506e-01 6.01908473e-01 9.25017279e-03 1.54397867e+02] [-6.01870486e-01 7.98565065e-01 -6.76423913e-03 -4.71649754e+01] [-1.14583177e-02 -1.66083222e-04 9.99934338e-01 -1.91173802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:154.45, Y:-47.20, Z:-1.91 [[ 7.98686722e-01 6.01675980e-01 9.24854313e-03 1.54447819e+02] [-6.01637952e-01 7.98740252e-01 -6.76646659e-03 -4.72028434e+01] [-1.14584041e-02 -1.59987520e-04 9.99934338e-01 -1.91357941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.50, Y:-47.24, Z:-1.91 [[ 7.98048267e-01 6.02522584e-01 9.24661807e-03 1.54497326e+02] [-6.02484582e-01 7.98101815e-01 -6.76909623e-03 -4.72415186e+01] [-1.14582760e-02 -1.68879303e-04 9.99934338e-01 -1.91409632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.55, Y:-47.28, Z:-1.92 [[ 7.96506985e-01 6.04558648e-01 9.24470667e-03 1.54547292e+02] [-6.04520753e-01 7.96560608e-01 -6.77170567e-03 -4.72787450e+01] [-1.14578624e-02 -1.94906178e-04 9.99934338e-01 -1.91761560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.60, Y:-47.32, Z:-1.92 [[ 7.96352831e-01 6.04761718e-01 9.24304396e-03 1.54596781e+02] [-6.04723810e-01 7.96406446e-01 -6.77397442e-03 -4.73163014e+01] [-1.14578602e-02 -1.95015058e-04 9.99934338e-01 -1.92008475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.65, Y:-47.36, Z:-1.92 [[ 7.97027612e-01 6.03872158e-01 9.24136608e-03 1.54646524e+02] [-6.03834164e-01 7.97081166e-01 -6.77626269e-03 -4.73552793e+01] [-1.14581152e-02 -1.79384094e-04 9.99934338e-01 -1.92074165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.69, Y:-47.39, Z:-1.92 [[ 7.98620468e-01 6.01764057e-01 9.23946916e-03 1.54694022e+02] [-6.01725892e-01 7.98673900e-01 -6.77884817e-03 -4.73948735e+01] [-1.14585900e-02 -1.45900920e-04 9.99934338e-01 -1.91871955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.74, Y:-47.44, Z:-1.92 [[ 8.03276858e-01 5.95534174e-01 9.23778094e-03 1.54740126e+02] [-5.95495568e-01 8.03329973e-01 -6.78114798e-03 -4.74350843e+01] [-1.14593917e-02 -5.39183652e-05 9.99934338e-01 -1.91676992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.79, Y:-47.48, Z:-1.92 [[ 8.09810047e-01 5.86619450e-01 9.23623301e-03 1.54786339e+02] [-5.86580235e-01 8.09862714e-01 -6.78325567e-03 -4.74760345e+01] [-1.14592704e-02 7.53568598e-05 9.99934338e-01 -1.91655724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.83, Y:-47.52, Z:-1.91 [[ 8.15599041e-01 5.78543799e-01 9.23451382e-03 1.54833563e+02] [-5.78504037e-01 8.15651295e-01 -6.78559533e-03 -4.75177314e+01] [-1.14579073e-02 1.92121526e-04 9.99934338e-01 -1.91464570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:-47.56, Z:-1.92 [[ 8.18117376e-01 5.74977146e-01 9.23261635e-03 1.54882890e+02] [-5.74937127e-01 8.18169433e-01 -6.78817607e-03 -4.75568892e+01] [-1.14568906e-02 2.45350878e-04 9.99934338e-01 -1.91569074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.93, Y:-47.60, Z:-1.92 [[ 8.19030602e-01 5.73675576e-01 9.23073914e-03 1.54931721e+02] [-5.73635445e-01 8.19082574e-01 -6.79072780e-03 -4.75950015e+01] [-1.14564123e-02 2.66734728e-04 9.99934338e-01 -1.91683499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.98, Y:-47.63, Z:-1.92 [[ 8.18274955e-01 5.74752924e-01 9.22900461e-03 1.54981637e+02] [-5.74712834e-01 8.18326959e-01 -6.79308431e-03 -4.76328486e+01] [-1.14566883e-02 2.54583357e-04 9.99934338e-01 -1.91574679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.03, Y:-47.67, Z:-1.92 [[ 8.15948957e-01 5.78050308e-01 9.22718522e-03 1.55032767e+02] [-5.78010401e-01 8.16001101e-01 -6.79555473e-03 -4.76694057e+01] [-1.14575658e-02 2.11416765e-04 9.99934338e-01 -1.91568476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.08, Y:-47.70, Z:-1.92 [[ 8.11818154e-01 5.83837460e-01 9.22522207e-03 1.55084226e+02] [-5.83797895e-01 8.11870557e-01 -6.79821874e-03 -4.77045553e+01] [-1.14587409e-02 1.33252161e-04 9.99934338e-01 -1.91837089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.14, Y:-47.74, Z:-1.92 [[ 8.09034152e-01 5.87689263e-01 9.22340571e-03 1.55135022e+02] [-5.87649919e-01 8.09086722e-01 -6.80068217e-03 -4.77410743e+01] [-1.14592230e-02 8.18505098e-05 9.99934338e-01 -1.92022954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.19, Y:-47.78, Z:-1.92 [[ 8.06729851e-01 5.90848468e-01 9.22150149e-03 1.55185799e+02] [-5.90809300e-01 8.06782552e-01 -6.80326325e-03 -4.77779091e+01] [-1.14594442e-02 4.02467058e-05 9.99934338e-01 -1.92137231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.24, Y:-47.81, Z:-1.92 [[ 8.04010241e-01 5.94543970e-01 9.21957003e-03 1.55237286e+02] [-5.94505015e-01 8.04063099e-01 -6.80587969e-03 -4.78133727e+01] [-1.14595108e-02 -9.08364403e-06 9.99934338e-01 -1.92239692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.29, Y:-47.85, Z:-1.92 [[ 8.02847485e-01 5.96113203e-01 9.21765295e-03 1.55288432e+02] [-5.96074321e-01 8.02900397e-01 -6.80847514e-03 -4.78494538e+01] [-1.14594791e-02 -2.82390863e-05 9.99934338e-01 -1.92416152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.34, Y:-47.89, Z:-1.93 [[ 8.02391078e-01 5.96727433e-01 9.21573208e-03 1.55338288e+02] [-5.96688561e-01 8.02443998e-01 -6.81107417e-03 -4.78859995e+01] [-1.14594637e-02 -3.37767713e-05 9.99934338e-01 -1.92543635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.39, Y:-47.92, Z:-1.93 [[ 8.02142296e-01 5.97061839e-01 9.21395897e-03 1.55388663e+02] [-5.97022962e-01 8.02195213e-01 -6.81347197e-03 -4.79228267e+01] [-1.14594579e-02 -3.55710247e-05 9.99934338e-01 -1.92706319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.44, Y:-47.96, Z:-1.93 [[ 8.02764929e-01 5.96224459e-01 9.21207927e-03 1.55438935e+02] [-5.96185498e-01 8.02817784e-01 -6.81601245e-03 -4.79611861e+01] [-1.14594944e-02 -2.04523216e-05 9.99934338e-01 -1.92926022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.49, Y:-48.00, Z:-1.93 [[ 8.03511738e-01 5.95217656e-01 9.21021317e-03 1.55487724e+02] [-5.95178600e-01 8.03564522e-01 -6.81853310e-03 -4.80000080e+01] [-1.14595118e-02 -2.95039442e-06 9.99934338e-01 -1.93033097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.54, Y:-48.04, Z:-1.93 [[ 8.03486721e-01 5.95251453e-01 9.20851277e-03 1.55535383e+02] [-5.95212373e-01 8.03539487e-01 -6.82082875e-03 -4.80376844e+01] [-1.14595119e-02 -5.75408671e-07 9.99934338e-01 -1.93256245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.58, Y:-48.08, Z:-1.94 [[ 8.03442870e-01 5.95310664e-01 9.20695931e-03 1.55584744e+02] [-5.95271564e-01 8.03495621e-01 -6.82292501e-03 -4.80757429e+01] [-1.14595115e-02 1.18938531e-06 9.99934338e-01 -1.93518705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.63, Y:-48.11, Z:-1.94 [[ 8.04551261e-01 5.93811865e-01 9.20531271e-03 1.55632801e+02] [-5.93772641e-01 8.04603920e-01 -6.82514583e-03 -4.81145251e+01] [-1.14594833e-02 2.53168460e-05 9.99934338e-01 -1.93634973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.68, Y:-48.15, Z:-1.94 [[ 8.05780764e-01 5.92142426e-01 9.20363726e-03 1.55681002e+02] [-5.92103067e-01 8.05833323e-01 -6.82740441e-03 -4.81538217e+01] [-1.14593934e-02 5.18892857e-05 9.99934338e-01 -1.93574465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.73, Y:-48.19, Z:-1.93 [[ 8.07706036e-01 5.89513598e-01 9.20196574e-03 1.55730443e+02] [-5.89474042e-01 8.07758447e-01 -6.82965654e-03 -4.81912510e+01] [-1.14591410e-02 9.20348740e-05 9.99934338e-01 -1.93145067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.78, Y:-48.23, Z:-1.93 [[ 8.10386243e-01 5.85823773e-01 9.20028280e-03 1.55779314e+02] [-5.85783953e-01 8.10438453e-01 -6.83192290e-03 -4.82273789e+01] [-1.14585658e-02 1.47118307e-04 9.99934338e-01 -1.92964789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.83, Y:-48.27, Z:-1.93 [[ 8.16742866e-01 5.76928482e-01 9.19874361e-03 1.55829412e+02] [-5.76888071e-01 8.16794620e-01 -6.83399469e-03 -4.82650707e+01] [-1.14562105e-02 2.74970956e-04 9.99934338e-01 -1.92896507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.30, Z:-1.93 [[ 8.20905668e-01 5.70989757e-01 9.19681554e-03 1.55880626e+02] [-5.70948942e-01 8.20957104e-01 -6.83658839e-03 -4.83022528e+01] [-1.14538130e-02 3.61282059e-04 9.99934338e-01 -1.93059179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.93, Y:-48.34, Z:-1.93 [[ 8.25429327e-01 5.64430580e-01 9.19491583e-03 1.55932841e+02] [-5.64389328e-01 8.25480413e-01 -6.83914246e-03 -4.83367341e+01] [-1.14504441e-02 4.55716385e-04 9.99934338e-01 -1.93136508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.99, Y:-48.37, Z:-1.93 [[ 8.28116425e-01 5.60480754e-01 9.19300735e-03 1.55986154e+02] [-5.60439230e-01 8.28167290e-01 -6.84170683e-03 -4.83685164e+01] [-1.14479930e-02 5.13607832e-04 9.99934338e-01 -1.93342863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:-48.40, Z:-1.93 [[ 8.28721654e-01 5.59585508e-01 9.19131041e-03 1.56039594e+02] [-5.59543904e-01 8.28772454e-01 -6.84398578e-03 -4.84027106e+01] [-1.14473001e-02 5.28817510e-04 9.99934338e-01 -1.93373436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.09, Y:-48.43, Z:-1.93 [[ 8.25975641e-01 5.63630903e-01 9.18938048e-03 1.56093730e+02] [-5.63589519e-01 8.26026621e-01 -6.84657611e-03 -4.84338916e+01] [-1.14496148e-02 4.76066565e-04 9.99934338e-01 -1.93222571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.15, Y:-48.47, Z:-1.93 [[ 8.20971583e-01 5.70895127e-01 9.18769752e-03 1.56148862e+02] [-5.70854169e-01 8.21022906e-01 -6.84883380e-03 -4.84651921e+01] [-1.14532760e-02 3.77862499e-04 9.99934338e-01 -1.93326909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.20, Y:-48.49, Z:-1.94 [[ 8.11453686e-01 5.84344537e-01 9.18574156e-03 1.56204943e+02] [-5.84304400e-01 8.11505653e-01 -6.85145616e-03 -4.84942254e+01] [-1.14578922e-02 1.92370140e-04 9.99934338e-01 -1.93552906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.26, Y:-48.53, Z:-1.94 [[ 8.05445667e-01 5.92598459e-01 9.18393027e-03 1.56257796e+02] [-5.92558827e-01 8.05498020e-01 -6.85388321e-03 -4.85282176e+01] [-1.14592383e-02 7.84115875e-05 9.99934338e-01 -1.93613096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.31, Y:-48.56, Z:-1.94 [[ 7.96911672e-01 6.04026057e-01 9.18198875e-03 1.56311398e+02] [-6.03987146e-01 7.96964564e-01 -6.85648323e-03 -4.85592887e+01] [-1.14592142e-02 -8.17916620e-05 9.99934338e-01 -1.93677392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.36, Y:-48.60, Z:-1.94 [[ 7.94488288e-01 6.07210082e-01 9.18019347e-03 1.56363309e+02] [-6.07171355e-01 7.94541315e-01 -6.85888610e-03 -4.85955284e+01] [-1.14588278e-02 -1.24645836e-04 9.99934338e-01 -1.93730856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.41, Y:-48.63, Z:-1.94 [[ 7.92982848e-01 6.09174821e-01 9.17826004e-03 1.56414086e+02] [-6.09136195e-01 7.93035948e-01 -6.86147236e-03 -4.86318642e+01] [-1.14585264e-02 -1.49780508e-04 9.99934338e-01 -1.93830491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:-48.67, Z:-1.94 [[ 7.92312687e-01 6.10046229e-01 9.17629681e-03 1.56464933e+02] [-6.10007632e-01 7.92365808e-01 -6.86409691e-03 -4.86695401e+01] [-1.14584003e-02 -1.59100026e-04 9.99934338e-01 -1.94029915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.52, Y:-48.71, Z:-1.94 [[ 7.93710980e-01 6.08225873e-01 9.17432574e-03 1.56515143e+02] [-6.08187123e-01 7.93763990e-01 -6.86673037e-03 -4.87079317e+01] [-1.14587725e-02 -1.29507493e-04 9.99934338e-01 -1.94283335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.56, Y:-48.75, Z:-1.94 [[ 7.95923052e-01 6.05328310e-01 9.17231073e-03 1.56564345e+02] [-6.05289337e-01 7.95975898e-01 -6.86942089e-03 -4.87470453e+01] [-1.14591932e-02 -8.43714326e-05 9.99934338e-01 -1.94420534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:-48.79, Z:-1.95 [[ 8.00867701e-01 5.98771100e-01 9.17032501e-03 1.56612438e+02] [-5.98731664e-01 8.00920202e-01 -6.87207069e-03 -4.87881893e+01] [-1.14594959e-02 1.30555073e-05 9.99934338e-01 -1.94500110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.66, Y:-48.83, Z:-1.95 [[ 8.04462470e-01 5.93932720e-01 9.16834944e-03 1.56661623e+02] [-5.93892938e-01 8.04514709e-01 -6.87470539e-03 -4.88278865e+01] [-1.14591845e-02 8.54244854e-05 9.99934338e-01 -1.94540991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.71, Y:-48.87, Z:-1.95 [[ 8.09817105e-01 5.86610802e-01 9.16640251e-03 1.56709279e+02] [-5.86570519e-01 8.09868958e-01 -6.87730035e-03 -4.88688659e+01] [-1.14578835e-02 1.92613985e-04 9.99934338e-01 -1.94584293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.76, Y:-48.91, Z:-1.95 [[ 8.13308633e-01 5.81760330e-01 9.16443793e-03 1.56757810e+02] [-5.81719707e-01 8.13360221e-01 -6.87991728e-03 -4.89089935e+01] [-1.14564522e-02 2.64361966e-04 9.99934338e-01 -1.94667993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.81, Y:-48.95, Z:-1.95 [[ 8.13678032e-01 5.81243588e-01 9.16248327e-03 1.56807483e+02] [-5.81202904e-01 8.13729572e-01 -6.88251946e-03 -4.89475939e+01] [-1.14562039e-02 2.74893009e-04 9.99934338e-01 -1.94728479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.86, Y:-48.99, Z:-1.95 [[ 8.10837053e-01 5.85200271e-01 9.16053052e-03 1.56857478e+02] [-5.85159809e-01 8.10888767e-01 -6.88511756e-03 -4.89858844e+01] [-1.14573440e-02 2.22334144e-04 9.99934338e-01 -1.94665884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.91, Y:-49.02, Z:-1.95 [[ 8.07893603e-01 5.89257199e-01 9.15856688e-03 1.56906339e+02] [-5.89216967e-01 8.07945496e-01 -6.88772860e-03 -4.90235843e+01] [-1.14582665e-02 1.68168880e-04 9.99934338e-01 -1.94612105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:-49.06, Z:-1.95 [[ 8.04063489e-01 5.94472917e-01 9.15735591e-03 1.56957273e+02] [-5.94433003e-01 8.04115627e-01 -6.88933823e-03 -4.90610054e+01] [-1.14590980e-02 9.60307504e-05 9.99934338e-01 -1.94536213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.01, Y:-49.10, Z:-1.95 [[ 7.97910324e-01 6.02706640e-01 9.15536170e-03 1.57008407e+02] [-6.02667234e-01 7.97962848e-01 -6.89198736e-03 -4.90974999e+01] [-1.14594850e-02 -1.84486372e-05 9.99934338e-01 -1.94688109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.06, Y:-49.13, Z:-1.95 [[ 7.94657437e-01 6.06989105e-01 9.15337768e-03 1.57058452e+02] [-6.06949952e-01 7.94710148e-01 -6.89462136e-03 -4.91348467e+01] [-1.14592422e-02 -7.67800058e-05 9.99934338e-01 -1.94777485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.11, Y:-49.17, Z:-1.95 [[ 7.92328916e-01 6.10025526e-01 9.15135240e-03 1.57107555e+02] [-6.09986543e-01 7.92381754e-01 -6.89730850e-03 -4.91728013e+01] [-1.14588989e-02 -1.17264852e-04 9.99934338e-01 -1.95037233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.16, Y:-49.21, Z:-1.95 [[ 7.92295222e-01 6.10069314e-01 9.14948506e-03 1.57156149e+02] [-6.10030306e-01 7.92348041e-01 -6.89978469e-03 -4.92124949e+01] [-1.14589235e-02 -1.14796732e-04 9.99934338e-01 -1.95266904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.20, Y:-49.25, Z:-1.95 [[ 7.95384275e-01 6.06036450e-01 9.14751285e-03 1.57202644e+02] [-6.05997144e-01 7.95436873e-01 -6.90239839e-03 -4.92540124e+01] [-1.14593740e-02 -5.33075252e-05 9.99934338e-01 -1.95471820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.25, Y:-49.30, Z:-1.96 [[ 7.99074957e-01 6.01161847e-01 9.14581390e-03 1.57250758e+02] [-6.01122195e-01 7.99127295e-01 -6.90464881e-03 -4.92951503e+01] [-1.14594810e-02 1.95802301e-05 9.99934338e-01 -1.95556812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.30, Y:-49.34, Z:-1.96 [[ 8.03238475e-01 5.95587393e-01 9.14383981e-03 1.57298083e+02] [-5.95547348e-01 8.03290512e-01 -6.90726211e-03 -4.93365884e+01] [-1.14590380e-02 1.02589138e-04 9.99934338e-01 -1.95657239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.34, Y:-49.38, Z:-1.96 [[ 8.09340689e-01 5.87268317e-01 9.14188318e-03 1.57344515e+02] [-5.87227707e-01 8.09392287e-01 -6.90985078e-03 -4.93801192e+01] [-1.14573062e-02 2.24056291e-04 9.99934338e-01 -1.95684415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:-49.42, Z:-1.96 [[ 8.12805404e-01 5.82463593e-01 9.13991615e-03 1.57391408e+02] [-5.82422649e-01 8.12856738e-01 -6.91245167e-03 -4.94227101e+01] [-1.14556939e-02 2.95183896e-04 9.99934338e-01 -1.95690322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.44, Y:-49.46, Z:-1.96 [[ 8.12960411e-01 5.82247256e-01 9.13796906e-03 1.57438755e+02] [-5.82206270e-01 8.13011711e-01 -6.91502467e-03 -4.94620276e+01] [-1.14555300e-02 3.01458418e-04 9.99934338e-01 -1.95765962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.49, Y:-49.50, Z:-1.96 [[ 8.10287474e-01 5.85961381e-01 9.13617563e-03 1.57487172e+02] [-5.85920603e-01 8.10338939e-01 -6.91739336e-03 -4.95008688e+01] [-1.14567242e-02 2.52003655e-04 9.99934338e-01 -1.95950071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:-49.54, Z:-1.96 [[ 8.06969022e-01 5.90523122e-01 9.13452149e-03 1.57536438e+02] [-5.90482610e-01 8.07020698e-01 -6.91957698e-03 -4.95389877e+01] [-1.14579181e-02 1.90108173e-04 9.99934338e-01 -1.96086101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.59, Y:-49.58, Z:-1.96 [[ 8.02667851e-01 5.96356363e-01 9.13285378e-03 1.57586419e+02] [-5.96316202e-01 8.02719799e-01 -6.92177742e-03 -4.95754686e+01] [-1.14589686e-02 1.09819523e-04 9.99934338e-01 -1.96356948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.64, Y:-49.61, Z:-1.96 [[ 8.00060725e-01 5.99849530e-01 9.13116405e-03 1.57636794e+02] [-5.99809571e-01 8.00112828e-01 -6.92400578e-03 -4.96138961e+01] [-1.14593231e-02 6.26654940e-05 9.99934338e-01 -1.96321490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.69, Y:-49.65, Z:-1.96 [[ 8.01849759e-01 5.97455957e-01 9.12919687e-03 1.57688312e+02] [-5.97415813e-01 8.01901720e-01 -6.92659851e-03 -4.96486167e+01] [-1.14590562e-02 1.00164778e-04 9.99934338e-01 -1.96356094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.74, Y:-49.69, Z:-1.96 [[ 7.99917776e-01 6.00040201e-01 9.12736879e-03 1.57735033e+02] [-6.00000197e-01 7.99969845e-01 -6.92900658e-03 -4.96898107e+01] [-1.14593023e-02 6.62124697e-05 9.99934338e-01 -1.96075580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.78, Y:-49.73, Z:-1.96 [[ 8.00753597e-01 5.98924372e-01 9.12544913e-03 1.57784171e+02] [-5.98884267e-01 8.00805587e-01 -6.93153384e-03 -4.97266854e+01] [-1.14591752e-02 8.53627353e-05 9.99934338e-01 -1.95982018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:-49.77, Z:-1.96 [[ 8.02013413e-01 5.97236335e-01 9.12391624e-03 1.57834209e+02] [-5.97196097e-01 8.02065301e-01 -6.93355098e-03 -4.97650500e+01] [-1.14589452e-02 1.12033717e-04 9.99934338e-01 -1.95965088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.88, Y:-49.80, Z:-1.96 [[ 8.03473355e-01 5.95270826e-01 9.12204665e-03 1.57883173e+02] [-5.95230433e-01 8.03525123e-01 -6.93600981e-03 -4.98038981e+01] [-1.14585979e-02 1.43179288e-04 9.99934338e-01 -1.96072216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.93, Y:-49.84, Z:-1.96 [[ 8.04135904e-01 5.94375531e-01 9.12007437e-03 1.57932482e+02] [-5.94335051e-01 8.04187604e-01 -6.93860217e-03 -4.98408507e+01] [-1.14583861e-02 1.59199259e-04 9.99934338e-01 -1.96378599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.98, Y:-49.88, Z:-1.97 [[ 8.04122955e-01 5.94393076e-01 9.11834796e-03 1.57983481e+02] [-5.94352572e-01 8.04174636e-01 -6.94087019e-03 -4.98782120e+01] [-1.14583493e-02 1.61799485e-04 9.99934338e-01 -1.96630932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:-49.92, Z:-1.97 [[ 8.03874604e-01 5.94728941e-01 9.11639716e-03 1.58032328e+02] [-5.94688429e-01 8.03926279e-01 -6.94343150e-03 -4.99159493e+01] [-1.14583709e-02 1.60232336e-04 9.99934338e-01 -1.96724496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.08, Y:-49.95, Z:-1.97 [[ 8.03390117e-01 5.95383274e-01 9.11468082e-03 1.58081811e+02] [-5.95342779e-01 8.03441805e-01 -6.94568382e-03 -4.99543468e+01] [-1.14584596e-02 1.53734335e-04 9.99934338e-01 -1.96823507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:-49.99, Z:-1.97 [[ 8.01700506e-01 5.97656471e-01 9.11271233e-03 1.58131642e+02] [-5.97616093e-01 8.01752286e-01 -6.94826551e-03 -4.99920608e+01] [-1.14588138e-02 1.24524436e-04 9.99934338e-01 -1.97133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.18, Y:-50.03, Z:-1.97 [[ 7.97448479e-01 6.03318256e-01 9.11074312e-03 1.58180582e+02] [-6.03278216e-01 7.97500520e-01 -6.95084663e-03 -5.00297190e+01] [-1.14593950e-02 4.66292165e-05 9.99934338e-01 -1.96692879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.23, Y:-50.07, Z:-1.97 [[ 7.94522855e-01 6.07165924e-01 9.10902377e-03 1.58230545e+02] [-6.07126110e-01 7.94575069e-01 -6.95309909e-03 -5.00673912e+01] [-1.14594880e-02 -5.93002948e-06 9.99934338e-01 -1.96631340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.28, Y:-50.11, Z:-1.97 [[ 7.90898146e-01 6.11880041e-01 9.10705319e-03 1.58279908e+02] [-6.11840509e-01 7.90950574e-01 -6.95567917e-03 -5.01051147e+01] [-1.14592702e-02 -7.08302927e-05 9.99934338e-01 -1.96801762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:158.33, Y:-50.14, Z:-1.97 [[ 7.89868375e-01 6.13208810e-01 9.10523153e-03 1.58329594e+02] [-6.13169338e-01 7.89920849e-01 -6.95806297e-03 -5.01441094e+01] [-1.14591577e-02 -8.70948957e-05 9.99934338e-01 -1.97073081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.38, Y:-50.18, Z:-1.97 [[ 7.89177175e-01 6.14098134e-01 9.10324809e-03 1.58379071e+02] [-6.14058692e-01 7.89229670e-01 -6.96065695e-03 -5.01831431e+01] [-1.14590799e-02 -9.67370254e-05 9.99934338e-01 -1.97088136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:158.43, Y:-50.22, Z:-1.98 [[ 7.90173528e-01 6.12815603e-01 9.10126120e-03 1.58427798e+02] [-6.12776045e-01 7.90225937e-01 -6.96325389e-03 -5.02218672e+01] [-1.14592433e-02 -7.48559495e-05 9.99934338e-01 -1.97655665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:-50.26, Z:-1.97 [[ 7.91974218e-01 6.10486721e-01 9.09953335e-03 1.58476486e+02] [-6.10446983e-01 7.92026491e-01 -6.96551110e-03 -5.02611835e+01] [-1.14594235e-02 -3.82774713e-05 9.99934338e-01 -1.97339001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.53, Y:-50.30, Z:-1.97 [[ 7.92395112e-01 6.09940343e-01 9.09754851e-03 1.58526364e+02] [-6.09900539e-01 7.92447334e-01 -6.96810251e-03 -5.02990334e+01] [-1.14594549e-02 -2.71093734e-05 9.99934338e-01 -1.97369530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.58, Y:-50.34, Z:-1.97 [[ 7.95500580e-01 6.05884558e-01 9.09557028e-03 1.58577281e+02] [-6.05844458e-01 7.95552576e-01 -6.97068376e-03 -5.03358927e+01] [-1.14594340e-02 3.46821292e-05 9.99934338e-01 -1.97410965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.63, Y:-50.37, Z:-1.97 [[ 7.98993939e-01 6.01270316e-01 9.09357509e-03 1.58625055e+02] [-6.01229887e-01 7.99045679e-01 -6.97328560e-03 -5.03736906e+01] [-1.14590115e-02 1.04283806e-04 9.99934338e-01 -1.97349337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.67, Y:-50.41, Z:-1.97 [[ 8.04294825e-01 5.94160886e-01 9.09262472e-03 1.58674809e+02] [-5.94119986e-01 8.04346193e-01 -6.97452459e-03 -5.04114365e+01] [-1.14576078e-02 2.07463959e-04 9.99934338e-01 -1.97055077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:-50.45, Z:-1.98 [[ 8.09984469e-01 5.86380862e-01 9.09089486e-03 1.58727643e+02] [-5.86339444e-01 8.10035420e-01 -6.97677865e-03 -5.04459317e+01] [-1.14549963e-02 3.20732117e-04 9.99934338e-01 -1.97583308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.78, Y:-50.48, Z:-1.98 [[ 8.13133635e-01 5.82006087e-01 9.08878854e-03 1.58778671e+02] [-5.81964364e-01 8.13184337e-01 -6.97952150e-03 -5.04830097e+01] [-1.14529845e-02 3.85932649e-04 9.99934338e-01 -1.97670970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.83, Y:-50.52, Z:-1.98 [[ 8.12148321e-01 5.83380267e-01 9.08668746e-03 1.58826197e+02] [-5.83338599e-01 8.12199068e-01 -6.98225585e-03 -5.05214289e+01] [-1.14535094e-02 3.70011830e-04 9.99934338e-01 -1.97538033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.88, Y:-50.56, Z:-1.98 [[ 8.11655027e-01 5.84066417e-01 9.08501748e-03 1.58877530e+02] [-5.84024767e-01 8.11705790e-01 -6.98442808e-03 -5.05581265e+01] [-1.14537312e-02 3.63070944e-04 9.99934338e-01 -1.97613700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.93, Y:-50.59, Z:-1.98 [[ 8.09936309e-01 5.86447504e-01 9.08302059e-03 1.58929059e+02] [-5.86405974e-01 8.09987170e-01 -6.98702400e-03 -5.05942804e+01] [-1.14546529e-02 3.32706888e-04 9.99934338e-01 -1.97681312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.98, Y:-50.63, Z:-1.98 [[ 8.05143312e-01 5.93010777e-01 9.08102791e-03 1.58980696e+02] [-5.92969634e-01 8.05194485e-01 -6.98961294e-03 -5.06290240e+01] [-1.14569094e-02 2.42866321e-04 9.99934338e-01 -1.97739394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.03, Y:-50.67, Z:-1.98 [[ 8.01338846e-01 5.98141808e-01 9.07918884e-03 1.59032438e+02] [-5.98100965e-01 8.01390260e-01 -6.99200098e-03 -5.06650011e+01] [-1.14581816e-02 1.72690397e-04 9.99934338e-01 -1.97867320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:-50.70, Z:-1.98 [[ 7.96147079e-01 6.05035068e-01 9.07721622e-03 1.59084673e+02] [-6.04994641e-01 7.96198820e-01 -6.99456095e-03 -5.07005872e+01] [-1.14592235e-02 7.70321017e-05 9.99934338e-01 -1.97950907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.14, Y:-50.74, Z:-1.98 [[ 7.92699323e-01 6.09545259e-01 9.07522851e-03 1.59135496e+02] [-6.09505097e-01 7.92751270e-01 -6.99713899e-03 -5.07380298e+01] [-1.14594718e-02 1.52293076e-05 9.99934338e-01 -1.98015504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.18, Y:-50.77, Z:-1.98 [[ 7.88760477e-01 6.14633701e-01 9.07323566e-03 1.59184966e+02] [-6.14593844e-01 7.88812659e-01 -6.99972219e-03 -5.07747047e+01] [-1.14593483e-02 -5.52505656e-05 9.99934338e-01 -1.98165622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.24, Y:-50.81, Z:-1.98 [[ 7.87459679e-01 6.16299410e-01 9.07139350e-03 1.59235286e+02] [-6.16259636e-01 7.87511924e-01 -7.00210875e-03 -5.08128277e+01] [-1.14592260e-02 -7.64553521e-05 9.99934338e-01 -1.98379619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:-50.85, Z:-1.99 [[ 7.88033322e-01 6.15565780e-01 9.06940415e-03 1.59284010e+02] [-6.15525928e-01 7.88085507e-01 -7.00468449e-03 -5.08528097e+01] [-1.14593100e-02 -6.25286158e-05 9.99934338e-01 -1.98530696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:-50.89, Z:-1.99 [[ 7.90096385e-01 6.12915560e-01 9.06741356e-03 1.59332835e+02] [-6.12875504e-01 7.90148414e-01 -7.00726031e-03 -5.08920403e+01] [-1.14594613e-02 -2.07846124e-05 9.99934338e-01 -1.98614367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.38, Y:-50.93, Z:-1.99 [[ 7.92123722e-01 6.10293230e-01 9.06543300e-03 1.59381365e+02] [-6.10252971e-01 7.92175595e-01 -7.00982167e-03 -5.09311181e+01] [-1.14594615e-02 2.04386115e-05 9.99934338e-01 -1.98778169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.43, Y:-50.97, Z:-1.99 [[ 7.96885743e-01 6.04062053e-01 9.06360576e-03 1.59428315e+02] [-6.04021362e-01 7.96937277e-01 -7.01218347e-03 -5.09729940e+01] [-1.14589192e-02 1.13297539e-04 9.99934338e-01 -1.98885465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.48, Y:-51.01, Z:-1.99 [[ 8.00398246e-01 5.99400145e-01 9.06167080e-03 1.59476495e+02] [-5.99359125e-01 8.00449519e-01 -7.01468307e-03 -5.10140152e+01] [-1.14580121e-02 1.83344942e-04 9.99934338e-01 -1.99028191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:-51.05, Z:-1.99 [[ 8.05649493e-01 5.92323236e-01 9.05975172e-03 1.59524361e+02] [-5.92281738e-01 8.05700380e-01 -7.01716077e-03 -5.10541591e+01] [-1.14558728e-02 2.87446519e-04 9.99934338e-01 -1.99242710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:159.57, Y:-51.09, Z:-2.00 [[ 8.13973594e-01 5.80831252e-01 9.05785092e-03 1.59570692e+02] [-5.80789010e-01 8.14023864e-01 -7.01961350e-03 -5.10948298e+01] [-1.14505177e-02 4.53079769e-04 9.99934338e-01 -1.99770985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.62, Y:-51.13, Z:-1.99 [[ 8.17166086e-01 5.76331131e-01 9.05621954e-03 1.59621198e+02] [-5.76288589e-01 8.17216102e-01 -7.02171757e-03 -5.11325068e+01] [-1.14477229e-02 5.18913487e-04 9.99934338e-01 -1.99374781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:-51.17, Z:-2.00 [[ 8.22120285e-01 5.69241827e-01 9.05422461e-03 1.59671866e+02] [-5.69198825e-01 8.22169907e-01 -7.02428900e-03 -5.11695612e+01] [-1.14426301e-02 6.21156462e-04 9.99934338e-01 -1.99713887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.72, Y:-51.20, Z:-1.99 [[ 8.23811829e-01 5.66791079e-01 9.05223215e-03 1.59723077e+02] [-5.66747902e-01 8.23861299e-01 -7.02685575e-03 -5.12042446e+01] [-1.14405429e-02 6.58473310e-04 9.99934338e-01 -1.98985171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:-51.24, Z:-1.99 [[ 8.22084249e-01 5.69293929e-01 9.05040482e-03 1.59773871e+02] [-5.69250877e-01 8.22133827e-01 -7.02920853e-03 -5.12378047e+01] [-1.14423297e-02 6.26650734e-04 9.99934338e-01 -1.99386779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:-51.27, Z:-1.99 [[ 8.16640287e-01 5.77076034e-01 9.04943506e-03 1.59828574e+02] [-5.77033441e-01 8.16690260e-01 -7.03045677e-03 -5.12699482e+01] [-1.14476936e-02 5.19527583e-04 9.99934338e-01 -1.99214971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.88, Y:-51.30, Z:-1.99 [[ 8.11323678e-01 5.84527188e-01 9.04740231e-03 1.59880431e+02] [-5.84485025e-01 8.11374015e-01 -7.03307172e-03 -5.13034210e+01] [-1.14518488e-02 4.18026451e-04 9.99934338e-01 -1.99047503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.93, Y:-51.34, Z:-1.99 [[ 8.05870486e-01 5.92022752e-01 9.04552113e-03 1.59933957e+02] [-5.91981030e-01 8.05921189e-01 -7.03549035e-03 -5.13372013e+01] [-1.14551475e-02 3.14917117e-04 9.99934338e-01 -1.99221846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.99, Y:-51.37, Z:-1.99 [[ 7.99292257e-01 6.00874449e-01 9.04353723e-03 1.59988882e+02] [-6.00833260e-01 7.99343393e-01 -7.03803957e-03 -5.13686971e+01] [-1.14578699e-02 1.91792577e-04 9.99934338e-01 -1.99462617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:-51.40, Z:-2.00 [[ 7.95907278e-01 6.05351019e-01 9.04152401e-03 1.60040778e+02] [-6.05310088e-01 7.95958622e-01 -7.04062492e-03 -5.14024695e+01] [-1.14587285e-02 1.30758923e-04 9.99934338e-01 -1.99612446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.09, Y:-51.44, Z:-2.00 [[ 7.95353305e-01 6.06078712e-01 9.03966111e-03 1.60091660e+02] [-6.06037801e-01 7.95404664e-01 -7.04301595e-03 -5.14390992e+01] [-1.14588106e-02 1.23309664e-04 9.99934338e-01 -1.99701533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:-51.48, Z:-2.00 [[ 7.95264775e-01 6.06194902e-01 9.03768113e-03 1.60142778e+02] [-6.06153969e-01 7.95316117e-01 -7.04555576e-03 -5.14759512e+01] [-1.14587934e-02 1.24856021e-04 9.99934338e-01 -1.99751135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.19, Y:-51.51, Z:-2.00 [[ 7.94869652e-01 6.06712941e-01 9.03566177e-03 1.60193075e+02] [-6.06672013e-01 7.94920997e-01 -7.04814457e-03 -5.15135939e+01] [-1.14588378e-02 1.20673100e-04 9.99934338e-01 -1.99774329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.24, Y:-51.55, Z:-2.00 [[ 7.93142550e-01 6.08969038e-01 9.03365267e-03 1.60243415e+02] [-6.08928226e-01 7.93193988e-01 -7.05071871e-03 -5.15515948e+01] [-1.14591084e-02 9.13789227e-05 9.99934338e-01 -1.99904239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.29, Y:-51.59, Z:-2.00 [[ 7.91954335e-01 6.10513523e-01 9.03163532e-03 1.60293380e+02] [-6.10472782e-01 7.92005829e-01 -7.05330188e-03 -5.15905783e+01] [-1.14592440e-02 7.23254622e-05 9.99934338e-01 -2.00196280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.34, Y:-51.63, Z:-2.00 [[ 7.89987675e-01 6.13056213e-01 9.03063542e-03 1.60341415e+02] [-6.13015624e-01 7.90039289e-01 -7.05458187e-03 -5.16297269e+01] [-1.14594120e-02 3.71121296e-05 9.99934338e-01 -2.00353680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.39, Y:-51.67, Z:-2.01 [[ 7.89961219e-01 6.13090335e-01 9.02849777e-03 1.60389432e+02] [-6.13049716e-01 7.90012810e-01 -7.05731659e-03 -5.16696012e+01] [-1.14594015e-02 4.00884218e-05 9.99934338e-01 -2.00691054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.997628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:-51.71, Z:-2.01 [[ 7.93579855e-01 6.08399158e-01 9.02650037e-03 1.60436773e+02] [-6.08358206e-01 7.93631181e-01 -7.05987039e-03 -5.17115927e+01] [-1.14589314e-02 1.11225354e-04 9.99934338e-01 -2.01415386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.48, Y:-51.76, Z:-2.01 [[ 7.99846223e-01 6.00137132e-01 9.02448792e-03 1.60481725e+02] [-6.00095621e-01 7.99897098e-01 -7.06244193e-03 -5.17563621e+01] [-1.14570953e-02 2.33311822e-04 9.99934338e-01 -2.01218812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.53, Y:-51.80, Z:-2.01 [[ 8.04992307e-01 5.93216638e-01 9.02248957e-03 1.60528701e+02] [-5.93174661e-01 8.05042799e-01 -7.06499397e-03 -5.17988962e+01] [-1.14545622e-02 3.35353606e-04 9.99934338e-01 -2.01171316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:-51.84, Z:-2.01 [[ 8.10880781e-01 5.85141853e-01 9.02052643e-03 1.60574570e+02] [-5.85099346e-01 8.10930827e-01 -7.06749960e-03 -5.18421595e+01] [-1.14505128e-02 4.52995487e-04 9.99934338e-01 -2.01145443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.62, Y:-51.88, Z:-2.01 [[ 8.13248465e-01 5.81846715e-01 9.01852884e-03 1.60621831e+02] [-5.81803976e-01 8.13298314e-01 -7.07004771e-03 -5.18834199e+01] [-1.14484383e-02 5.02689505e-04 9.99934338e-01 -2.01315363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:160.67, Y:-51.92, Z:-2.01 [[ 8.11853473e-01 5.83791607e-01 9.01653958e-03 1.60669227e+02] [-5.83748960e-01 8.11903400e-01 -7.07258374e-03 -5.19240896e+01] [-1.14494742e-02 4.78506063e-04 9.99934338e-01 -2.01494763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.72, Y:-51.96, Z:-2.02 [[ 8.02499939e-01 5.96584098e-01 9.01453935e-03 1.60717629e+02] [-5.96542218e-01 8.02550512e-01 -7.07513227e-03 -5.19625426e+01] [-1.14555346e-02 3.00239916e-04 9.99934338e-01 -2.01550435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.77, Y:-52.00, Z:-2.02 [[ 7.96455351e-01 6.04630173e-01 9.01268889e-03 1.60765046e+02] [-6.04588778e-01 7.96506321e-01 -7.07748869e-03 -5.20021275e+01] [-1.14579269e-02 1.87933179e-04 9.99934338e-01 -2.01759479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.81, Y:-52.04, Z:-2.02 [[ 7.94880759e-01 6.06698758e-01 9.01090329e-03 1.60813034e+02] [-6.06657470e-01 7.94931815e-01 -7.07976135e-03 -5.20413287e+01] [-1.14583361e-02 1.61034271e-04 9.99934338e-01 -2.01908589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.86, Y:-52.08, Z:-2.02 [[ 7.93946454e-01 6.07920937e-01 9.00901130e-03 1.60861512e+02] [-6.07879701e-01 7.93997552e-01 -7.08216809e-03 -5.20808543e+01] [-1.14585312e-02 1.46467147e-04 9.99934338e-01 -2.02004280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.91, Y:-52.12, Z:-2.02 [[ 7.93846671e-01 6.08051262e-01 9.00703982e-03 1.60909014e+02] [-6.08010005e-01 7.93897753e-01 -7.08467452e-03 -5.21217173e+01] [-1.14585139e-02 1.47774955e-04 9.99934338e-01 -2.01954956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.95, Y:-52.16, Z:-2.02 [[ 7.96673885e-01 6.04342312e-01 9.00503937e-03 1.60954244e+02] [-6.04300788e-01 7.96724751e-01 -7.08721630e-03 -5.21643557e+01] [-1.14576424e-02 2.04447759e-04 9.99934338e-01 -2.01643561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.00, Y:-52.21, Z:-2.02 [[ 8.01178125e-01 5.98358215e-01 9.00327159e-03 1.61000821e+02] [-5.98316287e-01 8.01228657e-01 -7.08946129e-03 -5.22068850e+01] [-1.14557166e-02 2.93117271e-04 9.99934338e-01 -2.01621630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.05, Y:-52.25, Z:-2.02 [[ 8.03762829e-01 5.94881746e-01 9.00125620e-03 1.61049346e+02] [-5.94839571e-01 8.03813155e-01 -7.09201924e-03 -5.22467310e+01] [-1.14542409e-02 3.45998071e-04 9.99934338e-01 -2.01815229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.10, Y:-52.29, Z:-2.02 [[ 8.04722807e-01 5.93582528e-01 8.99926246e-03 1.61098917e+02] [-5.93540243e-01 8.04773041e-01 -7.09454826e-03 -5.22852043e+01] [-1.14535637e-02 3.67720366e-04 9.99934338e-01 -2.01972313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.897628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:161.15, Y:-52.32, Z:-2.03 [[ 8.04866927e-01 5.93387125e-01 8.99722068e-03 1.61149550e+02] [-5.93344799e-01 8.04917127e-01 -7.09713667e-03 -5.23220292e+01] [-1.14533665e-02 3.73796493e-04 9.99934338e-01 -2.02607057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.20, Y:-52.36, Z:-2.03 [[ 8.04835968e-01 5.93429125e-01 8.99658829e-03 1.61198487e+02] [-5.93386792e-01 8.04886162e-01 -7.09793823e-03 -5.23599945e+01] [-1.14533527e-02 3.74219318e-04 9.99934338e-01 -2.02546316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.25, Y:-52.40, Z:-2.03 [[ 8.05905327e-01 5.91976095e-01 8.99483218e-03 1.61248869e+02] [-5.91933647e-01 8.05955424e-01 -7.10016294e-03 -5.23973715e+01] [-1.14525605e-02 3.97715315e-04 9.99934338e-01 -2.02712725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.30, Y:-52.44, Z:-2.03 [[ 8.05687182e-01 5.92272989e-01 8.99284078e-03 1.61298642e+02] [-5.92230532e-01 8.05737270e-01 -7.10268429e-03 -5.24354069e+01] [-1.14525950e-02 3.96706814e-04 9.99934338e-01 -2.02736201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:-52.47, Z:-2.03 [[ 8.03770035e-01 5.94872167e-01 8.99086048e-03 1.61347106e+02] [-5.94829844e-01 8.03820237e-01 -7.10519016e-03 -5.24738763e+01] [-1.14537155e-02 3.62906806e-04 9.99934338e-01 -2.02909049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.40, Y:-52.51, Z:-2.03 [[ 8.01316181e-01 5.98173530e-01 8.98915589e-03 1.61395560e+02] [-5.98131390e-01 8.01366537e-01 -7.10734607e-03 -5.25121647e+01] [-1.14550350e-02 3.18535103e-04 9.99934338e-01 -2.03223017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.44, Y:-52.55, Z:-2.03 [[ 7.95796495e-01 6.05497451e-01 8.98747210e-03 1.61444730e+02] [-6.05455750e-01 7.95847215e-01 -7.10947464e-03 -5.25504116e+01] [-1.14574234e-02 2.16178335e-04 9.99934338e-01 -2.03072578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:-52.59, Z:-2.03 [[ 7.91519208e-01 6.11078227e-01 8.98575487e-03 1.61493721e+02] [-6.11036859e-01 7.91570200e-01 -7.11164440e-03 -5.25889391e+01] [-1.14586268e-02 1.38375712e-04 9.99934338e-01 -2.02804874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.54, Y:-52.63, Z:-2.02 [[ 7.85333418e-01 6.19007843e-01 8.98402726e-03 1.61541442e+02] [-6.18966966e-01 7.85384803e-01 -7.11382619e-03 -5.26280311e+01] [-1.14594327e-02 2.59093462e-05 9.99934338e-01 -2.02435768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.59, Y:-52.67, Z:-2.02 [[ 7.80348483e-01 6.25280389e-01 8.98227786e-03 1.61589753e+02] [-6.25239898e-01 7.80400174e-01 -7.11603439e-03 -5.26682592e+01] [-1.14592880e-02 -6.30918629e-05 9.99934338e-01 -2.02322443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.64, Y:-52.71, Z:-2.02 [[ 7.79073442e-01 6.26868350e-01 8.98021935e-03 1.61638029e+02] [-6.26827935e-01 7.79125192e-01 -7.11863123e-03 -5.27068338e+01] [-1.14591597e-02 -8.31158141e-05 9.99934338e-01 -2.02469052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:-52.75, Z:-2.03 [[ 7.77461223e-01 6.28866787e-01 8.97831574e-03 1.61685901e+02] [-6.28826478e-01 7.77513056e-01 -7.12103132e-03 -5.27455225e+01] [-1.14589378e-02 -1.09476940e-04 9.99934338e-01 -2.02640865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:-52.79, Z:-2.03 [[ 7.77882813e-01 6.28345249e-01 8.97647861e-03 1.61734636e+02] [-6.28304878e-01 7.77934598e-01 -7.12334638e-03 -5.27855744e+01] [-1.14590341e-02 -9.88365739e-05 9.99934338e-01 -2.02820583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:-52.83, Z:-2.03 [[ 7.81969570e-01 6.23251997e-01 8.97442290e-03 1.61780799e+02] [-6.23211259e-01 7.82021066e-01 -7.12593535e-03 -5.28262380e+01] [-1.14594412e-02 -2.06967937e-05 9.99934338e-01 -2.03135463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.83, Y:-52.87, Z:-2.03 [[ 7.85981484e-01 6.18184921e-01 8.97278311e-03 1.61827853e+02] [-6.18143827e-01 7.86032697e-01 -7.12799953e-03 -5.28676277e+01] [-1.14593227e-02 5.60051605e-05 9.99934338e-01 -2.03150011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.87, Y:-52.91, Z:-2.03 [[ 7.92039164e-01 6.10404364e-01 8.97077264e-03 1.61874225e+02] [-6.10362739e-01 7.92089946e-01 -7.13052886e-03 -5.29097379e+01] [-1.14581648e-02 1.72232757e-04 9.99934338e-01 -2.03192153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.92, Y:-52.95, Z:-2.03 [[ 7.95031670e-01 6.06501612e-01 8.96879130e-03 1.61923038e+02] [-6.06459709e-01 7.95082223e-01 -7.13302012e-03 -5.29495327e+01] [-1.14571147e-02 2.31766337e-04 9.99934338e-01 -2.03280488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:-52.99, Z:-2.03 [[ 7.96735767e-01 6.04261295e-01 8.96683637e-03 1.61972157e+02] [-6.04219223e-01 7.96786179e-01 -7.13547679e-03 -5.29874876e+01] [-1.14563437e-02 2.67154671e-04 9.99934338e-01 -2.03141648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.02, Y:-53.02, Z:-2.03 [[ 7.97054427e-01 6.03840930e-01 8.96507811e-03 1.62022262e+02] [-6.03798806e-01 7.97104796e-01 -7.13768521e-03 -5.30247770e+01] [-1.14561332e-02 2.76020136e-04 9.99934338e-01 -2.03209792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.07, Y:-53.06, Z:-2.03 [[ 7.97903048e-01 6.02719163e-01 8.96305524e-03 1.62072322e+02] [-6.02676940e-01 7.97953334e-01 -7.14022450e-03 -5.30614240e+01] [-1.14556499e-02 2.95380177e-04 9.99934338e-01 -2.03335990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.12, Y:-53.10, Z:-2.03 [[ 7.98174156e-01 6.02360120e-01 8.96118659e-03 1.62123062e+02] [-6.02317848e-01 7.98224400e-01 -7.14256894e-03 -5.30991277e+01] [-1.14554365e-02 3.03531311e-04 9.99934338e-01 -2.03361325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.17, Y:-53.13, Z:-2.04 [[ 7.98478249e-01 6.01956990e-01 8.95920619e-03 1.62174152e+02] [-6.01914665e-01 7.98528449e-01 -7.14505216e-03 -5.31324069e+01] [-1.14551951e-02 3.12491147e-04 9.99934338e-01 -2.03682970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.22, Y:-53.17, Z:-2.04 [[ 7.98771106e-01 6.01568351e-01 8.95762199e-03 1.62224773e+02] [-6.01525979e-01 7.98821267e-01 -7.14703770e-03 -5.31690521e+01] [-1.14549706e-02 3.20604871e-04 9.99934338e-01 -2.03765328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.28, Y:-53.21, Z:-2.04 [[ 7.98068533e-01 6.02500134e-01 8.95569891e-03 1.62275971e+02] [-6.02457794e-01 7.98118720e-01 -7.14944663e-03 -5.32050095e+01] [-1.14552535e-02 3.10317774e-04 9.99934338e-01 -2.03647689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.33, Y:-53.24, Z:-2.04 [[ 7.96117328e-01 6.05076050e-01 8.95392389e-03 1.62326818e+02] [-6.05033847e-01 7.96167631e-01 -7.15166896e-03 -5.32416623e+01] [-1.14561280e-02 2.76140565e-04 9.99934338e-01 -2.03534110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.38, Y:-53.28, Z:-2.04 [[ 7.92348089e-01 6.10003581e-01 8.95190254e-03 1.62379665e+02] [-6.09961663e-01 7.92398629e-01 -7.15419824e-03 -5.32760806e+01] [-1.14575618e-02 2.08297955e-04 9.99934338e-01 -2.03599767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.43, Y:-53.31, Z:-2.04 [[ 7.87461479e-01 6.16298888e-01 8.94990619e-03 1.62430685e+02] [-6.16257345e-01 7.87512328e-01 -7.15669480e-03 -5.33113034e+01] [-1.14588245e-02 1.20176047e-04 9.99934338e-01 -2.03764203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.48, Y:-53.35, Z:-2.04 [[ 7.84231808e-01 6.20403420e-01 8.94806029e-03 1.62482473e+02] [-6.20362117e-01 7.84282852e-01 -7.15900200e-03 -5.33479260e+01] [-1.14592796e-02 6.32794548e-05 9.99934338e-01 -2.04029653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:-53.38, Z:-2.04 [[ 7.80040242e-01 6.25665396e-01 8.94611698e-03 1.62533439e+02] [-6.25624409e-01 7.80091541e-01 -7.16142960e-03 -5.33830089e+01] [-1.14594489e-02 -1.07058667e-05 9.99934338e-01 -2.04339994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.58, Y:-53.42, Z:-2.04 [[ 7.78125749e-01 6.28044836e-01 8.94443128e-03 1.62583481e+02] [-6.28003982e-01 7.78177154e-01 -7.16353438e-03 -5.34216263e+01] [-1.14593728e-02 -4.30079057e-05 9.99934338e-01 -2.04328782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.63, Y:-53.46, Z:-2.04 [[ 7.76977596e-01 6.29464732e-01 8.94237376e-03 1.62632489e+02] [-6.29423943e-01 7.77029052e-01 -7.16610190e-03 -5.34607803e+01] [-1.14592926e-02 -6.06435227e-05 9.99934338e-01 -2.04293366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.68, Y:-53.50, Z:-2.04 [[ 7.76569350e-01 6.29968345e-01 8.94029713e-03 1.62680818e+02] [-6.29927559e-01 7.76620808e-01 -7.16869172e-03 -5.35001008e+01] [-1.14592696e-02 -6.47532822e-05 9.99934338e-01 -2.04277143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.73, Y:-53.54, Z:-2.04 [[ 7.76415544e-01 6.30157923e-01 8.93838230e-03 1.62729270e+02] [-6.30117123e-01 7.76466991e-01 -7.17107846e-03 -5.35399457e+01] [-1.14592707e-02 -6.44909485e-05 9.99934338e-01 -2.04379252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.78, Y:-53.58, Z:-2.05 [[ 7.76531045e-01 6.30015617e-01 8.93636684e-03 1.62777260e+02] [-6.29974778e-01 7.76582461e-01 -7.17358919e-03 -5.35791263e+01] [-1.14592990e-02 -5.91710004e-05 9.99934338e-01 -2.04664193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.83, Y:-53.62, Z:-2.05 [[ 7.77384560e-01 6.28962176e-01 8.93459003e-03 1.62826179e+02] [-6.28921242e-01 7.77435900e-01 -7.17580150e-03 -5.36183605e+01] [-1.14593788e-02 -4.07961696e-05 9.99934338e-01 -2.04830875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.87, Y:-53.66, Z:-2.05 [[ 7.80962085e-01 6.24514557e-01 8.93253617e-03 1.62873461e+02] [-6.24473301e-01 7.81013168e-01 -7.17835726e-03 -5.36588700e+01] [-1.14594170e-02 2.78945094e-05 9.99934338e-01 -2.04940862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:-53.70, Z:-2.05 [[ 7.85084931e-01 6.19323739e-01 8.93075778e-03 1.62921257e+02] [-6.19282120e-01 7.85135718e-01 -7.18056911e-03 -5.37004167e+01] [-1.14589538e-02 1.06697997e-04 9.99934338e-01 -2.05008533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.97, Y:-53.74, Z:-2.05 [[ 7.92588350e-01 6.09691714e-01 8.92873743e-03 1.62968018e+02] [-6.09649450e-01 7.92638601e-01 -7.18308045e-03 -5.37418647e+01] [-1.14567266e-02 2.49826015e-04 9.99934338e-01 -2.05010032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.02, Y:-53.78, Z:-2.05 [[ 7.97252625e-01 6.03579789e-01 8.92694332e-03 1.63015208e+02] [-6.03537115e-01 7.97302529e-01 -7.18530943e-03 -5.37821395e+01] [-1.14543820e-02 3.40765189e-04 9.99934338e-01 -2.05049040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.06, Y:-53.82, Z:-2.05 [[ 8.01757064e-01 5.97583429e-01 8.92505532e-03 1.63061935e+02] [-5.97540355e-01 8.01806623e-01 -7.18765380e-03 -5.38226155e+01] [-1.14513913e-02 4.29671475e-04 9.99934338e-01 -2.04903550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.11, Y:-53.86, Z:-2.05 [[ 8.02466322e-01 5.96630687e-01 8.92332341e-03 1.63111479e+02] [-5.96587531e-01 8.02515810e-01 -7.18980329e-03 -5.38616436e+01] [-1.14507654e-02 4.46031523e-04 9.99934338e-01 -2.04980983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.16, Y:-53.90, Z:-2.05 [[ 8.01116611e-01 5.98441798e-01 8.92131227e-03 1.63161255e+02] [-5.98398726e-01 8.01166172e-01 -7.19229790e-03 -5.38985515e+01] [-1.14516253e-02 4.23367427e-04 9.99934338e-01 -2.05302318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.21, Y:-53.94, Z:-2.05 [[ 7.99957130e-01 5.99990860e-01 8.91956815e-03 1.63210989e+02] [-5.99947860e-01 8.00006753e-01 -7.19446023e-03 -5.39371038e+01] [-1.14523251e-02 4.03983936e-04 9.99934338e-01 -2.05339493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.26, Y:-53.98, Z:-2.05 [[ 7.99411075e-01 6.00718246e-01 8.91749763e-03 1.63260428e+02] [-6.00675263e-01 7.99460713e-01 -7.19702571e-03 -5.39760731e+01] [-1.14525737e-02 3.96861827e-04 9.99934338e-01 -2.05413627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:-54.01, Z:-2.06 [[ 7.97362924e-01 6.03434240e-01 8.91544051e-03 1.63311591e+02] [-6.03391397e-01 7.97412683e-01 -7.19957310e-03 -5.40133062e+01] [-1.14537543e-02 3.61172551e-04 9.99934338e-01 -2.05537783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.36, Y:-54.05, Z:-2.06 [[ 7.95618279e-01 6.05732702e-01 8.91339786e-03 1.63361736e+02] [-6.05689975e-01 7.95668137e-01 -7.20210111e-03 -5.40519842e+01] [-1.14546548e-02 3.31367566e-04 9.99934338e-01 -2.05566362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:-54.09, Z:-2.06 [[ 7.92109652e-01 6.10313761e-01 8.91136550e-03 1.63412275e+02] [-6.10271295e-01 7.92159732e-01 -7.20461493e-03 -5.40892367e+01] [-1.14563005e-02 2.68494461e-04 9.99934338e-01 -2.05717653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.46, Y:-54.13, Z:-2.06 [[ 7.89278918e-01 6.13970206e-01 8.90932919e-03 1.63461346e+02] [-6.13927942e-01 7.89329170e-01 -7.20713218e-03 -5.41276308e+01] [-1.14573578e-02 2.18751357e-04 9.99934338e-01 -2.05853980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.51, Y:-54.17, Z:-2.06 [[ 7.85634663e-01 6.18626570e-01 8.90744717e-03 1.63510734e+02] [-6.18584579e-01 7.85685142e-01 -7.20945746e-03 -5.41669045e+01] [-1.14584108e-02 1.53990226e-04 9.99934338e-01 -2.05838717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.56, Y:-54.20, Z:-2.06 [[ 7.86538143e-01 6.17477484e-01 8.90538086e-03 1.63562255e+02] [-6.17435390e-01 7.86588537e-01 -7.21200894e-03 -5.42023421e+01] [-1.14581236e-02 1.74022818e-04 9.99934338e-01 -2.05835781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.61, Y:-54.25, Z:-2.06 [[ 7.82475136e-01 6.22618172e-01 8.90352862e-03 1.63607016e+02] [-6.22576383e-01 7.82525783e-01 -7.21429489e-03 -5.42454235e+01] [-1.14589918e-02 1.01879732e-04 9.99934338e-01 -2.05939338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.65, Y:-54.29, Z:-2.06 [[ 7.81726896e-01 6.23557383e-01 8.90223062e-03 1.63653858e+02] [-6.23515637e-01 7.81777578e-01 -7.21589622e-03 -5.42855865e+01] [-1.14590897e-02 9.01801589e-05 9.99934338e-01 -2.05966848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.70, Y:-54.32, Z:-2.06 [[ 7.83553247e-01 6.21260889e-01 8.90035629e-03 1.63704108e+02] [-6.21218968e-01 7.83603785e-01 -7.21820735e-03 -5.43229240e+01] [-1.14587428e-02 1.26779663e-04 9.99934338e-01 -2.06242979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.75, Y:-54.37, Z:-2.06 [[ 7.80172849e-01 6.25500717e-01 8.89826167e-03 1.63747981e+02] [-6.25459041e-01 7.80223588e-01 -7.22078857e-03 -5.43683072e+01] [-1.14592421e-02 6.79649748e-05 9.99934338e-01 -2.06260795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.79, Y:-54.41, Z:-2.07 [[ 7.79880664e-01 6.25864988e-01 8.89761974e-03 1.63791791e+02] [-6.25823326e-01 7.79931416e-01 -7.22157949e-03 -5.44107181e+01] [-1.14592669e-02 6.36322173e-05 9.99934338e-01 -2.06504211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:-54.45, Z:-2.07 [[ 7.80052378e-01 6.25650971e-01 8.89660672e-03 1.63836942e+02] [-6.25609282e-01 7.80103107e-01 -7.22282726e-03 -5.44533581e+01] [-1.14592394e-02 6.83838355e-05 9.99934338e-01 -2.06743343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:-54.50, Z:-2.07 [[ 7.80826443e-01 6.24684679e-01 8.89483132e-03 1.63880589e+02] [-6.24642902e-01 7.80877099e-01 -7.22501298e-03 -5.44982844e+01] [-1.14591250e-02 8.53879314e-05 9.99934338e-01 -2.06807019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.93, Y:-54.54, Z:-2.07 [[ 7.81848708e-01 6.23404775e-01 8.89295710e-03 1.63925164e+02] [-6.23362889e-01 7.81899274e-01 -7.22731914e-03 -5.45422034e+01] [-1.14589420e-02 1.07130702e-04 9.99934338e-01 -2.06694802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.97, Y:-54.59, Z:-2.06 [[ 7.82757169e-01 6.22263740e-01 8.89118337e-03 1.63967055e+02] [-6.22221755e-01 7.82807653e-01 -7.22950056e-03 -5.45872721e+01] [-1.14587424e-02 1.26655667e-04 9.99934338e-01 -2.06472056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:-54.63, Z:-2.06 [[ 7.83229578e-01 6.21669047e-01 8.88956110e-03 1.64012540e+02] [-6.21627001e-01 7.83280012e-01 -7.23149479e-03 -5.46313160e+01] [-1.14586120e-02 1.37929402e-04 9.99934338e-01 -2.06289565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:-54.68, Z:-2.06 [[ 7.82999542e-01 6.21958785e-01 8.88748227e-03 1.64056117e+02] [-6.21916729e-01 7.83049967e-01 -7.23404877e-03 -5.46765989e+01] [-1.14586229e-02 1.36982975e-04 9.99934338e-01 -2.06239422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:-54.72, Z:-2.06 [[ 7.81496206e-01 6.23846716e-01 8.88568968e-03 1.64103341e+02] [-6.23804757e-01 7.81546712e-01 -7.23624996e-03 -5.47182365e+01] [-1.14588923e-02 1.12166393e-04 9.99934338e-01 -2.06195742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.15, Y:-54.76, Z:-2.06 [[ 7.77552294e-01 6.28755525e-01 8.88367046e-03 1.64151887e+02] [-6.28713856e-01 7.77603040e-01 -7.23872804e-03 -5.47574376e+01] [-1.14593594e-02 4.32028782e-05 9.99934338e-01 -2.06428044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.20, Y:-54.80, Z:-2.06 [[ 7.75907947e-01 6.30783619e-01 8.88167136e-03 1.64201017e+02] [-6.30742054e-01 7.75958779e-01 -7.24118003e-03 -5.47970043e+01] [-1.14594286e-02 1.64454954e-05 9.99934338e-01 -2.06486815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.25, Y:-54.84, Z:-2.07 [[ 7.77136732e-01 6.29269142e-01 8.87962070e-03 1.64249589e+02] [-6.29227450e-01 7.77187458e-01 -7.24369381e-03 -5.48365445e+01] [-1.14593628e-02 4.20394444e-05 9.99934338e-01 -2.06634064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:-54.88, Z:-2.07 [[ 7.80361891e-01 6.25265151e-01 8.87756605e-03 1.64298341e+02] [-6.25223170e-01 7.80412379e-01 -7.24621103e-03 -5.48764577e+01] [-1.14589657e-02 1.04206958e-04 9.99934338e-01 -2.06644926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.35, Y:-54.92, Z:-2.07 [[ 7.88849502e-01 6.14522325e-01 8.87553864e-03 1.64346104e+02] [-6.14479628e-01 7.88899387e-01 -7.24869346e-03 -5.49155344e+01] [-1.14563909e-02 2.64290541e-04 9.99934338e-01 -2.06506288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.39, Y:-54.95, Z:-2.06 [[ 7.94789645e-01 6.06820136e-01 8.87376403e-03 1.64394082e+02] [-6.06776932e-01 7.94839090e-01 -7.25086527e-03 -5.49543883e+01] [-1.14531856e-02 3.78517317e-04 9.99934338e-01 -2.06430140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.44, Y:-54.99, Z:-2.06 [[ 8.02377252e-01 5.96751233e-01 8.87189502e-03 1.64443434e+02] [-5.96707385e-01 8.02426127e-01 -7.25315140e-03 -5.49927276e+01] [-1.14473674e-02 5.25838418e-04 9.99934338e-01 -2.06477376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.49, Y:-55.03, Z:-2.07 [[ 8.04875908e-01 5.93376861e-01 8.86981747e-03 1.64493009e+02] [-5.93332779e-01 8.04924573e-01 -7.25569113e-03 -5.50295401e+01] [-1.14448933e-02 5.77177531e-04 9.99934338e-01 -2.06659511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.54, Y:-55.07, Z:-2.07 [[ 8.04698246e-01 5.93617791e-01 8.86853840e-03 1.64544345e+02] [-5.93573707e-01 8.04746908e-01 -7.25725418e-03 -5.50650837e+01] [-1.14449641e-02 5.75768493e-04 9.99934338e-01 -2.06828078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.60, Y:-55.10, Z:-2.07 [[ 8.01631603e-01 5.97752586e-01 8.86674330e-03 1.64596899e+02] [-5.97708729e-01 8.01680470e-01 -7.25944673e-03 -5.50989505e+01] [-1.14476480e-02 5.19672042e-04 9.99934338e-01 -2.06958149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.65, Y:-55.14, Z:-2.07 [[ 7.98995151e-01 6.01272120e-01 8.86484599e-03 1.64647889e+02] [-6.01228453e-01 7.99044188e-01 -7.26176288e-03 -5.51357601e+01] [-1.14496992e-02 4.72315693e-04 9.99934338e-01 -2.06929957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.70, Y:-55.17, Z:-2.07 [[ 7.94669655e-01 6.06977422e-01 8.86276470e-03 1.64700411e+02] [-6.06934079e-01 7.94718978e-01 -7.26430215e-03 -5.51716588e+01] [-1.14526747e-02 3.93606560e-04 9.99934339e-01 -2.07024181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.75, Y:-55.21, Z:-2.07 [[ 7.92748605e-01 6.09484320e-01 8.86071152e-03 1.64748750e+02] [-6.09441105e-01 7.92798041e-01 -7.26680567e-03 -5.52092561e+01] [-1.14537588e-02 3.60668242e-04 9.99934339e-01 -2.07130089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.80, Y:-55.25, Z:-2.07 [[ 7.88446594e-01 6.15039408e-01 8.85971503e-03 1.64799485e+02] [-6.14996528e-01 7.88496320e-01 -7.26802040e-03 -5.52465924e+01] [-1.14559717e-02 2.81751951e-04 9.99934339e-01 -2.07276726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.85, Y:-55.28, Z:-2.08 [[ 7.81306432e-01 6.24084771e-01 8.85765955e-03 1.64849204e+02] [-6.24042438e-01 7.81356625e-01 -7.27052458e-03 -5.52820773e+01] [-1.14584146e-02 1.52952155e-04 9.99934339e-01 -2.07503059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.90, Y:-55.32, Z:-2.07 [[ 7.77679400e-01 6.28598687e-01 8.85665585e-03 1.64898213e+02] [-6.28556632e-01 7.77729826e-01 -7.27174705e-03 -5.53206371e+01] [-1.14590961e-02 8.81781138e-05 9.99934339e-01 -2.07312925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.95, Y:-55.36, Z:-2.07 [[ 7.75780757e-01 6.30940416e-01 8.85487559e-03 1.64946441e+02] [-6.30898488e-01 7.75831289e-01 -7.27391423e-03 -5.53602962e+01] [-1.14592960e-02 5.64350710e-05 9.99934339e-01 -2.07049746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.99, Y:-55.40, Z:-2.07 [[ 7.74479845e-01 6.32536633e-01 8.85308323e-03 1.64994995e+02] [-6.32494784e-01 7.74530443e-01 -7.27609506e-03 -5.53999480e+01] [-1.14593791e-02 3.56600114e-05 9.99934339e-01 -2.07066254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:-55.44, Z:-2.07 [[ 7.73093419e-01 6.34230419e-01 8.85100994e-03 1.65042080e+02] [-6.34188652e-01 7.73144084e-01 -7.27861624e-03 -5.54415448e+01] [-1.14594258e-02 1.38402518e-05 9.99934339e-01 -2.07125795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.09, Y:-55.48, Z:-2.07 [[ 7.72392919e-01 6.35083361e-01 8.84891599e-03 1.65089606e+02] [-6.35041620e-01 7.72443606e-01 -7.28116106e-03 -5.54821477e+01] [-1.14594328e-02 4.48729884e-06 9.99934339e-01 -2.07416184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.14, Y:-55.52, Z:-2.08 [[ 7.73308160e-01 6.33968629e-01 8.84684791e-03 1.65137038e+02] [-6.33926787e-01 7.73358763e-01 -7.28367297e-03 -5.55225401e+01] [-1.14594075e-02 2.42698710e-05 9.99934339e-01 -2.07901765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:-55.57, Z:-2.08 [[ 7.70303089e-01 6.37616591e-01 8.84499330e-03 1.65179856e+02] [-6.37574963e-01 7.70353868e-01 -7.28592444e-03 -5.55669859e+01] [-1.14594011e-02 -2.69761739e-05 9.99934339e-01 -2.08206250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:-55.61, Z:-2.09 [[ 7.68564482e-01 6.39711211e-01 8.84330759e-03 1.65222813e+02] [-6.39669698e-01 7.68615355e-01 -7.28796990e-03 -5.56111746e+01] [-1.14592981e-02 -5.55210833e-05 9.99934339e-01 -2.08556582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.27, Y:-55.65, Z:-2.09 [[ 7.67834114e-01 6.40587690e-01 8.84228766e-03 1.65268356e+02] [-6.40546220e-01 7.67885022e-01 -7.28920715e-03 -5.56547270e+01] [-1.14592366e-02 -6.69920245e-05 9.99934339e-01 -2.08500109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.31, Y:-55.70, Z:-2.08 [[ 7.67890327e-01 6.40520332e-01 8.84025429e-03 1.65310697e+02] [-6.40478830e-01 7.67941209e-01 -7.29167236e-03 -5.57004022e+01] [-1.14592600e-02 -6.27910520e-05 9.99934339e-01 -2.08157995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.35, Y:-55.75, Z:-2.08 [[ 7.69106499e-01 6.39059524e-01 8.83845795e-03 1.65353314e+02] [-6.39017900e-01 7.69157281e-01 -7.29384910e-03 -5.57457197e+01] [-1.14593680e-02 -3.81860971e-05 9.99934339e-01 -2.07913080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.40, Y:-55.79, Z:-2.08 [[ 7.69055351e-01 6.39121101e-01 8.83664811e-03 1.65399126e+02] [-6.39079455e-01 7.69106116e-01 -7.29604110e-03 -5.57866887e+01] [-1.14593739e-02 -3.62608177e-05 9.99934339e-01 -2.07799941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.45, Y:-55.82, Z:-2.08 [[ 7.67596879e-01 6.40872033e-01 8.83567371e-03 1.65448003e+02] [-6.40830490e-01 7.67647727e-01 -7.29722093e-03 -5.58244231e+01] [-1.14592697e-02 -6.08451065e-05 9.99934339e-01 -2.08142581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:-55.86, Z:-2.09 [[ 7.67393742e-01 6.41115284e-01 8.83383735e-03 1.65497491e+02] [-6.41073732e-01 7.67444584e-01 -7.29944331e-03 -5.58625868e+01] [-1.14592653e-02 -6.15939494e-05 9.99934339e-01 -2.08532547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:-55.90, Z:-2.09 [[ 7.67827033e-01 6.40596318e-01 8.83203141e-03 1.65546590e+02] [-6.40554706e-01 7.67877826e-01 -7.30162776e-03 -5.59014646e+01] [-1.14593169e-02 -5.10120998e-05 9.99934339e-01 -2.09060867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:165.60, Y:-55.94, Z:-2.09 [[ 7.68347329e-01 6.39972178e-01 8.83138379e-03 1.65595876e+02] [-6.39930516e-01 7.68398080e-01 -7.30241099e-03 -5.59408714e+01] [-1.14593582e-02 -4.06840042e-05 9.99934339e-01 -2.08984137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.64, Y:-55.98, Z:-2.09 [[ 7.69234688e-01 6.38905344e-01 8.82930121e-03 1.65642459e+02] [-6.38863583e-01 7.69285357e-01 -7.30492816e-03 -5.59797130e+01] [-1.14594098e-02 -2.15148724e-05 9.99934339e-01 -2.08679601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.69, Y:-56.02, Z:-2.09 [[ 7.72691290e-01 6.34720599e-01 8.82789020e-03 1.65690199e+02] [-6.34678543e-01 7.72741716e-01 -7.30663295e-03 -5.60200032e+01] [-1.14593495e-02 4.28991480e-05 9.99934339e-01 -2.08552703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:165.74, Y:-56.06, Z:-2.09 [[ 7.75558147e-01 6.31214434e-01 8.82608695e-03 1.65737852e+02] [-6.31172125e-01 7.75608361e-01 -7.30881054e-03 -5.60617532e+01] [-1.14590135e-02 9.76274939e-05 9.99934339e-01 -2.08633051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.79, Y:-56.10, Z:-2.08 [[ 7.75255736e-01 6.31585846e-01 8.82399166e-03 1.65785158e+02] [-6.31543533e-01 7.75305946e-01 -7.31133933e-03 -5.61013798e+01] [-1.14590316e-02 9.54228943e-05 9.99934339e-01 -2.08485774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:-56.14, Z:-2.09 [[ 7.72487104e-01 6.34969169e-01 8.82205977e-03 1.65834596e+02] [-6.34927049e-01 7.72537476e-01 -7.31366966e-03 -5.61402598e+01] [-1.14593265e-02 4.83511152e-05 9.99934339e-01 -2.08773843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.88, Y:-56.18, Z:-2.09 [[ 7.69946023e-01 6.38048063e-01 8.81995443e-03 1.65882813e+02] [-6.38006115e-01 7.69996539e-01 -7.31620771e-03 -5.61790572e+01] [-1.14594265e-02 5.90016591e-06 9.99934339e-01 -2.09138430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.93, Y:-56.22, Z:-2.09 [[ 7.68423882e-01 6.39880441e-01 8.81813453e-03 1.65931005e+02] [-6.39838589e-01 7.68474477e-01 -7.31840056e-03 -5.62192594e+01] [-1.14594127e-02 -1.85489850e-05 9.99934339e-01 -2.09341324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.98, Y:-56.26, Z:-2.09 [[ 7.66956998e-01 6.41637935e-01 8.81604791e-03 1.65979137e+02] [-6.41596170e-01 7.67007665e-01 -7.32091333e-03 -5.62590256e+01] [-1.14593520e-02 -4.15168632e-05 9.99934339e-01 -2.09373447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.03, Y:-56.30, Z:-2.09 [[ 7.65447108e-01 6.43438450e-01 8.81395721e-03 1.66028269e+02] [-6.43396776e-01 7.65497849e-01 -7.32342955e-03 -5.62987786e+01] [-1.14592414e-02 -6.51736780e-05 9.99934339e-01 -2.09432035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.08, Y:-56.34, Z:-2.09 [[ 7.64242000e-01 6.44869379e-01 8.81186683e-03 1.66077592e+02] [-6.44827770e-01 7.64292795e-01 -7.32594392e-03 -5.63385896e+01] [-1.14591232e-02 -8.33424091e-05 9.99934339e-01 -2.09400469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:-56.38, Z:-2.09 [[ 7.64369839e-01 6.44717874e-01 8.80979550e-03 1.66125973e+02] [-6.44676227e-01 7.64420602e-01 -7.32843395e-03 -5.63790439e+01] [-1.14591615e-02 -7.78318486e-05 9.99934339e-01 -2.09379264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.17, Y:-56.42, Z:-2.10 [[ 7.66250220e-01 6.42481926e-01 8.80771785e-03 1.66174144e+02] [-6.42440102e-01 7.66300837e-01 -7.33093013e-03 -5.64188007e+01] [-1.14593517e-02 -4.11043324e-05 9.99934339e-01 -2.09602011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.22, Y:-56.46, Z:-2.10 [[ 7.67754873e-01 6.40683163e-01 8.80566250e-03 1.66221213e+02] [-6.40641192e-01 7.67805369e-01 -7.33339811e-03 -5.64577479e+01] [-1.14594196e-02 -1.10179760e-05 9.99934339e-01 -2.10111930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.27, Y:-56.50, Z:-2.10 [[ 7.68170241e-01 6.40185098e-01 8.80465473e-03 1.66269380e+02] [-6.40143080e-01 7.68220698e-01 -7.33460786e-03 -5.64986125e+01] [-1.14594247e-02 -2.01131554e-06 9.99934339e-01 -2.10213550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.32, Y:-56.54, Z:-2.10 [[ 7.68197601e-01 6.40152294e-01 8.80266541e-03 1.66318205e+02] [-6.40110247e-01 7.68248033e-01 -7.33699458e-03 -5.65387186e+01] [-1.14594243e-02 1.58530232e-06 9.99934339e-01 -2.10237405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.37, Y:-56.58, Z:-2.10 [[ 7.69585786e-01 6.38482786e-01 8.80061486e-03 1.66366704e+02] [-6.38440601e-01 7.69636103e-01 -7.33945337e-03 -5.65774882e+01] [-1.14593856e-02 2.96691435e-05 9.99934339e-01 -2.10340467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:-56.62, Z:-2.10 [[ 7.71567857e-01 6.36086178e-01 8.79872097e-03 1.66415002e+02] [-6.36043811e-01 7.71618021e-01 -7.34172310e-03 -5.66174726e+01] [-1.14592202e-02 6.82655374e-05 9.99934339e-01 -2.10311728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.46, Y:-56.66, Z:-2.10 [[ 7.74122909e-01 6.32974200e-01 8.79680180e-03 1.66462858e+02] [-6.32931605e-01 7.74172881e-01 -7.34402192e-03 -5.66586784e+01] [-1.14588218e-02 1.17401736e-04 9.99934339e-01 -2.10150449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:-56.70, Z:-2.10 [[ 7.74369231e-01 6.32672859e-01 8.79472942e-03 1.66511108e+02] [-6.32630216e-01 7.74419162e-01 -7.34650284e-03 -5.66982936e+01] [-1.14587399e-02 1.25094183e-04 9.99934339e-01 -2.10148553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.56, Y:-56.74, Z:-2.10 [[ 7.73115013e-01 6.34204908e-01 8.79267346e-03 1.66561298e+02] [-6.34162337e-01 7.73165004e-01 -7.34896269e-03 -5.67363672e+01] [-1.14589356e-02 1.05611034e-04 9.99934339e-01 -2.10457352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.61, Y:-56.78, Z:-2.11 [[ 7.71398278e-01 6.36291932e-01 8.79059637e-03 1.66609969e+02] [-6.36249468e-01 7.71448359e-01 -7.35144639e-03 -5.67757030e+01] [-1.14591572e-02 7.78808243e-05 9.99934339e-01 -2.10636918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:-56.82, Z:-2.11 [[ 7.68741926e-01 6.39498720e-01 8.78853628e-03 1.66657975e+02] [-6.39456437e-01 7.68792160e-01 -7.35390838e-03 -5.68162844e+01] [-1.14593728e-02 3.33715903e-05 9.99934339e-01 -2.10765771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.71, Y:-56.86, Z:-2.11 [[ 7.67611502e-01 6.40855194e-01 8.78645934e-03 1.66706401e+02] [-6.40812971e-01 7.67661787e-01 -7.35638907e-03 -5.68559421e+01] [-1.14594092e-02 1.63717544e-05 9.99934339e-01 -2.10849887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.75, Y:-56.90, Z:-2.11 [[ 7.66409703e-01 6.42291992e-01 8.78437786e-03 1.66754911e+02] [-6.42249834e-01 7.66460043e-01 -7.35887376e-03 -5.68954764e+01] [-1.14594203e-02 -1.85297077e-06 9.99934339e-01 -2.10876862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.80, Y:-56.94, Z:-2.11 [[ 7.66073869e-01 6.42692538e-01 8.78228876e-03 1.66802723e+02] [-6.42650378e-01 7.66124208e-01 -7.36136611e-03 -5.69358783e+01] [-1.14594191e-02 -4.59097229e-06 9.99934339e-01 -2.10854177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.85, Y:-56.98, Z:-2.11 [[ 7.67005843e-01 6.41580037e-01 8.78020868e-03 1.66849015e+02] [-6.41537776e-01 7.67056097e-01 -7.36384627e-03 -5.69784373e+01] [-1.14594094e-02 1.52775667e-05 9.99934339e-01 -2.10691170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:-57.02, Z:-2.11 [[ 7.67893070e-01 6.40517898e-01 8.77810754e-03 1.66897083e+02] [-6.40475539e-01 7.67943240e-01 -7.36635009e-03 -5.70194274e+01] [-1.14593674e-02 3.44060249e-05 9.99934339e-01 -2.10683008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.94, Y:-57.06, Z:-2.11 [[ 7.69811371e-01 6.38211121e-01 8.77601140e-03 1.66944641e+02] [-6.38168583e-01 7.69861390e-01 -7.36884652e-03 -5.70600738e+01] [-1.14591921e-02 7.20470863e-05 9.99934339e-01 -2.10884973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.99, Y:-57.10, Z:-2.11 [[ 7.71687812e-01 6.35940987e-01 8.77394694e-03 1.66992203e+02] [-6.35898274e-01 7.71737682e-01 -7.37130381e-03 -5.71010613e+01] [-1.14588997e-02 1.09007594e-04 9.99934339e-01 -2.11129922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.04, Y:-57.14, Z:-2.11 [[ 7.73278582e-01 6.34005748e-01 8.77186686e-03 1.67041342e+02] [-6.33962882e-01 7.73328321e-01 -7.37377828e-03 -5.71410542e+01] [-1.14585509e-02 1.40946812e-04 9.99934339e-01 -2.11290770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.09, Y:-57.18, Z:-2.12 [[ 7.78430781e-01 6.27669189e-01 8.76980328e-03 1.67091168e+02] [-6.27625890e-01 7.78480143e-01 -7.37623173e-03 -5.71797902e+01] [-1.14569511e-02 2.37730233e-04 9.99934339e-01 -2.11561630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.14, Y:-57.22, Z:-2.12 [[ 7.82492262e-01 6.22598576e-01 8.76774775e-03 1.67139713e+02] [-6.22554930e-01 7.82541318e-01 -7.37867422e-03 -5.72197933e+01] [-1.14550769e-02 3.15350891e-04 9.99934339e-01 -2.11659429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.19, Y:-57.26, Z:-2.12 [[ 7.86372372e-01 6.17690583e-01 8.76563874e-03 1.67188501e+02] [-6.17646604e-01 7.86421128e-01 -7.38117881e-03 -5.72601069e+01] [-1.14527682e-02 3.90288087e-04 9.99934339e-01 -2.11756364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.24, Y:-57.30, Z:-2.12 [[ 7.91233593e-01 6.11451226e-01 8.76354123e-03 1.67238131e+02] [-6.11406835e-01 7.91281975e-01 -7.38366830e-03 -5.72979630e+01] [-1.14491852e-02 4.84117391e-04 9.99934339e-01 -2.11877790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.29, Y:-57.34, Z:-2.12 [[ 7.92568237e-01 6.09720284e-01 8.76160890e-03 1.67287897e+02] [-6.09675762e-01 7.92616498e-01 -7.38596054e-03 -5.73361717e+01] [-1.14479657e-02 5.12137143e-04 9.99934339e-01 -2.11953471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.34, Y:-57.37, Z:-2.12 [[ 7.91080704e-01 6.11649074e-01 8.75954191e-03 1.67337222e+02] [-6.11604643e-01 7.91129049e-01 -7.38841112e-03 -5.73734139e+01] [-1.14490429e-02 4.87452969e-04 9.99934339e-01 -2.12094932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.39, Y:-57.41, Z:-2.12 [[ 7.88353063e-01 6.15160744e-01 8.75826692e-03 1.67387130e+02] [-6.15116512e-01 7.88401589e-01 -7.38992219e-03 -5.74119680e+01] [-1.14510216e-02 4.38513192e-04 9.99934339e-01 -2.12253600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:-57.45, Z:-2.12 [[ 7.83666821e-01 6.21119669e-01 8.75617313e-03 1.67437261e+02] [-6.21075778e-01 7.83715657e-01 -7.39240225e-03 -5.74499031e+01] [-1.14539164e-02 3.54933331e-04 9.99934339e-01 -2.12346550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:-57.49, Z:-2.12 [[ 7.79226927e-01 6.26680750e-01 8.75407632e-03 1.67485745e+02] [-6.26637179e-01 7.79276050e-01 -7.39488445e-03 -5.74892392e+01] [-1.14560737e-02 2.76663403e-04 9.99934339e-01 -2.12245754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.53, Y:-57.53, Z:-2.12 [[ 7.71419087e-01 6.36267234e-01 8.75206735e-03 1.67532966e+02] [-6.36224247e-01 7.71468721e-01 -7.39726136e-03 -5.75295441e+01] [-1.14585812e-02 1.38111148e-04 9.99934339e-01 -2.12131482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.58, Y:-57.57, Z:-2.12 [[ 7.64063438e-01 6.45081768e-01 8.75074553e-03 1.67581482e+02] [-6.45039336e-01 7.64113547e-01 -7.39882471e-03 -5.75688085e+01] [-1.14594101e-02 8.59635011e-06 9.99934339e-01 -2.12320021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.63, Y:-57.61, Z:-2.13 [[ 7.60237003e-01 6.49586916e-01 8.74862338e-03 1.67629138e+02] [-6.49544752e-01 7.60287337e-01 -7.40133316e-03 -5.76095478e+01] [-1.14592768e-02 -5.58550688e-05 9.99934339e-01 -2.12526882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.68, Y:-57.65, Z:-2.13 [[ 7.56961899e-01 6.53400476e-01 8.74650158e-03 1.67675186e+02] [-6.53358537e-01 7.57012421e-01 -7.40383975e-03 -5.76524021e+01] [-1.14588827e-02 -1.10176878e-04 9.99934339e-01 -2.12820265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:-57.69, Z:-2.13 [[ 7.56119166e-01 6.54375536e-01 8.74436281e-03 1.67721080e+02] [-6.54333633e-01 7.56169718e-01 -7.40636489e-03 -5.76943353e+01] [-1.14587664e-02 -1.21636236e-04 9.99934339e-01 -2.13030659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.77, Y:-57.74, Z:-2.13 [[ 7.56413832e-01 6.54034926e-01 8.74238627e-03 1.67766601e+02] [-6.53992973e-01 7.56464343e-01 -7.40869724e-03 -5.77375108e+01] [-1.14588502e-02 -1.13418125e-04 9.99934339e-01 -2.13302518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.81, Y:-57.78, Z:-2.14 [[ 7.58222066e-01 6.51937808e-01 8.74028717e-03 1.67810497e+02] [-6.51895687e-01 7.58272437e-01 -7.41117280e-03 -5.77806523e+01] [-1.14591426e-02 -7.84407505e-05 9.99934339e-01 -2.13609602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.86, Y:-57.82, Z:-2.14 [[ 7.60145802e-01 6.49693771e-01 8.73861311e-03 1.67856977e+02] [-6.49651479e-01 7.60196028e-01 -7.41314618e-03 -5.78231421e+01] [-1.14593339e-02 -4.19809844e-05 9.99934339e-01 -2.13748323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297628 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:-57.86, Z:-2.14 [[ 7.61501070e-01 6.48104770e-01 8.73654854e-03 1.67906347e+02] [-6.48062344e-01 7.61551185e-01 -7.41557852e-03 -5.78618873e+01] [-1.14594007e-02 -1.48571486e-05 9.99934339e-01 -2.13803597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357628 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:167.95, Y:-57.90, Z:-2.14 [[ 7.65070385e-01 6.43887425e-01 8.73443839e-03 1.67954820e+02] [-6.43844695e-01 7.65120240e-01 -7.41806312e-03 -5.79010725e+01] [-1.14592932e-02 5.17185802e-05 9.99934339e-01 -2.13901816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417628 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:168.00, Y:-57.94, Z:-2.13 [[ 7.73951086e-01 6.33185162e-01 8.73313772e-03 1.68000859e+02] [-6.33141725e-01 7.74000326e-01 -7.41959406e-03 -5.79423189e+01] [-1.14574283e-02 2.13088999e-04 9.99934339e-01 -2.13427269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47762799999998 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:168.05, Y:-57.98, Z:-2.13 [[ 7.79944256e-01 6.25788080e-01 8.73131805e-03 1.68050035e+02] [-6.25744153e-01 7.79993060e-01 -7.42173482e-03 -5.79818518e+01] [-1.14548007e-02 3.24968224e-04 9.99934339e-01 -2.13428529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53762799999998 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:168.10, Y:-58.02, Z:-2.14 [[ 7.86372439e-01 6.17691014e-01 8.72920433e-03 1.68099807e+02] [-6.17646557e-01 7.86420760e-01 -7.42422007e-03 -5.80177718e+01] [-1.14507015e-02 4.46639042e-04 9.99934339e-01 -2.13842137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597628 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:-58.05, Z:-2.14 [[ 7.89470896e-01 6.13725944e-01 8.72751803e-03 1.68150807e+02] [-6.13681223e-01 7.89518973e-01 -7.42620187e-03 -5.80540391e+01] [-1.14481938e-02 5.06856307e-04 9.99934339e-01 -2.14089029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657628 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:168.20, Y:-58.09, Z:-2.14 [[ 7.88893259e-01 6.14468297e-01 8.72572197e-03 1.68200762e+02] [-6.14423597e-01 7.88941356e-01 -7.42831162e-03 -5.80928794e+01] [-1.14485449e-02 4.98855480e-04 9.99934339e-01 -2.13874700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.717628 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:168.25, Y:-58.13, Z:-2.14 [[ 7.84628436e-01 6.19904924e-01 8.72364642e-03 1.68252917e+02] [-6.19860531e-01 7.84676816e-01 -7.43074831e-03 -5.81293839e+01] [-1.14516006e-02 4.22932319e-04 9.99934339e-01 -2.13733283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.777628 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:168.30, Y:-58.17, Z:-2.14 [[ 7.80191950e-01 6.25479381e-01 8.72151088e-03 1.68303003e+02] [-6.25435306e-01 7.80240620e-01 -7.43325396e-03 -5.81671751e+01] [-1.14542241e-02 3.44624084e-04 9.99934339e-01 -2.13737869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.837628 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:168.35, Y:-58.21, Z:-2.14 [[ 7.71903309e-01 6.35680150e-01 8.71939571e-03 1.68353263e+02] [-6.35636690e-01 7.71952530e-01 -7.43573428e-03 -5.82051257e+01] [-1.14577083e-02 1.97300072e-04 9.99934339e-01 -2.13743687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.897628 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:168.40, Y:-58.24, Z:-2.14 [[ 7.66408209e-01 6.42294688e-01 8.71730131e-03 1.68402672e+02] [-6.42251625e-01 7.66457777e-01 -7.43818884e-03 -5.82436332e+01] [-1.14589526e-02 1.01988051e-04 9.99934339e-01 -2.13936010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.957628 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:168.45, Y:-58.28, Z:-2.14 [[ 7.58984208e-01 6.51050703e-01 8.71520801e-03 1.68451807e+02] [-6.51008184e-01 7.59034243e-01 -7.44064071e-03 -5.82830766e+01] [-1.14593757e-02 -2.63429405e-05 9.99934339e-01 -2.14140826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:168.50, Y:-58.32, Z:-2.14 [[ 7.56362919e-01 6.54094195e-01 8.71310271e-03 1.68499598e+02] [-6.54051849e-01 7.56413101e-01 -7.44310524e-03 -5.83238606e+01] [-1.14591970e-02 -6.91321260e-05 9.99934339e-01 -2.14264523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.54, Y:-58.37, Z:-2.14 [[ 7.57548682e-01 6.52720548e-01 8.71096494e-03 1.68544878e+02] [-6.52678082e-01 7.57598762e-01 -7.44560632e-03 -5.83670378e+01] [-1.14593165e-02 -4.50466285e-05 9.99934339e-01 -2.14270814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:-58.41, Z:-2.14 [[ 7.61085904e-01 6.48592632e-01 8.70883681e-03 1.68590548e+02] [-6.48549866e-01 7.61135729e-01 -7.44809468e-03 -5.84098925e+01] [-1.14593862e-02 2.05249324e-05 9.99934339e-01 -2.14297981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.63, Y:-58.46, Z:-2.14 [[ 7.67770087e-01 6.40666284e-01 8.70673276e-03 1.68634506e+02] [-6.40622975e-01 7.67819440e-01 -7.45055348e-03 -5.84552829e+01] [-1.14585171e-02 1.42579046e-04 9.99934339e-01 -2.14291803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.68, Y:-58.50, Z:-2.14 [[ 7.71768790e-01 6.35843663e-01 8.70462569e-03 1.68679735e+02] [-6.35800019e-01 7.71817847e-01 -7.45301439e-03 -5.84986743e+01] [-1.14573374e-02 2.17602717e-04 9.99934339e-01 -2.14401205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.72, Y:-58.54, Z:-2.15 [[ 7.75451647e-01 6.31346980e-01 8.70254171e-03 1.68723370e+02] [-6.31303024e-01 7.75500425e-01 -7.45544697e-03 -5.85430362e+01] [-1.14557987e-02 2.87397735e-04 9.99934339e-01 -2.14636402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.77, Y:-58.59, Z:-2.15 [[ 7.76214733e-01 6.30408586e-01 8.70070998e-03 1.68768034e+02] [-6.30364548e-01 7.76263436e-01 -7.45758404e-03 -5.85862633e+01] [-1.14553680e-02 3.04067497e-04 9.99934339e-01 -2.14793004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:-58.63, Z:-2.15 [[ 7.74627303e-01 6.32358183e-01 8.69889315e-03 1.68812885e+02] [-6.32314243e-01 7.74676095e-01 -7.45970267e-03 -5.86296575e+01] [-1.14560286e-02 2.78055324e-04 9.99934339e-01 -2.15082575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:-58.67, Z:-2.15 [[ 7.72258178e-01 6.35249295e-01 8.69707862e-03 1.68858867e+02] [-6.35205514e-01 7.72307113e-01 -7.46181758e-03 -5.86720954e+01] [-1.14569300e-02 2.38017356e-04 9.99934339e-01 -2.15187732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.90, Y:-58.71, Z:-2.15 [[ 7.68473479e-01 6.39822557e-01 8.69525186e-03 1.68904034e+02] [-6.39779043e-01 7.68522652e-01 -7.46394570e-03 -5.87145717e+01] [-1.14580988e-02 1.72804412e-04 9.99934339e-01 -2.15322284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.95, Y:-58.76, Z:-2.15 [[ 7.66083406e-01 6.42682379e-01 8.69340025e-03 1.68949009e+02] [-6.42639024e-01 7.66132719e-01 -7.46610168e-03 -5.87559643e+01] [-1.14586304e-02 1.32938359e-04 9.99934339e-01 -2.15333815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:-58.80, Z:-2.15 [[ 7.62871610e-01 6.46491578e-01 8.69170444e-03 1.68993895e+02] [-6.46448447e-01 7.62921119e-01 -7.46807535e-03 -5.87982526e+01] [-1.14591327e-02 7.84438323e-05 9.99934339e-01 -2.15003540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:-58.84, Z:-2.15 [[ 7.61488984e-01 6.48119597e-01 8.68997551e-03 1.69039451e+02] [-6.48076548e-01 7.61538565e-01 -7.47008662e-03 -5.88404068e+01] [-1.14592610e-02 5.66193322e-05 9.99934339e-01 -2.14815571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.09, Y:-58.88, Z:-2.15 [[ 7.61968593e-01 6.47555697e-01 8.68812364e-03 1.69087018e+02] [-6.47512587e-01 7.62018120e-01 -7.47223983e-03 -5.88818942e+01] [-1.14591991e-02 6.79426474e-05 9.99934339e-01 -2.14826838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.13, Y:-58.92, Z:-2.15 [[ 7.63297733e-01 6.45988486e-01 8.68596676e-03 1.69134239e+02] [-6.45945246e-01 7.63347147e-01 -7.47474621e-03 -5.89215651e+01] [-1.14590079e-02 9.47979021e-05 9.99934339e-01 -2.15160035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:-58.96, Z:-2.15 [[ 7.67861454e-01 6.40557074e-01 8.68463835e-03 1.69181320e+02] [-6.40513467e-01 7.67910544e-01 -7.47628932e-03 -5.89629537e+01] [-1.14580154e-02 1.78126561e-04 9.99934339e-01 -2.15182285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:-59.00, Z:-2.15 [[ 7.71879185e-01 6.35709947e-01 8.68252582e-03 1.69228945e+02] [-6.35666005e-01 7.71927975e-01 -7.47874189e-03 -5.90034223e+01] [-1.14565952e-02 2.53498692e-04 9.99934339e-01 -2.15317865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.28, Y:-59.04, Z:-2.15 [[ 7.76031099e-01 6.30634905e-01 8.68043744e-03 1.69277009e+02] [-6.30590616e-01 7.76079575e-01 -7.48116505e-03 -5.90433557e+01] [-1.14545940e-02 3.31814341e-04 9.99934339e-01 -2.15405694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:169.33, Y:-59.08, Z:-2.16 [[ 7.79799191e-01 6.25969575e-01 8.67833153e-03 1.69325326e+02] [-6.25924969e-01 7.79847375e-01 -7.48360715e-03 -5.90826239e+01] [-1.14522845e-02 4.03726408e-04 9.99934339e-01 -2.15845731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.37, Y:-59.12, Z:-2.16 [[ 7.84199984e-01 6.20447502e-01 8.67651681e-03 1.69374079e+02] [-6.20402535e-01 7.84247830e-01 -7.48571056e-03 -5.91206218e+01] [-1.14490299e-02 4.87361081e-04 9.99934339e-01 -2.15844863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.42, Y:-59.16, Z:-2.16 [[ 7.85325563e-01 6.19022221e-01 8.67467021e-03 1.69423418e+02] [-6.18977143e-01 7.85373305e-01 -7.48784984e-03 -5.91598790e+01] [-1.14479999e-02 5.10977304e-04 9.99934339e-01 -2.15870823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:-59.20, Z:-2.16 [[ 7.82794126e-01 6.22220333e-01 8.67255779e-03 1.69474656e+02] [-6.22175423e-01 7.82842027e-01 -7.49029569e-03 -5.91956654e+01] [-1.14498570e-02 4.67507154e-04 9.99934339e-01 -2.15788286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.52, Y:-59.23, Z:-2.16 [[ 7.78454899e-01 6.27640653e-01 8.67068145e-03 1.69524051e+02] [-6.27596052e-01 7.78503088e-01 -7.49246709e-03 -5.92333766e+01] [-1.14527292e-02 3.90862266e-04 9.99934339e-01 -2.15828519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:-59.27, Z:-2.16 [[ 7.70700942e-01 6.37138063e-01 8.66869591e-03 1.69574418e+02] [-6.37094031e-01 7.70749651e-01 -7.49476363e-03 -5.92703959e+01] [-1.14565935e-02 2.53446966e-04 9.99934339e-01 -2.15905591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:-59.31, Z:-2.16 [[ 7.64354244e-01 6.44738301e-01 8.66675130e-03 1.69624328e+02] [-6.44694728e-01 7.64403364e-01 -7.49701165e-03 -5.93084230e+01] [-1.14585044e-02 1.42963803e-04 9.99934339e-01 -2.15961179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.67, Y:-59.35, Z:-2.16 [[ 7.55242236e-01 6.55388484e-01 8.66608870e-03 1.69674012e+02] [-6.55345594e-01 7.55291954e-01 -7.49777750e-03 -5.93462126e+01] [-1.14593841e-02 -1.66448066e-05 9.99934339e-01 -2.15866013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.72, Y:-59.39, Z:-2.16 [[ 7.50731319e-01 6.60550845e-01 8.66420619e-03 1.69722395e+02] [-6.60508272e-01 7.50781308e-01 -7.49995224e-03 -5.93868471e+01] [-1.14590238e-02 -9.23308195e-05 9.99934339e-01 -2.15866897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.77, Y:-59.43, Z:-2.16 [[ 7.48365010e-01 6.63230564e-01 8.66207494e-03 1.69768402e+02] [-6.63188142e-01 7.48415127e-01 -7.50241292e-03 -5.94276796e+01] [-1.14586575e-02 -1.30042073e-04 9.99934339e-01 -2.16002907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:169.81, Y:-59.47, Z:-2.16 [[ 7.49427085e-01 6.62030246e-01 8.66010755e-03 1.69813688e+02] [-6.61987718e-01 7.49477112e-01 -7.50468321e-03 -5.94719800e+01] [-1.14588797e-02 -1.08671979e-04 9.99934339e-01 -2.16231004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:-59.52, Z:-2.16 [[ 7.50157676e-01 6.61202314e-01 8.65799711e-03 1.69858695e+02] [-6.61159702e-01 7.50207632e-01 -7.50711719e-03 -5.95154624e+01] [-1.14590188e-02 -9.27972022e-05 9.99934339e-01 -2.16056055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.90, Y:-59.56, Z:-2.16 [[ 7.51891657e-01 6.59229863e-01 8.65591119e-03 1.69903552e+02] [-6.59187092e-01 7.51941477e-01 -7.50952155e-03 -5.95579377e+01] [-1.14592395e-02 -5.95183311e-05 9.99934339e-01 -2.16367217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.95, Y:-59.60, Z:-2.17 [[ 7.52653598e-01 6.58359832e-01 8.65410611e-03 1.69948287e+02] [-6.58316980e-01 7.52703348e-01 -7.51160117e-03 -5.96017368e+01] [-1.14593111e-02 -4.35113533e-05 9.99934339e-01 -2.16508829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.99, Y:-59.65, Z:-2.17 [[ 7.53607037e-01 6.57268267e-01 8.65206833e-03 1.69991879e+02] [-6.57225316e-01 7.53656702e-01 -7.51394761e-03 -5.96463298e+01] [-1.14593686e-02 -2.37945429e-05 9.99934339e-01 -2.16594158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.04, Y:-59.69, Z:-2.17 [[ 7.55686021e-01 6.54876943e-01 8.65030723e-03 1.70036380e+02] [-6.54833812e-01 7.55735529e-01 -7.51597450e-03 -5.96898260e+01] [-1.14593829e-02 1.52032116e-05 9.99934339e-01 -2.16717689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.08, Y:-59.73, Z:-2.17 [[ 7.58235649e-01 6.51923236e-01 8.64844568e-03 1.70081092e+02] [-6.51879887e-01 7.58284967e-01 -7.51811594e-03 -5.97336873e+01] [-1.14592208e-02 6.27557254e-05 9.99934339e-01 -2.16749301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.12, Y:-59.78, Z:-2.17 [[ 7.63943139e-01 6.45225634e-01 8.64648620e-03 1.70124332e+02] [-6.45181828e-01 7.63992050e-01 -7.52036883e-03 -5.97791504e+01] [-1.14581815e-02 1.66578390e-04 9.99934339e-01 -2.16628086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.17, Y:-59.82, Z:-2.17 [[ 7.68227605e-01 6.40118442e-01 8.64446628e-03 1.70169738e+02] [-6.40074284e-01 7.68276200e-01 -7.52268996e-03 -5.98231753e+01] [-1.14567503e-02 2.46037533e-04 9.99934339e-01 -2.16592472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:-59.86, Z:-2.16 [[ 7.72222139e-01 6.35293850e-01 8.64246578e-03 1.70214881e+02] [-6.35249364e-01 7.72270432e-01 -7.52498754e-03 -5.98641958e+01] [-1.14548991e-02 3.20841082e-04 9.99934339e-01 -2.16370258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:-59.91, Z:-2.16 [[ 7.72936212e-01 6.34424895e-01 8.64086784e-03 1.70262545e+02] [-6.34380334e-01 7.72984436e-01 -7.52682199e-03 -5.99053792e+01] [-1.14544596e-02 3.36156651e-04 9.99934339e-01 -2.16225820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:-59.95, Z:-2.16 [[ 7.73418929e-01 6.33836360e-01 8.63882377e-03 1.70309149e+02] [-6.33791736e-01 7.73467095e-01 -7.52916732e-03 -5.99454093e+01] [-1.14541059e-02 3.47985407e-04 9.99934339e-01 -2.16389152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.36, Y:-59.98, Z:-2.16 [[ 7.72492234e-01 6.34965473e-01 8.63693156e-03 1.70358335e+02] [-6.34920895e-01 7.72540443e-01 -7.53133730e-03 -5.99848756e+01] [-1.14545181e-02 3.34131261e-04 9.99934339e-01 -2.16259366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.41, Y:-60.02, Z:-2.16 [[ 7.70820398e-01 6.36993997e-01 8.63488312e-03 1.70408252e+02] [-6.36949520e-01 7.70868700e-01 -7.53368516e-03 -6.00228490e+01] [-1.14552734e-02 3.07133541e-04 9.99934339e-01 -2.16453952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53762799999998 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:170.46, Y:-60.06, Z:-2.17 [[ 7.67937879e-01 6.40466148e-01 8.63286079e-03 1.70457965e+02] [-6.40421863e-01 7.67986358e-01 -7.53600184e-03 -6.00607175e+01] [-1.14564734e-02 2.58508485e-04 9.99934339e-01 -2.16744662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.51, Y:-60.10, Z:-2.17 [[ 7.64201120e-01 6.44920270e-01 8.63097643e-03 1.70505336e+02] [-6.44876243e-01 7.64249833e-01 -7.53815938e-03 -6.01001610e+01] [-1.14577341e-02 1.94758183e-04 9.99934339e-01 -2.16720427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:-60.14, Z:-2.17 [[ 7.62279059e-01 6.47190988e-01 8.62908724e-03 1.70551828e+02] [-6.47147081e-01 7.62327881e-01 -7.54032135e-03 -6.01406747e+01] [-1.14582218e-02 1.63540441e-04 9.99934339e-01 -2.16838374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.717628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:170.60, Y:-60.18, Z:-2.17 [[ 7.59611872e-01 6.50319443e-01 8.62708856e-03 1.70600505e+02] [-6.50275712e-01 7.59660851e-01 -7.54260740e-03 -6.01809351e+01] [-1.14587657e-02 1.19467969e-04 9.99934339e-01 -2.17078236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.65, Y:-60.22, Z:-2.17 [[ 7.57923782e-01 6.52286096e-01 8.62496642e-03 1.70646792e+02] [-6.52242464e-01 7.57972850e-01 -7.54503329e-03 -6.02229747e+01] [-1.14590107e-02 9.29908240e-05 9.99934339e-01 -2.16819016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.69, Y:-60.27, Z:-2.17 [[ 7.57101874e-01 6.53239921e-01 8.62310937e-03 1.70692155e+02] [-6.53196327e-01 7.57150975e-01 -7.54715509e-03 -6.02660834e+01] [-1.14590987e-02 8.13819012e-05 9.99934339e-01 -2.16784627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.74, Y:-60.31, Z:-2.17 [[ 7.56755656e-01 6.53640999e-01 8.62095942e-03 1.70738636e+02] [-6.53597403e-01 7.56804756e-01 -7.54961013e-03 -6.03079044e+01] [-1.14591178e-02 7.85734810e-05 9.99934339e-01 -2.16849077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.78, Y:-60.35, Z:-2.17 [[ 7.56988291e-01 6.53371597e-01 8.61878322e-03 1.70783951e+02] [-6.53327955e-01 7.57037350e-01 -7.55209371e-03 -6.03498582e+01] [-1.14590643e-02 8.59544966e-05 9.99934339e-01 -2.17028581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:170.83, Y:-60.39, Z:-2.17 [[ 7.58560265e-01 6.51545903e-01 8.61744107e-03 1.70827893e+02] [-6.51502126e-01 7.58609203e-01 -7.55362488e-03 -6.03936804e+01] [-1.14588034e-02 1.15598512e-04 9.99934339e-01 -2.17169854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:-60.44, Z:-2.17 [[ 7.58664846e-01 6.51424150e-01 8.61556722e-03 1.70873122e+02] [-6.51380340e-01 7.58713755e-01 -7.55576156e-03 -6.04374052e+01] [-1.14587549e-02 1.20279573e-04 9.99934339e-01 -2.17068901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.92, Y:-60.48, Z:-2.17 [[ 7.58739197e-01 6.51337577e-01 8.61343565e-03 1.70917780e+02] [-6.51293735e-01 7.58788076e-01 -7.55819074e-03 -6.04801673e+01] [-1.14587059e-02 1.24818897e-04 9.99934339e-01 -2.17218891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:-60.52, Z:-2.17 [[ 7.58401409e-01 6.51730882e-01 8.61159229e-03 1.70961781e+02] [-6.51687041e-01 7.58450290e-01 -7.56029043e-03 -6.05246555e+01] [-1.14587394e-02 1.21671823e-04 9.99934339e-01 -2.17339800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.01, Y:-60.57, Z:-2.17 [[ 7.55783897e-01 6.54764518e-01 8.60972815e-03 1.71006000e+02] [-6.54720849e-01 7.55832931e-01 -7.56241273e-03 -6.05665541e+01] [-1.14591156e-02 7.85812415e-05 9.99934339e-01 -2.17149831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31762799999998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:171.05, Y:-60.61, Z:-2.17 [[ 7.54739861e-01 6.55967716e-01 8.60802447e-03 1.71051876e+02] [-6.55924103e-01 7.54788945e-01 -7.56435148e-03 -6.06077736e+01] [-1.14592121e-02 6.29068461e-05 9.99934339e-01 -2.16967092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.10, Y:-60.65, Z:-2.17 [[ 7.53377393e-01 6.57532070e-01 8.60700469e-03 1.71098379e+02] [-6.57488546e-01 7.53426556e-01 -7.56551164e-03 -6.06492373e+01] [-1.14593124e-02 4.06784387e-05 9.99934339e-01 -2.16997344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.15, Y:-60.69, Z:-2.17 [[ 7.52446086e-01 6.58597631e-01 8.60516931e-03 1.71145005e+02] [-6.58554152e-01 7.52495289e-01 -7.56759867e-03 -6.06916637e+01] [-1.14593519e-02 2.72400143e-05 9.99934339e-01 -2.16968086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.19, Y:-60.73, Z:-2.17 [[ 7.50891188e-01 6.60369905e-01 8.60305613e-03 1.71192536e+02] [-6.60326515e-01 7.50940470e-01 -7.57000023e-03 -6.07315554e+01] [-1.14593833e-02 3.42039421e-06 9.99934339e-01 -2.17208867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:-60.77, Z:-2.17 [[ 7.50010815e-01 6.61369636e-01 8.60122491e-03 1.71240043e+02] [-6.61326288e-01 7.50060134e-01 -7.57208033e-03 -6.07726828e+01] [-1.14593799e-02 -9.07400041e-06 9.99934339e-01 -2.17100393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.617628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:171.29, Y:-60.81, Z:-2.17 [[ 7.52724789e-01 6.58279157e-01 8.59903207e-03 1.71290572e+02] [-6.58235578e-01 7.52773903e-01 -7.57456975e-03 -6.08097009e+01] [-1.14593083e-02 4.13775675e-05 9.99934339e-01 -2.17243608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.677628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:171.34, Y:-60.85, Z:-2.17 [[ 7.52573607e-01 6.58452015e-01 8.59708039e-03 1.71337092e+02] [-6.58408422e-01 7.52622709e-01 -7.57678425e-03 -6.08524757e+01] [-1.14593068e-02 4.16977181e-05 9.99934339e-01 -2.17313021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.38, Y:-60.90, Z:-2.17 [[ 7.51401461e-01 6.59789340e-01 8.59483512e-03 1.71378858e+02] [-6.59745805e-01 7.51450615e-01 -7.57933035e-03 -6.08971912e+01] [-1.14593555e-02 2.47134853e-05 9.99934339e-01 -2.17473396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.42, Y:-60.94, Z:-2.18 [[ 7.52852918e-01 6.58132695e-01 8.59303428e-03 1.71424644e+02] [-6.58089028e-01 7.52901955e-01 -7.58137149e-03 -6.09388866e+01] [-1.14592608e-02 5.26760693e-05 9.99934339e-01 -2.17602970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:171.47, Y:-60.98, Z:-2.18 [[ 7.57935654e-01 6.52272748e-01 8.59106812e-03 1.71473101e+02] [-6.52228678e-01 7.57984328e-01 -7.58359885e-03 -6.09769358e+01] [-1.14584699e-02 1.44538953e-04 9.99934339e-01 -2.17656460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:171.52, Y:-61.02, Z:-2.18 [[ 7.56103938e-01 6.54395186e-01 8.58923115e-03 1.71515852e+02] [-6.54351229e-01 7.56152714e-01 -7.58567884e-03 -6.10206719e+01] [-1.14588022e-02 1.15187685e-04 9.99934339e-01 -2.17612715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.56, Y:-61.06, Z:-2.18 [[ 7.57355918e-01 6.52945840e-01 8.58739589e-03 1.71563412e+02] [-6.52901765e-01 7.57404589e-01 -7.58775589e-03 -6.10616213e+01] [-1.14585267e-02 1.39905895e-04 9.99934339e-01 -2.17644812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.61, Y:-61.10, Z:-2.18 [[ 7.57901305e-01 6.52312736e-01 8.58525294e-03 1.71610877e+02] [-6.52268593e-01 7.57949914e-01 -7.59017978e-03 -6.11033259e+01] [-1.14583627e-02 1.52716307e-04 9.99934339e-01 -2.17595070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097628 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:171.66, Y:-61.14, Z:-2.18 [[ 7.57690340e-01 6.52557797e-01 8.58310481e-03 1.71658375e+02] [-6.52513643e-01 7.57738938e-01 -7.59260814e-03 -6.11436553e+01] [-1.14583684e-02 1.52252855e-04 9.99934339e-01 -2.17801493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157628 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:171.71, Y:-61.18, Z:-2.18 [[ 7.56938189e-01 6.53430136e-01 8.58112001e-03 1.71706217e+02] [-6.53386012e-01 7.56986815e-01 -7.59485069e-03 -6.11845776e+01] [-1.14584990e-02 1.42048744e-04 9.99934339e-01 -2.17995662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.217628 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:171.76, Y:-61.22, Z:-2.18 [[ 7.58837542e-01 6.51223453e-01 8.57901480e-03 1.71757687e+02] [-6.51179161e-01 7.58886014e-01 -7.59722796e-03 -6.12218801e+01] [-1.14579874e-02 1.78586123e-04 9.99934339e-01 -2.17918032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.277628 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:171.80, Y:-61.27, Z:-2.18 [[ 7.56148966e-01 6.54343321e-01 8.57673977e-03 1.71801673e+02] [-6.54299200e-01 7.56197594e-01 -7.59979544e-03 -6.12671317e+01] [-1.14585854e-02 1.34823498e-04 9.99934339e-01 -2.17949831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.337628 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:171.85, Y:-61.30, Z:-2.18 [[ 7.57169515e-01 6.53162157e-01 8.57451232e-03 1.71853511e+02] [-6.53117932e-01 7.57218048e-01 -7.60230774e-03 -6.13028685e+01] [-1.14583152e-02 1.56067911e-04 9.99934339e-01 -2.18012969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.397628 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:171.90, Y:-61.34, Z:-2.18 [[ 7.55256824e-01 6.55372907e-01 8.57222058e-03 1.71900203e+02] [-6.55328794e-01 7.55305459e-01 -7.60489099e-03 -6.13440201e+01] [-1.14586845e-02 1.26022834e-04 9.99934339e-01 -2.18022023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.457628 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:171.95, Y:-61.39, Z:-2.18 [[ 7.52665493e-01 6.58347332e-01 8.57012318e-03 1.71945842e+02] [-6.58303384e-01 7.52714278e-01 -7.60725386e-03 -6.13865613e+01] [-1.14590694e-02 8.39763811e-05 9.99934339e-01 -2.18055704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.517628 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:171.99, Y:-61.43, Z:-2.18 [[ 7.52368165e-01 6.58687127e-01 8.56811854e-03 1.71993768e+02] [-6.58643176e-01 7.52416947e-01 -7.60951104e-03 -6.14275403e+01] [-1.14590846e-02 8.18210482e-05 9.99934339e-01 -2.18172255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577628 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:172.04, Y:-61.47, Z:-2.18 [[ 7.53733248e-01 6.57124657e-01 8.56603360e-03 1.72040647e+02] [-6.57080578e-01 7.53781914e-01 -7.61185734e-03 -6.14680221e+01] [-1.14588603e-02 1.08735643e-04 9.99934339e-01 -2.18273470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637628 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:172.09, Y:-61.51, Z:-2.18 [[ 7.57464830e-01 6.52819797e-01 8.56414446e-03 1.72090117e+02] [-6.52775417e-01 7.57513222e-01 -7.61398222e-03 -6.15072956e+01] [-1.14580110e-02 1.76860769e-04 9.99934339e-01 -2.18101839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697628 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:-61.55, Z:-2.18 [[ 7.60294064e-01 6.49522618e-01 8.56186115e-03 1.72134778e+02] [-6.49478000e-01 7.60342236e-01 -7.61654892e-03 -6.15490421e+01] [-1.14570654e-02 2.30076475e-04 9.99934339e-01 -2.18145048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75762799999998 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:-61.59, Z:-2.18 [[ 7.59712435e-01 6.50202846e-01 8.56005361e-03 1.72177398e+02] [-6.50158249e-01 7.59760626e-01 -7.61857983e-03 -6.15935345e+01] [-1.14572140e-02 2.22540379e-04 9.99934339e-01 -2.18296163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81762799999998 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:172.22, Y:-61.64, Z:-2.19 [[ 7.58460447e-01 6.51662878e-01 8.55829097e-03 1.72222522e+02] [-6.51618350e-01 7.58508703e-01 -7.62055937e-03 -6.16362734e+01] [-1.14575738e-02 2.03153421e-04 9.99934339e-01 -2.18528665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877628 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:172.27, Y:-61.68, Z:-2.19 [[ 7.57510650e-01 6.52766729e-01 8.55642744e-03 1.72268551e+02] [-6.52722248e-01 7.57558949e-01 -7.62265118e-03 -6.16781586e+01] [-1.14578113e-02 1.89268897e-04 9.99934339e-01 -2.18630655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.937628 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:172.31, Y:-61.72, Z:-2.19 [[ 7.56506612e-01 6.53930092e-01 8.55456836e-03 1.72314730e+02] [-6.53885662e-01 7.56554958e-01 -7.62473698e-03 -6.17189975e+01] [-1.14580461e-02 1.74454337e-04 9.99934339e-01 -2.18818027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.997628 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:172.36, Y:-61.76, Z:-2.19 [[ 7.55808319e-01 6.54737074e-01 8.55271083e-03 1.72359782e+02] [-6.54692672e-01 7.55856690e-01 -7.62682000e-03 -6.17600659e+01] [-1.14581855e-02 1.65016894e-04 9.99934339e-01 -2.18817943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.057628 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:172.40, Y:-61.80, Z:-2.19 [[ 7.56031042e-01 6.54479894e-01 8.55167983e-03 1.72404527e+02] [-6.54435463e-01 7.56079387e-01 -7.62797585e-03 -6.18015915e+01] [-1.14581057e-02 1.70463987e-04 9.99934339e-01 -2.18686759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.117628 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:172.45, Y:-61.84, Z:-2.18 [[ 7.56660234e-01 6.53752381e-01 8.55070305e-03 1.72450740e+02] [-6.53707891e-01 7.56708524e-01 -7.62907064e-03 -6.18447582e+01] [-1.14579130e-02 1.82952317e-04 9.99934339e-01 -2.18467204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.177628 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:172.50, Y:-61.88, Z:-2.19 [[ 7.59043941e-01 6.50983270e-01 8.54854974e-03 1.72498488e+02] [-6.50938576e-01 7.59092044e-01 -7.63148270e-03 -6.18831561e+01] [-1.14571037e-02 2.28049913e-04 9.99934339e-01 -2.18983904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.237628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:172.54, Y:-61.93, Z:-2.18 [[ 7.57819730e-01 6.52408008e-01 8.54682980e-03 1.72543271e+02] [-6.52363383e-01 7.57867896e-01 -7.63340845e-03 -6.19262916e+01] [-1.14574647e-02 2.09108732e-04 9.99934339e-01 -2.18458745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:172.59, Y:-61.97, Z:-2.18 [[ 7.56548900e-01 6.53881294e-01 8.54495143e-03 1.72589864e+02] [-6.53836739e-01 7.56597130e-01 -7.63551055e-03 -6.19681973e+01] [-1.14578032e-02 1.89633929e-04 9.99934339e-01 -2.18384392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.64, Y:-62.01, Z:-2.18 [[ 7.55276014e-01 6.55351176e-01 8.54280210e-03 1.72636308e+02] [-6.55306688e-01 7.55324306e-01 -7.63791452e-03 -6.20094705e+01] [-1.14581023e-02 1.70578281e-04 9.99934339e-01 -2.18489293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:-62.05, Z:-2.19 [[ 7.52890259e-01 6.58090657e-01 8.54081650e-03 1.72683040e+02] [-6.58046320e-01 7.52938689e-01 -7.64013420e-03 -6.20500701e+01] [-1.14586121e-02 1.31929750e-04 9.99934339e-01 -2.18741806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.73, Y:-62.09, Z:-2.19 [[ 7.50728572e-01 6.60555597e-01 8.53897399e-03 1.72730183e+02] [-6.60511395e-01 7.50777127e-01 -7.64219292e-03 -6.20909618e+01] [-1.14589597e-02 9.71229499e-05 9.99934339e-01 -2.18866897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.78, Y:-62.13, Z:-2.19 [[ 7.49135023e-01 6.62362314e-01 8.53707477e-03 1.72777905e+02] [-6.62318205e-01 7.49183662e-01 -7.64431395e-03 -6.21322984e+01] [-1.14591424e-02 7.23632745e-05 9.99934339e-01 -2.19026036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.82, Y:-62.17, Z:-2.19 [[ 7.47802655e-01 6.63866210e-01 8.53493265e-03 1.72824912e+02] [-6.63822171e-01 7.47851357e-01 -7.64670489e-03 -6.21725022e+01] [-1.14592500e-02 5.25486923e-05 9.99934339e-01 -2.19041657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:-62.21, Z:-2.19 [[ 7.48356767e-01 6.63241537e-01 8.53305395e-03 1.72871228e+02] [-6.63197434e-01 7.48405411e-01 -7.64880078e-03 -6.22144869e+01] [-1.14591861e-02 6.49323322e-05 9.99934339e-01 -2.18976293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:-62.26, Z:-2.19 [[ 7.50624011e-01 6.60674518e-01 8.53090377e-03 1.72916640e+02] [-6.60630221e-01 7.50672479e-01 -7.65119818e-03 -6.22557830e+01] [-1.14588663e-02 1.07400219e-04 9.99934339e-01 -2.18995372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.96, Y:-62.30, Z:-2.19 [[ 7.52305770e-01 6.58758895e-01 8.52918848e-03 1.72963143e+02] [-6.58714453e-01 7.52354105e-01 -7.65310983e-03 -6.22982005e+01] [-1.14585241e-02 1.39178959e-04 9.99934339e-01 -2.19059695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:-62.34, Z:-2.19 [[ 7.54215424e-01 6.56571689e-01 8.52708508e-03 1.73009383e+02] [-6.56527080e-01 7.54263606e-01 -7.65545271e-03 -6.23409897e+01] [-1.14580235e-02 1.75598240e-04 9.99934339e-01 -2.19164260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:-62.38, Z:-2.19 [[ 7.57238046e-01 6.53083353e-01 8.52500659e-03 1.73055562e+02] [-6.53038497e-01 7.57285996e-01 -7.65776659e-03 -6.23830314e+01] [-1.14570280e-02 2.31594714e-04 9.99934339e-01 -2.19424940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.10, Y:-62.43, Z:-2.20 [[ 7.59622210e-01 6.50308737e-01 8.52316590e-03 1.73100846e+02] [-6.50263683e-01 7.59669974e-01 -7.65981475e-03 -6.24251504e+01] [-1.14560377e-02 2.76260159e-04 9.99934339e-01 -2.19553940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.15, Y:-62.47, Z:-2.19 [[ 7.60290704e-01 6.49527085e-01 8.52122096e-03 1.73146915e+02] [-6.49481957e-01 7.60338399e-01 -7.66197780e-03 -6.24674682e+01] [-1.14556736e-02 2.90951236e-04 9.99934339e-01 -2.19380681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.19, Y:-62.51, Z:-2.19 [[ 7.58786061e-01 6.51284220e-01 8.51935684e-03 1.73192780e+02] [-6.51239179e-01 7.58833838e-01 -7.66404995e-03 -6.25073504e+01] [-1.14562510e-02 2.67235314e-04 9.99934339e-01 -2.19284331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:-62.55, Z:-2.19 [[ 7.56196897e-01 6.54288699e-01 8.51765095e-03 1.73240931e+02] [-6.54243827e-01 7.56244833e-01 -7.66594538e-03 -6.25485460e+01] [-1.14571710e-02 2.24343551e-04 9.99934339e-01 -2.19358612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:-62.59, Z:-2.20 [[ 7.52469531e-01 6.58572008e-01 8.51557011e-03 1.73288033e+02] [-6.58527382e-01 7.52517697e-01 -7.66825615e-03 -6.25882594e+01] [-1.14582161e-02 1.62393016e-04 9.99934339e-01 -2.19502357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.34, Y:-62.63, Z:-2.20 [[ 7.49904800e-01 6.61490974e-01 8.51364905e-03 1.73335551e+02] [-6.61446513e-01 7.49953116e-01 -7.67038840e-03 -6.26295906e+01] [-1.14587303e-02 1.20737606e-04 9.99934339e-01 -2.19631145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.39, Y:-62.67, Z:-2.20 [[ 7.49502239e-01 6.61947087e-01 8.51162888e-03 1.73386866e+02] [-6.61902629e-01 7.49550559e-01 -7.67262948e-03 -6.26650362e+01] [-1.14587709e-02 1.16783438e-04 9.99934339e-01 -2.20051982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.43, Y:-62.71, Z:-2.20 [[ 7.45248650e-01 6.66732354e-01 8.50988596e-03 1.73429874e+02] [-6.66688184e-01 7.45297234e-01 -7.67456210e-03 -6.27120942e+01] [-1.14592733e-02 4.60166331e-05 9.99934339e-01 -2.19542704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.48, Y:-62.75, Z:-2.19 [[ 7.44540416e-01 6.67523171e-01 8.50792673e-03 1.73475322e+02] [-6.67479028e-01 7.44589024e-01 -7.67673346e-03 -6.27539426e+01] [-1.14593063e-02 3.67756577e-05 9.99934339e-01 -2.19443094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.52, Y:-62.80, Z:-2.19 [[ 7.44860699e-01 6.67165777e-01 8.50670952e-03 1.73521606e+02] [-6.67121596e-01 7.44909272e-01 -7.67808204e-03 -6.27958435e+01] [-1.14592804e-02 4.40919272e-05 9.99934339e-01 -2.19496380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.57, Y:-62.84, Z:-2.20 [[ 7.46246683e-01 6.65615173e-01 8.50474983e-03 1.73567531e+02] [-6.65570865e-01 7.46295141e-01 -7.68025210e-03 -6.28374776e+01] [-1.14591458e-02 7.08489448e-05 9.99934339e-01 -2.19629820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.61, Y:-62.88, Z:-2.20 [[ 7.47090059e-01 6.64668438e-01 8.50353939e-03 1.73613860e+02] [-6.64624054e-01 7.47138447e-01 -7.68159206e-03 -6.28799209e+01] [-1.14590330e-02 8.71842422e-05 9.99934339e-01 -2.19865239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.66, Y:-62.92, Z:-2.20 [[ 7.48620652e-01 6.62944071e-01 8.50163595e-03 1.73659747e+02] [-6.62899552e-01 7.48668915e-01 -7.68369813e-03 -6.29221263e+01] [-1.14587727e-02 1.16444439e-04 9.99934339e-01 -2.20287015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.71, Y:-62.96, Z:-2.20 [[ 7.48929584e-01 6.62595072e-01 8.49999175e-03 1.73705775e+02] [-6.62550509e-01 7.48977807e-01 -7.68551657e-03 -6.29644545e+01] [-1.14586906e-02 1.24236865e-04 9.99934339e-01 -2.20473289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.75, Y:-63.01, Z:-2.21 [[ 7.51280265e-01 6.59928589e-01 8.49835512e-03 1.73749439e+02] [-6.59883835e-01 7.51328310e-01 -7.68732587e-03 -6.30066688e+01] [-1.14581409e-02 1.67409052e-04 9.99934339e-01 -2.20752984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.79, Y:-63.05, Z:-2.21 [[ 7.53974938e-01 6.56848229e-01 8.49685584e-03 1.73794500e+02] [-6.56803260e-01 7.54022783e-01 -7.68898267e-03 -6.30504529e+01] [-1.14573175e-02 2.16537615e-04 9.99934339e-01 -2.20747602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:-63.09, Z:-2.21 [[ 7.60454522e-01 6.49335626e-01 8.49500648e-03 1.73838231e+02] [-6.49290162e-01 7.60501896e-01 -7.69102537e-03 -6.30931663e+01] [-1.14545253e-02 3.32950884e-04 9.99934339e-01 -2.20599048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:-63.14, Z:-2.20 [[ 7.65888828e-01 6.42916917e-01 8.49352631e-03 1.73883142e+02] [-6.42871038e-01 7.65935801e-01 -7.69265963e-03 -6.31362240e+01] [-1.14512369e-02 4.31479990e-04 9.99934339e-01 -2.20324032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.93, Y:-63.18, Z:-2.20 [[ 7.74044056e-01 6.33074789e-01 8.49180831e-03 1.73927388e+02] [-6.33028293e-01 7.74090418e-01 -7.69455564e-03 -6.31797718e+01] [-1.14446566e-02 5.80370143e-04 9.99934339e-01 -2.20119286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.97, Y:-63.22, Z:-2.20 [[ 7.79104067e-01 6.26837118e-01 8.48999054e-03 1.73974092e+02] [-6.26790229e-01 7.79150032e-01 -7.69656080e-03 -6.32205053e+01] [-1.14394664e-02 6.74978716e-04 9.99934339e-01 -2.20056406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.02, Y:-63.26, Z:-2.20 [[ 7.79055823e-01 6.26897092e-01 8.48880326e-03 1.74022955e+02] [-6.26850193e-01 7.79101777e-01 -7.69787007e-03 -6.32600003e+01] [-1.14394141e-02 6.75862548e-04 9.99934339e-01 -2.20354673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.217628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:174.07, Y:-63.30, Z:-2.21 [[ 7.76940132e-01 6.29517278e-01 8.48693379e-03 1.74071906e+02] [-6.29470511e-01 7.76986221e-01 -7.69993061e-03 -6.32988339e+01] [-1.14414700e-02 6.40110557e-04 9.99934339e-01 -2.20903615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.12, Y:-63.34, Z:-2.21 [[ 7.70502435e-01 6.37380576e-01 8.48518648e-03 1.74122942e+02] [-6.37334259e-01 7.70548976e-01 -7.70185564e-03 -6.33367057e+01] [-1.14472649e-02 5.26398492e-04 9.99934339e-01 -2.20500977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.17, Y:-63.37, Z:-2.21 [[ 7.66611837e-01 6.42054772e-01 8.48296947e-03 1.74171815e+02] [-6.42008712e-01 7.66658632e-01 -7.70429672e-03 -6.33732847e+01] [-1.14501222e-02 4.60064760e-04 9.99934339e-01 -2.20601085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:-63.41, Z:-2.20 [[ 7.61858551e-01 6.47687902e-01 8.48119591e-03 1.74223713e+02] [-6.47642166e-01 7.61905663e-01 -7.70624863e-03 -6.34102937e+01] [-1.14531152e-02 3.78291328e-04 9.99934339e-01 -2.20396948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.27, Y:-63.45, Z:-2.20 [[ 7.59803310e-01 6.50097714e-01 8.47897458e-03 1.74273194e+02] [-6.50052100e-01 7.59850540e-01 -7.70869192e-03 -6.34490537e+01] [-1.14541564e-02 3.45314404e-04 9.99934339e-01 -2.20416078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.32, Y:-63.49, Z:-2.20 [[ 7.60083723e-01 6.49769866e-01 8.47678326e-03 1.74324075e+02] [-6.49724205e-01 7.60130907e-01 -7.71110083e-03 -6.34858784e+01] [-1.14539059e-02 3.53510965e-04 9.99934339e-01 -2.20481737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.37, Y:-63.53, Z:-2.21 [[ 7.61738794e-01 6.47828818e-01 8.47543303e-03 1.74373160e+02] [-6.47783020e-01 7.61785846e-01 -7.71258462e-03 -6.35255404e+01] [-1.14528995e-02 3.84733296e-04 9.99934339e-01 -2.20621827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.43, Y:-63.56, Z:-2.21 [[ 7.66800848e-01 6.41829154e-01 8.47326309e-03 1.74425276e+02] [-6.41782962e-01 7.66847513e-01 -7.71496784e-03 -6.35611309e+01] [-1.14493920e-02 4.77848003e-04 9.99934339e-01 -2.21126226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.47, Y:-63.60, Z:-2.21 [[ 7.66679728e-01 6.41973860e-01 8.47099381e-03 1.74470173e+02] [-6.41927649e-01 7.66726375e-01 -7.71745869e-03 -6.36030904e+01] [-1.14493411e-02 4.79053995e-04 9.99934339e-01 -2.21011385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.52, Y:-63.64, Z:-2.21 [[ 7.68021575e-01 6.40367967e-01 8.46918580e-03 1.74518578e+02] [-6.40321638e-01 7.68068103e-01 -7.71944230e-03 -6.36435613e+01] [-1.14481950e-02 5.05695315e-04 9.99934339e-01 -2.21096508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-63.68, Z:-2.21 [[ 7.70592202e-01 6.37272287e-01 8.46702894e-03 1.74567532e+02] [-6.37225745e-01 7.70638517e-01 -7.72180731e-03 -6.36829807e+01] [-1.14459124e-02 5.54955671e-04 9.99934339e-01 -2.21081942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:174.62, Y:-63.72, Z:-2.21 [[ 7.73367410e-01 6.33901566e-01 8.46483687e-03 1.74616127e+02] [-6.33854796e-01 7.73413495e-01 -7.72420957e-03 -6.37228636e+01] [-1.14432076e-02 6.08174500e-04 9.99934339e-01 -2.21429771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.66, Y:-63.76, Z:-2.21 [[ 7.76846803e-01 6.29632773e-01 8.46264005e-03 1.74664995e+02] [-6.29585724e-01 7.76892603e-01 -7.72661566e-03 -6.37622952e+01] [-1.14394929e-02 6.74439306e-04 9.99934339e-01 -2.21267360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.71, Y:-63.80, Z:-2.21 [[ 7.78946662e-01 6.27033108e-01 8.46045442e-03 1.74714794e+02] [-6.26985880e-01 7.78992278e-01 -7.72900813e-03 -6.37991645e+01] [-1.14369726e-02 7.15899626e-04 9.99934339e-01 -2.21390350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.76, Y:-63.84, Z:-2.21 [[ 7.77684248e-01 6.28598174e-01 8.45843981e-03 1.74764889e+02] [-6.28551014e-01 7.77729935e-01 -7.73121224e-03 -6.38378639e+01] [-1.14382077e-02 6.95881054e-04 9.99934339e-01 -2.21463249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:-63.87, Z:-2.21 [[ 7.73564461e-01 6.33661199e-01 8.45629399e-03 1.74817095e+02] [-6.33614313e-01 7.73610428e-01 -7.73355860e-03 -6.38735816e+01] [-1.14423332e-02 6.24377192e-04 9.99934339e-01 -2.21404842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.177628 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:-63.91, Z:-2.22 [[ 7.69416495e-01 6.38691464e-01 8.45407947e-03 1.74868451e+02] [-6.38644852e-01 7.69462740e-01 -7.73597868e-03 -6.39113178e+01] [-1.14460027e-02 5.53035270e-04 9.99934339e-01 -2.21726529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:-63.95, Z:-2.22 [[ 7.61784970e-01 6.47774827e-01 8.45188040e-03 1.74920239e+02] [-6.47728740e-01 7.61831738e-01 -7.73838051e-03 -6.39470853e+01] [-1.14516388e-02 4.20456124e-04 9.99934339e-01 -2.21610136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.97, Y:-63.99, Z:-2.22 [[ 7.56852542e-01 6.53531047e-01 8.44984668e-03 1.74968850e+02] [-6.53485291e-01 7.56899635e-01 -7.74060057e-03 -6.39866016e+01] [-1.14544087e-02 3.36642705e-04 9.99934339e-01 -2.21666891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.02, Y:-64.03, Z:-2.22 [[ 7.51167794e-01 6.60057257e-01 8.44769773e-03 1.75017575e+02] [-6.60011884e-01 7.51215255e-01 -7.74294512e-03 -6.40259932e+01] [-1.14568265e-02 2.40670110e-04 9.99934339e-01 -2.21723239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.06, Y:-64.07, Z:-2.22 [[ 7.48936231e-01 6.62588255e-01 8.44546721e-03 1.75064355e+02] [-6.62543016e-01 7.48983819e-01 -7.74537725e-03 -6.40670500e+01] [-1.14575143e-02 2.05308329e-04 9.99934339e-01 -2.21775465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.11, Y:-64.11, Z:-2.22 [[ 7.48940774e-01 6.62583138e-01 8.44409073e-03 1.75111135e+02] [-6.62537881e-01 7.48988346e-01 -7.74687762e-03 -6.41072863e+01] [-1.14574760e-02 2.07422540e-04 9.99934339e-01 -2.21571514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.15, Y:-64.15, Z:-2.22 [[ 7.50647853e-01 6.60648570e-01 8.44204480e-03 1.75153856e+02] [-6.60603166e-01 7.50695284e-01 -7.74910650e-03 -6.41505881e+01] [-1.14568393e-02 2.40008637e-04 9.99934339e-01 -2.22197064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.20, Y:-64.19, Z:-2.22 [[ 7.53801848e-01 6.57047591e-01 8.44018365e-03 1.75199301e+02] [-6.57001937e-01 7.53849039e-01 -7.75113309e-03 -6.41943076e+01] [-1.14554877e-02 2.97601435e-04 9.99934339e-01 -2.22319030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.25, Y:-64.24, Z:-2.22 [[ 7.55630792e-01 6.54943437e-01 8.43797863e-03 1.75245516e+02] [-6.54897625e-01 7.55677830e-01 -7.75353276e-03 -6.42376275e+01] [-1.14545188e-02 3.32795939e-04 9.99934339e-01 -2.22437219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:-64.28, Z:-2.23 [[ 7.61689949e-01 6.47886764e-01 8.43578780e-03 1.75288543e+02] [-6.47840490e-01 7.61736533e-01 -7.75591563e-03 -6.42841467e+01] [-1.14508028e-02 4.42558082e-04 9.99934339e-01 -2.22565226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.33, Y:-64.33, Z:-2.23 [[ 7.65012502e-01 6.43960205e-01 8.43360753e-03 1.75332064e+02] [-6.43913667e-01 7.65058821e-01 -7.75828569e-03 -6.43292959e+01] [-1.14482331e-02 5.04670396e-04 9.99934339e-01 -2.22690920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.38, Y:-64.37, Z:-2.23 [[ 7.66026426e-01 6.42753783e-01 8.43143747e-03 1.75377318e+02] [-6.42707145e-01 7.66072646e-01 -7.76064332e-03 -6.43726704e+01] [-1.14472765e-02 5.25912770e-04 9.99934339e-01 -2.22919033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.42, Y:-64.42, Z:-2.23 [[ 7.64100718e-01 6.45041891e-01 8.42927253e-03 1.75421968e+02] [-6.44995366e-01 7.64147050e-01 -7.76299408e-03 -6.44163867e+01] [-1.14486601e-02 4.94867630e-04 9.99934339e-01 -2.22963069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.957628 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:175.47, Y:-64.46, Z:-2.23 [[ 7.61664460e-01 6.47916843e-01 8.42706058e-03 1.75465560e+02] [-6.47870466e-01 7.61710941e-01 -7.76539450e-03 -6.44610841e+01] [-1.14503141e-02 4.54981344e-04 9.99934339e-01 -2.23143508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.017628 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:175.51, Y:-64.50, Z:-2.23 [[ 7.59096307e-01 6.50923817e-01 8.42501751e-03 1.75510570e+02] [-6.50877600e-01 7.59142947e-01 -7.76761049e-03 -6.45045884e+01] [-1.14519153e-02 4.12709265e-04 9.99934339e-01 -2.23022710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.56, Y:-64.55, Z:-2.23 [[ 7.54056072e-01 6.56756040e-01 8.42286347e-03 1.75555154e+02] [-6.56710157e-01 7.54103041e-01 -7.76994553e-03 -6.45472178e+01] [-1.14546656e-02 3.27594613e-04 9.99934340e-01 -2.22715211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.60, Y:-64.59, Z:-2.23 [[ 7.51230332e-01 6.59986410e-01 8.42180270e-03 1.75599271e+02] [-6.59940717e-01 7.51277486e-01 -7.77109511e-03 -6.45904683e+01] [-1.14559279e-02 2.79991854e-04 9.99934340e-01 -2.22668969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:-64.63, Z:-2.22 [[ 7.48472019e-01 6.63112920e-01 8.41977174e-03 1.75643831e+02] [-6.63067399e-01 7.48519339e-01 -7.77329498e-03 -6.46339825e+01] [-1.14569343e-02 2.35217641e-04 9.99934340e-01 -2.22285456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.69, Y:-64.68, Z:-2.23 [[ 7.42787747e-01 6.69474050e-01 8.41771737e-03 1.75687049e+02] [-6.69428910e-01 7.42835430e-01 -7.77551904e-03 -6.46779686e+01] [-1.14584869e-02 1.40496909e-04 9.99934340e-01 -2.22837578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.73, Y:-64.72, Z:-2.23 [[ 7.39271997e-01 6.73354359e-01 8.41553982e-03 1.75730666e+02] [-6.73309442e-01 7.39319890e-01 -7.77787510e-03 -6.47214725e+01] [-1.14590421e-02 8.37028332e-05 9.99934340e-01 -2.23081565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.77, Y:-64.77, Z:-2.23 [[ 7.35652244e-01 6.77307160e-01 8.41348521e-03 1.75773431e+02] [-6.77262475e-01 7.35700354e-01 -7.78009698e-03 -6.47684131e+01] [-1.14593194e-02 2.53079880e-05 9.99934340e-01 -2.23211982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.81, Y:-64.82, Z:-2.23 [[ 7.34375323e-01 6.78691488e-01 8.41118180e-03 1.75812976e+02] [-6.78646865e-01 7.34423491e-01 -7.78258644e-03 -6.48163438e+01] [-1.14593447e-02 7.11727564e-06 9.99934340e-01 -2.23254531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.86, Y:-64.86, Z:-2.23 [[ 7.34563280e-01 6.78488080e-01 8.40905580e-03 1.75855391e+02] [-6.78443418e-01 7.34611411e-01 -7.78488290e-03 -6.48638104e+01] [-1.14593386e-02 1.34205649e-05 9.99934340e-01 -2.23348303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.89, Y:-64.91, Z:-2.23 [[ 7.35360758e-01 6.77623701e-01 8.40683378e-03 1.75893732e+02] [-6.77578955e-01 7.35408811e-01 -7.78728170e-03 -6.49148150e+01] [-1.14593063e-02 3.01677282e-05 9.99934340e-01 -2.23447061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.93, Y:-64.96, Z:-2.24 [[ 7.35700906e-01 6.77254412e-01 8.40462204e-03 1.75934143e+02] [-6.77209614e-01 7.35748910e-01 -7.78966805e-03 -6.49625796e+01] [-1.14592786e-02 3.91749930e-05 9.99934340e-01 -2.23517455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.97, Y:-65.01, Z:-2.24 [[ 7.35383127e-01 6.77599478e-01 8.40257936e-03 1.75972756e+02] [-6.77554678e-01 7.35431129e-01 -7.79187083e-03 -6.50130222e+01] [-1.14592860e-02 3.68033857e-05 9.99934340e-01 -2.23501071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.01, Y:-65.06, Z:-2.24 [[ 7.35502883e-01 6.77469515e-01 8.40037473e-03 1.76013657e+02] [-6.77424678e-01 7.35550851e-01 -7.79424690e-03 -6.50604113e+01] [-1.14592675e-02 4.20699097e-05 9.99934340e-01 -2.23603391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.05, Y:-65.11, Z:-2.24 [[ 7.38166272e-01 6.74566545e-01 8.39833996e-03 1.76051576e+02] [-6.74521495e-01 7.38214040e-01 -7.79643876e-03 -6.51103004e+01] [-1.14589892e-02 9.02073154e-05 9.99934340e-01 -2.23762722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.09, Y:-65.16, Z:-2.24 [[ 7.41799550e-01 6.70569107e-01 8.39639582e-03 1.76092160e+02] [-6.70523776e-01 7.41847052e-01 -7.79853195e-03 -6.51588380e+01] [-1.14582961e-02 1.54964463e-04 9.99934340e-01 -2.23926994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:-65.21, Z:-2.24 [[ 7.47945387e-01 6.63707192e-01 8.39420651e-03 1.76128844e+02] [-6.63661398e-01 7.47992443e-01 -7.80088777e-03 -6.52107778e+01] [-1.14563083e-02 2.63727188e-04 9.99934340e-01 -2.23797066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.17, Y:-65.25, Z:-2.23 [[ 7.47513462e-01 6.64193642e-01 8.39218612e-03 1.76171759e+02] [-6.64147856e-01 7.47560525e-01 -7.80306070e-03 -6.52536929e+01] [-1.14564104e-02 2.59240506e-04 9.99934340e-01 -2.23490208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03762799999998 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:176.22, Y:-65.30, Z:-2.24 [[ 7.45799586e-01 6.66117530e-01 8.39126209e-03 1.76217647e+02] [-6.66071853e-01 7.45846756e-01 -7.80405425e-03 -6.52963383e+01] [-1.14570130e-02 2.31076941e-04 9.99934340e-01 -2.23740881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:176.26, Y:-65.34, Z:-2.24 [[ 7.43445902e-01 6.68743459e-01 8.38915248e-03 1.76263142e+02] [-6.68697923e-01 7.43493207e-01 -7.80632137e-03 -6.53373388e+01] [-1.14577042e-02 1.93768784e-04 9.99934340e-01 -2.24106915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.157628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:176.31, Y:-65.38, Z:-2.24 [[ 7.43165708e-01 6.69054842e-01 8.38746535e-03 1.76310214e+02] [-6.69009306e-01 7.43213013e-01 -7.80813368e-03 -6.53789607e+01] [-1.14577430e-02 1.91444819e-04 9.99934340e-01 -2.24288607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.217628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:-65.42, Z:-2.24 [[ 7.45833657e-01 6.66079454e-01 8.38545489e-03 1.76357573e+02] [-6.66033705e-01 7.45880756e-01 -7.81029219e-03 -6.54209018e+01] [-1.14568246e-02 2.40183199e-04 9.99934340e-01 -2.24269755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.40, Y:-65.46, Z:-2.24 [[ 7.52279148e-01 6.58791169e-01 8.38327107e-03 1.76404044e+02] [-6.58744937e-01 7.52325774e-01 -7.81263552e-03 -6.54635632e+01] [-1.14538462e-02 3.54845424e-04 9.99934340e-01 -2.24067995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.45, Y:-65.51, Z:-2.24 [[ 7.57076700e-01 6.53272246e-01 8.38107702e-03 1.76451368e+02] [-6.53225649e-01 7.57122961e-01 -7.81498850e-03 -6.55051931e+01] [-1.14508209e-02 4.41811237e-04 9.99934340e-01 -2.24086022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.397628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:176.50, Y:-65.55, Z:-2.24 [[ 7.58720137e-01 6.51362840e-01 8.37884225e-03 1.76498795e+02] [-6.51316100e-01 7.58766253e-01 -7.81738377e-03 -6.55465679e+01] [-1.14495360e-02 4.73931623e-04 9.99934340e-01 -2.24411772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.55, Y:-65.59, Z:-2.24 [[ 7.57569104e-01 6.52701222e-01 8.37657644e-03 1.76545641e+02] [-6.52654537e-01 7.57615276e-01 -7.81981091e-03 -6.55868236e+01] [-1.14502224e-02 4.57036535e-04 9.99934340e-01 -2.24361912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.59, Y:-65.63, Z:-2.24 [[ 7.53886199e-01 6.56951647e-01 8.37448679e-03 1.76594064e+02] [-6.56905198e-01 7.53932608e-01 -7.82204814e-03 -6.56274147e+01] [-1.14525061e-02 3.95690248e-04 9.99934340e-01 -2.24290509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.64, Y:-65.67, Z:-2.24 [[ 7.52114454e-01 6.58979327e-01 8.37227418e-03 1.76639923e+02] [-6.58932977e-01 7.52160961e-01 -7.82441568e-03 -6.56687072e+01] [-1.14534260e-02 3.68088580e-04 9.99934340e-01 -2.24374041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.69, Y:-65.71, Z:-2.24 [[ 7.47920365e-01 6.63735691e-01 8.37022929e-03 1.76686862e+02] [-6.63689612e-01 7.47967141e-01 -7.82660261e-03 -6.57091864e+01] [-1.14554520e-02 2.98441253e-04 9.99934340e-01 -2.24152611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:176.73, Y:-65.75, Z:-2.24 [[ 7.45992604e-01 6.65901649e-01 8.36835255e-03 1.76733844e+02] [-6.65855683e-01 7.46039491e-01 -7.82860874e-03 -6.57516915e+01] [-1.14562049e-02 2.67969122e-04 9.99934340e-01 -2.24470245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.78, Y:-65.79, Z:-2.24 [[ 7.43086051e-01 6.69143580e-01 8.36606389e-03 1.76780143e+02] [-6.69097791e-01 7.43133111e-01 -7.83105375e-03 -6.57945637e+01] [-1.14571984e-02 2.21431937e-04 9.99934340e-01 -2.24284304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.83, Y:-65.84, Z:-2.25 [[ 7.39781003e-01 6.72795745e-01 8.36380801e-03 1.76826355e+02] [-6.72750161e-01 7.39828262e-01 -7.83346237e-03 -6.58363035e+01] [-1.14581017e-02 1.68293456e-04 9.99934340e-01 -2.24511204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.87, Y:-65.88, Z:-2.24 [[ 7.37140206e-01 6.75688093e-01 8.36172372e-03 1.76870942e+02] [-6.75642669e-01 7.37187619e-01 -7.83568658e-03 -6.58800745e+01] [-1.14586393e-02 1.26462285e-04 9.99934340e-01 -2.24465757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.92, Y:-65.92, Z:-2.25 [[ 7.35883146e-01 6.77056951e-01 8.35952855e-03 1.76915395e+02] [-6.77011589e-01 7.35930618e-01 -7.83802781e-03 -6.59241086e+01] [-1.14588242e-02 1.08374854e-04 9.99934340e-01 -2.24553195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.96, Y:-65.97, Z:-2.25 [[ 7.36793385e-01 6.76066315e-01 8.35733697e-03 1.76960406e+02] [-6.76020863e-01 7.36840771e-01 -7.84036389e-03 -6.59675219e+01] [-1.14586325e-02 1.26994099e-04 9.99934340e-01 -2.25122189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.00, Y:-66.01, Z:-2.25 [[ 7.34030197e-01 6.79065434e-01 8.35504606e-03 1.77000709e+02] [-6.79020147e-01 7.34077741e-01 -7.84280443e-03 -6.60145716e+01] [-1.14590307e-02 8.36106788e-05 9.99934340e-01 -2.24811519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.04, Y:-66.06, Z:-2.25 [[ 7.32866234e-01 6.80321475e-01 8.35306338e-03 1.77042931e+02] [-6.80276246e-01 7.32913833e-01 -7.84491553e-03 -6.60602796e+01] [-1.14591402e-02 6.68831068e-05 9.99934340e-01 -2.24992887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.09, Y:-66.11, Z:-2.25 [[ 7.32634333e-01 6.80571227e-01 8.35099795e-03 1.77085225e+02] [-6.80525990e-01 7.32681923e-01 -7.84711359e-03 -6.61053332e+01] [-1.14591450e-02 6.59936887e-05 9.99934340e-01 -2.25060403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:-66.15, Z:-2.25 [[ 7.33221321e-01 6.79938813e-01 8.34896874e-03 1.77127569e+02] [-6.79893510e-01 7.33268849e-01 -7.84927199e-03 -6.61518755e+01] [-1.14590634e-02 7.88439167e-05 9.99934340e-01 -2.25057812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.17, Y:-66.19, Z:-2.25 [[ 7.32937348e-01 6.80244937e-01 8.34685903e-03 1.77173746e+02] [-6.80199628e-01 7.32984870e-01 -7.85151480e-03 -6.61939730e+01] [-1.14590746e-02 7.71380255e-05 9.99934340e-01 -2.24962507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.22, Y:-66.24, Z:-2.25 [[ 7.34375324e-01 6.78692309e-01 8.34465943e-03 1.77220233e+02] [-6.78646873e-01 7.34422725e-01 -7.85385186e-03 -6.62359807e+01] [-1.14588564e-02 1.04597969e-04 9.99934340e-01 -2.25084629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.27, Y:-66.28, Z:-2.25 [[ 7.35760744e-01 6.77190174e-01 8.34242383e-03 1.77265950e+02] [-6.77144614e-01 7.35808026e-01 -7.85622581e-03 -6.62788556e+01] [-1.14585813e-02 1.31275179e-04 9.99934340e-01 -2.25153325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.31, Y:-66.32, Z:-2.26 [[ 7.40099391e-01 6.72445784e-01 8.34017923e-03 1.77313714e+02] [-6.72399895e-01 7.40146353e-01 -7.85860796e-03 -6.63203133e+01] [-1.14574410e-02 2.08215331e-04 9.99934340e-01 -2.25510636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.36, Y:-66.36, Z:-2.26 [[ 7.44291244e-01 6.67803132e-01 8.33795928e-03 1.77360618e+02] [-6.67756923e-01 7.44337892e-01 -7.86096262e-03 -6.63626071e+01] [-1.14558345e-02 2.83115617e-04 9.99934340e-01 -2.25700882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.41, Y:-66.40, Z:-2.26 [[ 7.50360519e-01 6.60976252e-01 8.33576768e-03 1.77407350e+02] [-6.60929593e-01 7.50406717e-01 -7.86328590e-03 -6.64040278e+01] [-1.14526613e-02 3.90943750e-04 9.99934340e-01 -2.25776279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:-66.45, Z:-2.26 [[ 7.52679486e-01 6.58334371e-01 8.33352468e-03 1.77454222e+02] [-6.58287524e-01 7.52725493e-01 -7.86566232e-03 -6.64457431e+01] [-1.14510923e-02 4.34467350e-04 9.99934340e-01 -2.25920309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.50, Y:-66.49, Z:-2.26 [[ 7.52272866e-01 6.58799002e-01 8.33125002e-03 1.77501169e+02] [-6.58752157e-01 7.52318875e-01 -7.86807088e-03 -6.64869375e+01] [-1.14512339e-02 4.30707320e-04 9.99934340e-01 -2.26108504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.55, Y:-66.53, Z:-2.26 [[ 7.49021579e-01 6.62493246e-01 8.32900926e-03 1.77548416e+02] [-6.62446602e-01 7.49067791e-01 -7.87044220e-03 -6.65270652e+01] [-1.14531074e-02 3.77607163e-04 9.99934340e-01 -2.26232913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:-66.57, Z:-2.27 [[ 7.40223682e-01 6.72309118e-01 8.32762929e-03 1.77597300e+02] [-6.72263071e-01 7.40270489e-01 -7.87190206e-03 -6.65675257e+01] [-1.14570497e-02 2.28610686e-04 9.99934340e-01 -2.26576913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.64, Y:-66.61, Z:-2.27 [[ 7.34812295e-01 6.78219418e-01 8.32539242e-03 1.77643093e+02] [-6.78173720e-01 7.34859443e-01 -7.87426709e-03 -6.66105432e+01] [-1.14584741e-02 1.40045920e-04 9.99934340e-01 -2.26536821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:-66.65, Z:-2.27 [[ 7.29330858e-01 6.84110537e-01 8.32304332e-03 1.77687261e+02] [-6.84065192e-01 7.29378345e-01 -7.87674928e-03 -6.66544664e+01] [-1.14592147e-02 5.12520875e-05 9.99934340e-01 -2.26778284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.73, Y:-66.70, Z:-2.27 [[ 7.27814936e-01 6.85723109e-01 8.32088010e-03 1.77732148e+02] [-6.85677842e-01 7.27862499e-01 -7.87903382e-03 -6.66982077e+01] [-1.14592921e-02 2.90353849e-05 9.99934340e-01 -2.26836229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.78, Y:-66.74, Z:-2.27 [[ 7.27745440e-01 6.85796890e-01 8.31862703e-03 1.77775046e+02] [-6.85751601e-01 7.27792982e-01 -7.88141187e-03 -6.67441069e+01] [-1.14592861e-02 3.11497474e-05 9.99934340e-01 -2.26926769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.82, Y:-66.79, Z:-2.27 [[ 7.29816948e-01 6.83592027e-01 8.31640772e-03 1.77816826e+02] [-6.83546568e-01 7.29864327e-01 -7.88375297e-03 -6.67910363e+01] [-1.14591200e-02 6.90445735e-05 9.99934340e-01 -2.27117561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:-66.84, Z:-2.27 [[ 7.30096772e-01 6.83293186e-01 8.31418612e-03 1.77861537e+02] [-6.83247680e-01 7.30144107e-01 -7.88609517e-03 -6.68350898e+01] [-1.14590691e-02 7.69642514e-05 9.99934340e-01 -2.27165982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.91, Y:-66.88, Z:-2.27 [[ 7.30666934e-01 6.82683486e-01 8.31199282e-03 1.77908097e+02] [-6.82637915e-01 7.30714206e-01 -7.88840624e-03 -6.68778536e+01] [-1.14589759e-02 8.97161563e-05 9.99934340e-01 -2.27419379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.95, Y:-66.92, Z:-2.28 [[ 7.32415148e-01 6.80807609e-01 8.30971646e-03 1.77953209e+02] [-6.80761890e-01 7.32462275e-01 -7.89080346e-03 -6.69197666e+01] [-1.14586729e-02 1.22405697e-04 9.99934340e-01 -2.27573841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:178.00, Y:-66.96, Z:-2.28 [[ 7.42476991e-01 6.69820052e-01 8.30761643e-03 1.77999958e+02] [-6.69773611e-01 7.42523407e-01 -7.89301380e-03 -6.69620098e+01] [-1.14554986e-02 2.96158883e-04 9.99934340e-01 -2.27903789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.05, Y:-67.00, Z:-2.28 [[ 7.45377459e-01 6.66590927e-01 8.30538676e-03 1.78046382e+02] [-6.66544259e-01 7.45423647e-01 -7.89535926e-03 -6.70044770e+01] [-1.14540065e-02 3.49114957e-04 9.99934340e-01 -2.27908266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.09, Y:-67.05, Z:-2.28 [[ 7.48714650e-01 6.62840426e-01 8.30315699e-03 1.78092524e+02] [-6.62793501e-01 7.48760577e-01 -7.89770350e-03 -6.70466134e+01] [-1.14519938e-02 4.09847830e-04 9.99934340e-01 -2.28052086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.14, Y:-67.09, Z:-2.28 [[ 7.57073545e-01 6.53276926e-01 8.30091693e-03 1.78139310e+02] [-6.53229395e-01 7.57118846e-01 -7.90005722e-03 -6.70887569e+01] [-1.14457057e-02 5.58521379e-04 9.99934340e-01 -2.28086552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.617628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:178.19, Y:-67.13, Z:-2.28 [[ 7.59435392e-01 6.50529797e-01 8.29870374e-03 1.78186434e+02] [-6.50482077e-01 7.59480493e-01 -7.90238141e-03 -6.71304775e+01] [-1.14434382e-02 6.03190077e-04 9.99934340e-01 -2.28159036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:-67.17, Z:-2.28 [[ 7.56645342e-01 6.53772892e-01 8.29647988e-03 1.78235634e+02] [-6.53725341e-01 7.56690620e-01 -7.90471549e-03 -6.71692346e+01] [-1.14457572e-02 5.57447019e-04 9.99934340e-01 -2.28078703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:-67.21, Z:-2.28 [[ 7.51146542e-01 6.60083376e-01 8.29511041e-03 1.78284004e+02] [-6.60036189e-01 7.51192200e-01 -7.90615233e-03 -6.72092096e+01] [-1.14499420e-02 4.63605917e-04 9.99934340e-01 -2.28075831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.33, Y:-67.25, Z:-2.28 [[ 7.36492339e-01 6.76395049e-01 8.29290275e-03 1.78333863e+02] [-6.76348849e-01 7.36538995e-01 -7.90846731e-03 -6.72465949e+01] [-1.14572944e-02 2.15630355e-04 9.99934340e-01 -2.28173604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.38, Y:-67.29, Z:-2.28 [[ 7.32680783e-01 6.80521955e-01 8.29085990e-03 1.78380547e+02] [-6.80475993e-01 7.32727674e-01 -7.91060836e-03 -6.72891361e+01] [-1.14582852e-02 1.54219600e-04 9.99934340e-01 -2.28228106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:-67.33, Z:-2.28 [[ 7.22723352e-01 6.91087733e-01 8.28864266e-03 1.78428141e+02] [-6.91042431e-01 7.22770880e-01 -7.91293087e-03 -6.73296347e+01] [-1.14593190e-02 -8.94385096e-06 9.99934340e-01 -2.28378586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.47, Y:-67.37, Z:-2.29 [[ 7.17887620e-01 6.96109691e-01 8.28635750e-03 1.78472414e+02] [-6.96064693e-01 7.17935437e-01 -7.91532315e-03 -6.73729782e+01] [-1.14590028e-02 -8.55283854e-05 9.99934340e-01 -2.28534219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.52, Y:-67.42, Z:-2.29 [[ 7.18073015e-01 6.95918470e-01 8.28424672e-03 1.78516011e+02] [-6.95873433e-01 7.18120796e-01 -7.91753170e-03 -6.74183419e+01] [-1.14590464e-02 -7.94213487e-05 9.99934340e-01 -2.28586851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.56, Y:-67.47, Z:-2.29 [[ 7.21193911e-01 6.92683731e-01 8.28201615e-03 1.78558062e+02] [-6.92638454e-01 7.21241463e-01 -7.91986426e-03 -6.74658918e+01] [-1.14592946e-02 -2.46849838e-05 9.99934340e-01 -2.28689594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:-67.51, Z:-2.29 [[ 7.24032700e-01 6.89715952e-01 8.27975450e-03 1.78600466e+02] [-6.89670453e-01 7.24080040e-01 -7.92222798e-03 -6.75118880e+01] [-1.14592920e-02 2.56500775e-05 9.99934340e-01 -2.28869609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.64, Y:-67.56, Z:-2.29 [[ 7.28791655e-01 6.84685480e-01 8.27751905e-03 1.78640860e+02] [-6.84639627e-01 7.28838653e-01 -7.92456299e-03 -6.75602839e+01] [-1.14588091e-02 1.08237818e-04 9.99934340e-01 -2.28916717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:-67.61, Z:-2.29 [[ 7.32830589e-01 6.80360822e-01 8.27526278e-03 1.78682118e+02] [-6.80314665e-01 7.32877289e-01 -7.92691842e-03 -6.76068513e+01] [-1.14579169e-02 1.79305667e-04 9.99934340e-01 -2.28960160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.72, Y:-67.65, Z:-2.29 [[ 7.38013210e-01 6.74735545e-01 8.27318232e-03 1.78724866e+02] [-6.74689009e-01 7.38059531e-01 -7.92908916e-03 -6.76537027e+01] [-1.14561394e-02 2.69947360e-04 9.99934340e-01 -2.29055551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:-67.70, Z:-2.29 [[ 7.38632729e-01 6.74057330e-01 8.27089249e-03 1.78770683e+02] [-6.74010725e-01 7.38678980e-01 -7.93147698e-03 -6.76970852e+01] [-1.14558046e-02 2.83778238e-04 9.99934340e-01 -2.29214457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.81, Y:-67.74, Z:-2.29 [[ 7.42094614e-01 6.70244145e-01 8.26862077e-03 1.78814649e+02] [-6.70197275e-01 7.42140598e-01 -7.93384456e-03 -6.77391025e+01] [-1.14540920e-02 3.46056212e-04 9.99934340e-01 -2.29408557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.86, Y:-67.78, Z:-2.30 [[ 7.45918627e-01 6.65985782e-01 8.26680628e-03 1.78861188e+02] [-6.65938629e-01 7.45964320e-01 -7.93573474e-03 -6.77820909e+01] [-1.14518290e-02 4.14226720e-04 9.99934340e-01 -2.29604711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.91, Y:-67.82, Z:-2.30 [[ 7.52452069e-01 6.58595157e-01 8.26457414e-03 1.78910139e+02] [-6.58547530e-01 7.52497268e-01 -7.93805870e-03 -6.78217616e+01] [-1.14470365e-02 5.30393810e-04 9.99934340e-01 -2.29690105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.96, Y:-67.86, Z:-2.30 [[ 7.56025763e-01 6.54489709e-01 8.26231903e-03 1.78957982e+02] [-6.54441811e-01 7.56070675e-01 -7.94040523e-03 -6.78631235e+01] [-1.14438106e-02 5.95943892e-04 9.99934340e-01 -2.29612942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:-67.90, Z:-2.30 [[ 7.57674579e-01 6.52580266e-01 8.26004729e-03 1.79007086e+02] [-6.52532230e-01 7.57719342e-01 -7.94276772e-03 -6.79028937e+01] [-1.14420911e-02 6.28086113e-04 9.99934340e-01 -2.29578273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.06, Y:-67.94, Z:-2.30 [[ 7.54991047e-01 6.55683100e-01 8.25781262e-03 1.79056301e+02] [-6.55635222e-01 7.55035980e-01 -7.94509034e-03 -6.79430771e+01] [-1.14444071e-02 5.84359259e-04 9.99934340e-01 -2.29544764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:-67.98, Z:-2.30 [[ 7.46738696e-01 6.65066287e-01 8.25558220e-03 1.79108485e+02] [-6.65018949e-01 7.46784197e-01 -7.94740726e-03 -6.79800355e+01] [-1.14506910e-02 4.44517941e-04 9.99934340e-01 -2.29520931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.877628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:179.16, Y:-68.01, Z:-2.30 [[ 7.44091607e-01 6.68026619e-01 8.25334322e-03 1.79161621e+02] [-6.67979436e-01 7.44137269e-01 -7.94973175e-03 -6.80147857e+01] [-1.14522527e-02 4.02265128e-04 9.99934340e-01 -2.30153998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:-68.06, Z:-2.30 [[ 7.33855853e-01 6.79255110e-01 8.25126916e-03 1.79205804e+02] [-6.79208602e-01 7.33902202e-01 -7.95188390e-03 -6.80575981e+01] [-1.14569824e-02 2.31203555e-04 9.99934340e-01 -2.29880811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:-68.10, Z:-2.30 [[ 7.31536927e-01 6.81751918e-01 8.24908332e-03 1.79252787e+02] [-6.81705543e-01 7.31583409e-01 -7.95415078e-03 -6.80993569e+01] [-1.14576500e-02 1.95309195e-04 9.99934340e-01 -2.29995332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:-68.14, Z:-2.30 [[ 7.34168963e-01 6.78916727e-01 8.24684490e-03 1.79299266e+02] [-6.78870147e-01 7.34215240e-01 -7.95647089e-03 -6.81411435e+01] [-1.14567404e-02 2.42857177e-04 9.99934340e-01 -2.30252966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.35, Y:-68.18, Z:-2.31 [[ 7.44622693e-01 6.67434696e-01 8.24454400e-03 1.79345943e+02] [-6.67387376e-01 7.44668213e-01 -7.95885439e-03 -6.81833887e+01] [-1.14514654e-02 4.24039003e-04 9.99934340e-01 -2.30742934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.39, Y:-68.23, Z:-2.30 [[ 7.46275978e-01 6.65585630e-01 8.24214577e-03 1.79386071e+02] [-6.65538170e-01 7.46321352e-01 -7.96133721e-03 -6.82312184e+01] [-1.14502410e-02 4.55892102e-04 9.99934340e-01 -2.30400422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.43, Y:-68.28, Z:-2.30 [[ 7.49431422e-01 6.62030699e-01 8.23994957e-03 1.79430608e+02] [-6.61982999e-01 7.49476544e-01 -7.96360961e-03 -6.82758387e+01] [-1.14478030e-02 5.13472744e-04 9.99934340e-01 -2.30390523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.48, Y:-68.32, Z:-2.30 [[ 7.49591576e-01 6.61849386e-01 8.23767487e-03 1.79476374e+02] [-6.61801649e-01 7.49636659e-01 -7.96596190e-03 -6.83186015e+01] [-1.14475301e-02 5.19511123e-04 9.99934340e-01 -2.30474330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.52, Y:-68.36, Z:-2.31 [[ 7.48510496e-01 6.63071803e-01 8.23538330e-03 1.79522017e+02] [-6.63024114e-01 7.48555629e-01 -7.96833027e-03 -6.83607033e+01] [-1.14482177e-02 5.04121129e-04 9.99934340e-01 -2.30615570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.57, Y:-68.40, Z:-2.31 [[ 7.45925337e-01 6.65978682e-01 8.23326838e-03 1.79569210e+02] [-6.65931145e-01 7.45970630e-01 -7.97051492e-03 -6.84025927e+01] [-1.14499694e-02 4.62619189e-04 9.99934340e-01 -2.30799051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.62, Y:-68.44, Z:-2.31 [[ 7.42564239e-01 6.69724272e-01 8.23105617e-03 1.79616752e+02] [-6.69676938e-01 7.42609745e-01 -7.97279879e-03 -6.84445511e+01] [-1.14520394e-02 4.08166767e-04 9.99934340e-01 -2.30963609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.66, Y:-68.49, Z:-2.31 [[ 7.36581979e-01 6.76298214e-01 8.22879371e-03 1.79663223e+02] [-6.76251261e-01 7.36627877e-01 -7.97513321e-03 -6.84861805e+01] [-1.14551272e-02 3.09607287e-04 9.99934340e-01 -2.31137423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.71, Y:-68.53, Z:-2.31 [[ 7.35317853e-01 6.77672470e-01 8.22670521e-03 1.79711059e+02] [-6.77625578e-01 7.35363814e-01 -7.97728700e-03 -6.85274328e+01] [-1.14556091e-02 2.91215684e-04 9.99934340e-01 -2.31371182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:-68.57, Z:-2.31 [[ 7.29750182e-01 6.83664416e-01 8.22425465e-03 1.79752217e+02] [-6.83617873e-01 7.29796496e-01 -7.97981263e-03 -6.85742808e+01] [-1.14575462e-02 2.01022241e-04 9.99934340e-01 -2.31376769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.79, Y:-68.62, Z:-2.31 [[ 7.24720591e-01 6.88993805e-01 8.22199739e-03 1.79794987e+02] [-6.88947577e-01 7.24767219e-01 -7.98213772e-03 -6.86196687e+01] [-1.14586776e-02 1.20294381e-04 9.99934340e-01 -2.31231960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.84, Y:-68.66, Z:-2.31 [[ 7.20367679e-01 6.93543682e-01 8.22000833e-03 1.79839135e+02] [-6.93497725e-01 7.20414574e-01 -7.98418553e-03 -6.86647880e+01] [-1.14591952e-02 5.09921192e-05 9.99934340e-01 -2.31175930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.88, Y:-68.71, Z:-2.31 [[ 7.17241882e-01 6.96775823e-01 8.21790869e-03 1.79884908e+02] [-6.96730053e-01 7.17288960e-01 -7.98634605e-03 -6.87074175e+01] [-1.14593080e-02 2.47792483e-06 9.99934340e-01 -2.31416236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:-68.76, Z:-2.31 [[ 7.12463424e-01 7.01661155e-01 8.21546705e-03 1.79924132e+02] [-7.01615678e-01 7.12510785e-01 -7.98885695e-03 -6.87563228e+01] [-1.14590795e-02 -7.23321034e-05 9.99934340e-01 -2.31065354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.97, Y:-68.80, Z:-2.31 [[ 7.12574462e-01 7.01548407e-01 8.21397008e-03 1.79965119e+02] [-7.01502905e-01 7.12621799e-01 -7.99039580e-03 -6.88041201e+01] [-1.14591036e-02 -6.83718786e-05 9.99934340e-01 -2.31088059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.01, Y:-68.85, Z:-2.31 [[ 7.14392860e-01 6.99696656e-01 8.21167064e-03 1.80005564e+02] [-6.99651004e-01 7.14440052e-01 -7.99275822e-03 -6.88518307e+01] [-1.14592526e-02 -3.53342058e-05 9.99934340e-01 -2.31252011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.04, Y:-68.90, Z:-2.31 [[ 7.19840051e-01 6.94091424e-01 8.20954924e-03 1.80042777e+02] [-6.94045379e-01 7.19886861e-01 -7.99493657e-03 -6.89030725e+01] [-1.14591635e-02 5.72758388e-05 9.99934340e-01 -2.31470240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:-68.95, Z:-2.32 [[ 7.24203013e-01 6.89537985e-01 8.20756776e-03 1.80082029e+02] [-6.89491623e-01 7.24249508e-01 -7.99697023e-03 -6.89511894e+01] [-1.14585417e-02 1.32380714e-04 9.99934340e-01 -2.31665462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:180.12, Y:-69.00, Z:-2.32 [[ 7.31423488e-01 6.81874144e-01 8.20559467e-03 1.80119814e+02] [-6.81827273e-01 7.31469470e-01 -7.99899428e-03 -6.90013737e+01] [-1.14564494e-02 2.55854060e-04 9.99934340e-01 -2.31982268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.16, Y:-69.04, Z:-2.32 [[ 7.32036128e-01 6.81216418e-01 8.20362595e-03 1.80163990e+02] [-6.81169482e-01 7.32082045e-01 -8.00101286e-03 -6.90446973e+01] [-1.14561486e-02 2.68970832e-04 9.99934340e-01 -2.31659895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:-69.09, Z:-2.32 [[ 7.32698914e-01 6.80503515e-01 8.20166550e-03 1.80208791e+02] [-6.80456512e-01 7.32744762e-01 -8.00302197e-03 -6.90894184e+01] [-1.14558120e-02 2.82928806e-04 9.99934340e-01 -2.31602694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.25, Y:-69.13, Z:-2.32 [[ 7.34428150e-01 6.78636916e-01 8.19939503e-03 1.80252585e+02] [-6.78589771e-01 7.34473851e-01 -8.00534747e-03 -6.91318639e+01] [-1.14549656e-02 3.15326940e-04 9.99934340e-01 -2.31737556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.437628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:180.30, Y:-69.17, Z:-2.32 [[ 7.36513876e-01 6.76372759e-01 8.19758201e-03 1.80299831e+02] [-6.76325454e-01 7.36559411e-01 -8.00720360e-03 -6.91717782e+01] [-1.14538606e-02 3.53183193e-04 9.99934340e-01 -2.32425361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.497628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:180.35, Y:-69.21, Z:-2.32 [[ 7.37553596e-01 6.75238865e-01 8.19566532e-03 1.80345863e+02] [-6.75191467e-01 7.37599035e-01 -8.00916492e-03 -6.92145482e+01] [-1.14532143e-02 3.73545097e-04 9.99934340e-01 -2.32433944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.39, Y:-69.26, Z:-2.32 [[ 7.37871334e-01 6.74891667e-01 8.19345939e-03 1.80391896e+02] [-6.74844223e-01 7.37916724e-01 -8.01142097e-03 -6.92570929e+01] [-1.14529320e-02 3.82089139e-04 9.99934340e-01 -2.32144304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.44, Y:-69.30, Z:-2.32 [[ 7.36555988e-01 6.76326978e-01 8.19120955e-03 1.80437386e+02] [-6.76279597e-01 7.36601444e-01 -8.01372065e-03 -6.93008865e+01] [-1.14535522e-02 3.63006030e-04 9.99934340e-01 -2.32117152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.48, Y:-69.34, Z:-2.32 [[ 7.33019223e-01 6.80158628e-01 8.18897241e-03 1.80484310e+02] [-6.80111459e-01 7.33064900e-01 -8.01600606e-03 -6.93427318e+01] [-1.14552039e-02 3.06472561e-04 9.99934340e-01 -2.32388330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.53, Y:-69.39, Z:-2.33 [[ 7.30421681e-01 6.82947396e-01 8.18669631e-03 1.80530135e+02] [-6.82900376e-01 7.30467510e-01 -8.01832995e-03 -6.93856666e+01] [-1.14562132e-02 2.66064058e-04 9.99934340e-01 -2.32747605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:180.57, Y:-69.43, Z:-2.33 [[ 7.29547506e-01 6.83881168e-01 8.18444286e-03 1.80573333e+02] [-6.83834180e-01 7.29593369e-01 -8.02062942e-03 -6.94295183e+01] [-1.14564727e-02 2.54628415e-04 9.99934340e-01 -2.32982752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.62, Y:-69.48, Z:-2.33 [[ 7.27016185e-01 6.86571567e-01 8.18236058e-03 1.80616519e+02] [-6.86524725e-01 7.27062196e-01 -8.02275313e-03 -6.94752387e+01] [-1.14572792e-02 2.15278526e-04 9.99934340e-01 -2.32751362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:180.66, Y:-69.52, Z:-2.34 [[ 7.24192252e-01 6.89549613e-01 8.18010397e-03 1.80664358e+02] [-6.89502934e-01 7.24238429e-01 -8.02505334e-03 -6.95152437e+01] [-1.14580181e-02 1.71475751e-04 9.99934340e-01 -2.33563185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.70, Y:-69.56, Z:-2.33 [[ 7.15426106e-01 6.98640542e-01 8.17801473e-03 1.80704378e+02] [-6.98594426e-01 7.15472845e-01 -8.02718184e-03 -6.95615915e+01] [-1.14592621e-02 2.97399372e-05 9.99934340e-01 -2.33116077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.75, Y:-69.61, Z:-2.33 [[ 7.12392152e-01 7.01733976e-01 8.17610177e-03 1.80747842e+02] [-7.01688041e-01 7.12439069e-01 -8.02912981e-03 -6.96070171e+01] [-1.14592875e-02 -1.71837707e-05 9.99934340e-01 -2.33280997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.79, Y:-69.65, Z:-2.33 [[ 7.10192112e-01 7.03960477e-01 8.17380696e-03 1.80788842e+02] [-7.03914662e-01 7.10239146e-01 -8.03146530e-03 -6.96549800e+01] [-1.14591918e-02 -4.97792557e-05 9.99934340e-01 -2.33314101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:-69.70, Z:-2.33 [[ 7.08182355e-01 7.05982279e-01 8.17152842e-03 1.80832501e+02] [-7.05936571e-01 7.08229494e-01 -8.03378290e-03 -6.97000064e+01] [-1.14590258e-02 -7.91974617e-05 9.99934340e-01 -2.33379584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:-69.74, Z:-2.34 [[ 7.05200921e-01 7.08960453e-01 8.16926319e-03 1.80877228e+02] [-7.08914918e-01 7.05248226e-01 -8.03608567e-03 -6.97428848e+01] [-1.14586253e-02 -1.24257531e-04 9.99934340e-01 -2.33544078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.92, Y:-69.79, Z:-2.34 [[ 7.04671073e-01 7.09487120e-01 8.16726747e-03 1.80921458e+02] [-7.09441597e-01 7.04718390e-01 -8.03811346e-03 -6.97857296e+01] [-1.14585616e-02 -1.29973236e-04 9.99934340e-01 -2.33727251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.97, Y:-69.83, Z:-2.34 [[ 7.05189665e-01 7.08971695e-01 8.16529398e-03 1.80966511e+02] [-7.08926114e-01 7.05236926e-01 -8.04011767e-03 -6.98282506e+01] [-1.14586827e-02 -1.18782237e-04 9.99934340e-01 -2.33913530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.01, Y:-69.87, Z:-2.34 [[ 7.06876534e-01 7.07289847e-01 8.16321345e-03 1.81010652e+02] [-7.07244129e-01 7.06923662e-01 -8.04222950e-03 -6.98717841e+01] [-1.14589560e-02 -8.85214737e-05 9.99934340e-01 -2.33722396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.457628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:181.05, Y:-69.92, Z:-2.34 [[ 7.11754356e-01 7.02381045e-01 8.16121077e-03 1.81054311e+02] [-7.02334978e-01 7.11801144e-01 -8.04426130e-03 -6.99165138e+01] [-1.14592958e-02 -6.36577826e-06 9.99934340e-01 -2.33812429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.10, Y:-69.96, Z:-2.33 [[ 7.15006170e-01 6.99070529e-01 8.15923578e-03 1.81096792e+02] [-6.99024223e-01 7.15052721e-01 -8.04626402e-03 -6.99623881e+01] [-1.14591898e-02 4.96249680e-05 9.99934340e-01 -2.33422944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.14, Y:-70.01, Z:-2.33 [[ 7.17108518e-01 6.96913793e-01 8.15711316e-03 1.81141676e+02] [-6.96867322e-01 7.17154905e-01 -8.04841530e-03 -7.00057903e+01] [-1.14589654e-02 8.71615664e-05 9.99934340e-01 -2.33369804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.19, Y:-70.05, Z:-2.34 [[ 7.19496327e-01 6.94448367e-01 8.15485071e-03 1.81187180e+02] [-6.94401712e-01 7.19542527e-01 -8.05070702e-03 -7.00489348e+01] [-1.14585622e-02 1.29711834e-04 9.99934340e-01 -2.33516732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:-70.09, Z:-2.34 [[ 7.21425999e-01 6.92443545e-01 8.15262349e-03 1.81232617e+02] [-6.92396736e-01 7.21472044e-01 -8.05296181e-03 -7.00930774e+01] [-1.14581114e-02 1.64766122e-04 9.99934340e-01 -2.33897990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:181.28, Y:-70.14, Z:-2.34 [[ 7.23219698e-01 6.90569939e-01 8.15034252e-03 1.81278750e+02] [-6.90522984e-01 7.23265595e-01 -8.05526970e-03 -7.01359876e+01] [-1.14575894e-02 1.97730884e-04 9.99934340e-01 -2.34028771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81762799999998 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:-70.18, Z:-2.34 [[ 7.23764786e-01 6.89998655e-01 8.14805216e-03 1.81325342e+02] [-6.89951639e-01 7.23810619e-01 -8.05758577e-03 -7.01780955e+01] [-1.14573700e-02 2.10034895e-04 9.99934340e-01 -2.34315388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.37, Y:-70.22, Z:-2.34 [[ 7.23057681e-01 6.90739629e-01 8.14579017e-03 1.81370416e+02] [-6.90692634e-01 7.23103536e-01 -8.05987187e-03 -7.02224701e+01] [-1.14575226e-02 2.01514998e-04 9.99934340e-01 -2.33901677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.42, Y:-70.26, Z:-2.34 [[ 7.21930477e-01 6.91917675e-01 8.14355909e-03 1.81416321e+02] [-6.91870729e-01 7.21976382e-01 -8.06212549e-03 -7.02648382e+01] [-1.14577845e-02 1.86003934e-04 9.99934340e-01 -2.33827439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.46, Y:-70.31, Z:-2.34 [[ 7.19677319e-01 6.94260955e-01 8.14144034e-03 1.81462191e+02] [-6.94214134e-01 7.19723352e-01 -8.06426452e-03 -7.03080436e+01] [-1.14582887e-02 1.51765316e-04 9.99934340e-01 -2.33948066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:-70.35, Z:-2.34 [[ 7.17759570e-01 6.96243458e-01 8.13918964e-03 1.81507174e+02] [-6.96196739e-01 7.17805706e-01 -8.06653549e-03 -7.03517939e+01] [-1.14586293e-02 1.23355760e-04 9.99934340e-01 -2.34028459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.55, Y:-70.40, Z:-2.34 [[ 7.15674782e-01 6.98386281e-01 8.13692210e-03 1.81551813e+02] [-6.98339673e-01 7.15721031e-01 -8.06882216e-03 -7.03963577e+01] [-1.14589210e-02 9.23170189e-05 9.99934340e-01 -2.34139470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.60, Y:-70.44, Z:-2.34 [[ 7.12227120e-01 7.01901957e-01 8.13467369e-03 1.81596533e+02] [-7.01855552e-01 7.12273572e-01 -8.07108830e-03 -7.04406597e+01] [-1.14592258e-02 3.90820788e-05 9.99934340e-01 -2.34310845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.64, Y:-70.48, Z:-2.34 [[ 7.10111570e-01 7.04042203e-01 8.13237087e-03 1.81639621e+02] [-7.03995911e-01 7.10158135e-01 -8.07340793e-03 -7.04848782e+01] [-1.14592892e-02 7.86453799e-06 9.99934340e-01 -2.34385638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.68, Y:-70.53, Z:-2.34 [[ 7.10170444e-01 7.03982841e-01 8.13024581e-03 1.81682596e+02] [-7.03936521e-01 7.10216981e-01 -8.07554739e-03 -7.05303279e+01] [-1.14592854e-02 1.18381203e-05 9.99934340e-01 -2.34408617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.72, Y:-70.58, Z:-2.35 [[ 7.11526211e-01 7.02612544e-01 8.12797878e-03 1.81724796e+02] [-7.02566109e-01 7.11572632e-01 -8.07782849e-03 -7.05773867e+01] [-1.14592309e-02 3.71442727e-05 9.99934340e-01 -2.34554885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.77, Y:-70.62, Z:-2.35 [[ 7.12486130e-01 7.01639144e-01 8.12570669e-03 1.81766678e+02] [-7.01592619e-01 7.12532462e-01 -8.08011340e-03 -7.06239163e+01] [-1.14591536e-02 5.60328879e-05 9.99934340e-01 -2.34636410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:-70.67, Z:-2.35 [[ 7.11251752e-01 7.02890429e-01 8.12342169e-03 1.81810743e+02] [-7.02843959e-01 7.11298140e-01 -8.08241000e-03 -7.06681529e+01] [-1.14592234e-02 3.91304153e-05 9.99934340e-01 -2.34769419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.85, Y:-70.71, Z:-2.35 [[ 7.10029328e-01 7.04125273e-01 8.12115632e-03 1.81854431e+02] [-7.04078858e-01 7.10075770e-01 -8.08468558e-03 -7.07114694e+01] [-1.14592678e-02 2.24294021e-05 9.99934340e-01 -2.34897868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.90, Y:-70.75, Z:-2.35 [[ 7.09681935e-01 7.04475422e-01 8.11975197e-03 1.81900030e+02] [-7.04429014e-01 7.09728384e-01 -8.08609578e-03 -7.07541175e+01] [-1.14592742e-02 1.87672272e-05 9.99934340e-01 -2.35068114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:-70.80, Z:-2.35 [[ 7.12683697e-01 7.01438560e-01 8.11751713e-03 1.81944262e+02] [-7.01391929e-01 7.12729921e-01 -8.08833868e-03 -7.07968135e+01] [-1.14590700e-02 7.08661179e-05 9.99934340e-01 -2.35252700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:-70.84, Z:-2.35 [[ 7.16675699e-01 6.97359352e-01 8.11643493e-03 1.81988176e+02] [-6.97312445e-01 7.16721644e-01 -8.08942450e-03 -7.08417102e+01] [-1.14584604e-02 1.37802868e-04 9.99934340e-01 -2.35315915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.777628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:182.03, Y:-70.89, Z:-2.35 [[ 7.23430392e-01 6.90349642e-01 8.11414925e-03 1.82031925e+02] [-6.90302264e-01 7.23475852e-01 -8.09171651e-03 -7.08872842e+01] [-1.14565046e-02 2.52578053e-04 9.99934340e-01 -2.35444919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.837628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:182.08, Y:-70.93, Z:-2.35 [[ 7.26331092e-01 6.87297128e-01 8.11186405e-03 1.82076429e+02] [-6.87249534e-01 7.26376325e-01 -8.09400675e-03 -7.09324127e+01] [-1.14552536e-02 3.04053971e-04 9.99934340e-01 -2.35463498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.897628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:182.12, Y:-70.98, Z:-2.36 [[ 7.29197609e-01 6.84255129e-01 8.10953481e-03 1.82121641e+02] [-6.84207320e-01 7.29242615e-01 -8.09633979e-03 -7.09752741e+01] [-1.14537804e-02 3.55228536e-04 9.99934340e-01 -2.35661562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.957628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:-71.02, Z:-2.36 [[ 7.29951699e-01 6.83450647e-01 8.10738745e-03 1.82165786e+02] [-6.83402765e-01 7.29996627e-01 -8.09848951e-03 -7.10191506e+01] [-1.14532834e-02 3.70895178e-04 9.99934340e-01 -2.35690710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.21, Y:-71.06, Z:-2.35 [[ 7.27435182e-01 6.86128530e-01 8.10529279e-03 1.82212273e+02] [-6.86080790e-01 7.27480261e-01 -8.10058539e-03 -7.10620213e+01] [-1.14544833e-02 3.31765125e-04 9.99934340e-01 -2.35426864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.26, Y:-71.11, Z:-2.35 [[ 7.23373187e-01 6.90409714e-01 8.10302041e-03 1.82257949e+02] [-6.90362216e-01 7.23418520e-01 -8.10285781e-03 -7.11054787e+01] [-1.14561668e-02 2.67370960e-04 9.99934340e-01 -2.35469102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:-71.15, Z:-2.36 [[ 7.15408990e-01 6.98658969e-01 8.10073150e-03 1.82304901e+02] [-6.98611967e-01 7.15454839e-01 -8.10514548e-03 -7.11477438e+01] [-1.14584401e-02 1.39225975e-04 9.99934340e-01 -2.35556505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.35, Y:-71.19, Z:-2.36 [[ 7.12584770e-01 7.01539280e-01 8.09846830e-03 1.82350477e+02] [-7.01492438e-01 7.12630781e-01 -8.10740618e-03 -7.11917582e+01] [-1.14588817e-02 9.61998967e-05 9.99934340e-01 -2.35708063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.40, Y:-71.24, Z:-2.36 [[ 7.07791470e-01 7.06375032e-01 8.09618427e-03 1.82395251e+02] [-7.06328479e-01 7.07837773e-01 -8.10968641e-03 -7.12354909e+01] [-1.14592650e-02 2.14013478e-05 9.99934340e-01 -2.35945869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31762799999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.44, Y:-71.28, Z:-2.36 [[ 7.03460656e-01 7.10688114e-01 8.09387903e-03 1.82438702e+02] [-7.10641817e-01 7.03507216e-01 -8.11198651e-03 -7.12807555e+01] [-1.14591947e-02 -4.53855537e-05 9.99934340e-01 -2.36101460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.377628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:-71.33, Z:-2.36 [[ 7.02490519e-01 7.11647101e-01 8.09160649e-03 1.82482234e+02] [-7.11600842e-01 7.02537117e-01 -8.11425270e-03 -7.13259149e+01] [-1.14591383e-02 -5.78084058e-05 9.99934340e-01 -2.36311240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:-71.37, Z:-2.36 [[ 7.02944836e-01 7.11198370e-01 8.08928361e-03 1.82523505e+02] [-7.11152054e-01 7.02991378e-01 -8.11656777e-03 -7.13717129e+01] [-1.14591864e-02 -4.72112580e-05 9.99934340e-01 -2.36388629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.57, Y:-71.42, Z:-2.36 [[ 7.04482152e-01 7.09675627e-01 8.08714095e-03 1.82565264e+02] [-7.09629187e-01 7.04528569e-01 -8.11870210e-03 -7.14182285e+01] [-1.14592668e-02 -1.93905275e-05 9.99934340e-01 -2.36370837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:-71.47, Z:-2.36 [[ 7.08810449e-01 7.05352665e-01 8.08482255e-03 1.82604946e+02] [-7.05305916e-01 7.08856554e-01 -8.12101017e-03 -7.14656914e+01] [-1.14591556e-02 5.39836941e-05 9.99934340e-01 -2.36311124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.65, Y:-71.51, Z:-2.36 [[ 7.09837208e-01 7.04319394e-01 8.08268310e-03 1.82648146e+02] [-7.04272553e-01 7.09883220e-01 -8.12313896e-03 -7.15117212e+01] [-1.14590454e-02 7.36944192e-05 9.99934340e-01 -2.36220640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.70, Y:-71.55, Z:-2.37 [[ 7.11329077e-01 7.02812671e-01 8.08038226e-03 1.82696161e+02] [-7.02765707e-01 7.11374964e-01 -8.12542705e-03 -7.15521911e+01] [-1.14588347e-02 1.01236972e-04 9.99934340e-01 -2.36663412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.74, Y:-71.60, Z:-2.37 [[ 7.08504122e-01 7.05660439e-01 8.07796018e-03 1.82737231e+02] [-7.05613632e-01 7.08550169e-01 -8.12783427e-03 -7.15969340e+01] [-1.14591311e-02 5.86852683e-05 9.99934340e-01 -2.36959732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.78, Y:-71.64, Z:-2.37 [[ 7.08557201e-01 7.05607164e-01 8.07603529e-03 1.82781262e+02] [-7.05560332e-01 7.08603222e-01 -8.12974644e-03 -7.16400617e+01] [-1.14591120e-02 6.22602497e-05 9.99934340e-01 -2.37178829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.83, Y:-71.68, Z:-2.37 [[ 7.09321173e-01 7.04839190e-01 8.07403215e-03 1.82825986e+02] [-7.04792284e-01 7.09367120e-01 -8.13173536e-03 -7.16828354e+01] [-1.14590187e-02 7.74965045e-05 9.99934340e-01 -2.37311710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.87, Y:-71.73, Z:-2.37 [[ 7.10275897e-01 7.03877115e-01 8.07203969e-03 1.82870816e+02] [-7.03830125e-01 7.10321757e-01 -8.13371272e-03 -7.17269976e+01] [-1.14588797e-02 9.58353986e-05 9.99934340e-01 -2.37256895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.91, Y:-71.77, Z:-2.37 [[ 7.12118621e-01 7.02012785e-01 8.06973075e-03 1.82914334e+02] [-7.01965649e-01 7.12164330e-01 -8.13600285e-03 -7.17707167e+01] [-1.14585524e-02 1.29125342e-04 9.99934340e-01 -2.37071129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.96, Y:-71.82, Z:-2.37 [[ 7.13669451e-01 7.00436169e-01 8.06774124e-03 1.82957743e+02] [-7.00388909e-01 7.13715033e-01 -8.13797519e-03 -7.18154971e+01] [-1.14582004e-02 1.57267797e-04 9.99934340e-01 -2.36838473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.00, Y:-71.86, Z:-2.37 [[ 7.15768200e-01 6.98291363e-01 8.06575742e-03 1.83001784e+02] [-6.98243945e-01 7.15813618e-01 -8.13994093e-03 -7.18579760e+01] [-1.14576294e-02 1.94444594e-04 9.99934340e-01 -2.36576265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:-71.90, Z:-2.37 [[ 7.16259303e-01 6.97787635e-01 8.06394291e-03 1.83046420e+02] [-6.97740165e-01 7.16304665e-01 -8.14173811e-03 -7.19017452e+01] [-1.14574441e-02 2.05058800e-04 9.99934340e-01 -2.36583120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:-71.94, Z:-2.37 [[ 7.18382665e-01 6.95601435e-01 8.06165955e-03 1.83092525e+02] [-6.95553801e-01 7.18427857e-01 -8.14399838e-03 -7.19422606e+01] [-1.14566977e-02 2.43189320e-04 9.99934340e-01 -2.36924203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.13, Y:-71.99, Z:-2.37 [[ 7.16298833e-01 6.97747104e-01 8.05983254e-03 1.83134820e+02] [-6.97699586e-01 7.16344145e-01 -8.14580611e-03 -7.19883763e+01] [-1.14573265e-02 2.11489585e-04 9.99934340e-01 -2.37192672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.18, Y:-72.03, Z:-2.38 [[ 7.16804411e-01 6.97227734e-01 8.05749248e-03 1.83178150e+02] [-6.97180157e-01 7.16849661e-01 -8.14812014e-03 -7.20315333e+01] [-1.14571061e-02 2.23084587e-04 9.99934340e-01 -2.37629356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.22, Y:-72.08, Z:-2.38 [[ 7.15586779e-01 6.98477394e-01 8.05560738e-03 1.83222151e+02] [-6.98429874e-01 7.15632090e-01 -8.14998341e-03 -7.20763962e+01] [-1.14574303e-02 2.05743521e-04 9.99934340e-01 -2.37551907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.27, Y:-72.12, Z:-2.38 [[ 7.11200426e-01 7.02943169e-01 8.05329383e-03 1.83267274e+02] [-7.02895908e-01 7.11246007e-01 -8.15226887e-03 -7.21200100e+01] [-1.14584548e-02 1.37269809e-04 9.99934340e-01 -2.37523445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.517628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:183.31, Y:-72.16, Z:-2.38 [[ 7.05124637e-01 7.09037678e-01 8.05098047e-03 1.83311881e+02] [-7.08990785e-01 7.05170596e-01 -8.15455285e-03 -7.21639697e+01] [-1.14591999e-02 4.19051523e-05 9.99934340e-01 -2.37713875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.35, Y:-72.21, Z:-2.37 [[ 7.02137289e-01 7.11996101e-01 8.04864983e-03 1.83354089e+02] [-7.11949375e-01 7.02183418e-01 -8.15685257e-03 -7.22092893e+01] [-1.14592757e-02 -3.00086731e-06 9.99934340e-01 -2.37488809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.40, Y:-72.26, Z:-2.37 [[ 6.99847539e-01 7.14246929e-01 8.04649516e-03 1.83397088e+02] [-7.14200328e-01 6.99893794e-01 -8.15897754e-03 -7.22552018e+01] [-1.14592167e-02 -3.67691315e-05 9.99934340e-01 -2.37363894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.44, Y:-72.30, Z:-2.37 [[ 6.98646211e-01 7.15422088e-01 8.04417476e-03 1.83441328e+02] [-7.15375538e-01 6.98692517e-01 -8.16126465e-03 -7.23002937e+01] [-1.14591537e-02 -5.27692276e-05 9.99934340e-01 -2.37438050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.48, Y:-72.34, Z:-2.38 [[ 6.97002788e-01 7.17023320e-01 8.04187613e-03 1.83484979e+02] [-7.16976850e-01 6.97049175e-01 -8.16352902e-03 -7.23449329e+01] [-1.14590238e-02 -7.58365275e-05 9.99934340e-01 -2.37645161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.53, Y:-72.39, Z:-2.38 [[ 6.96192366e-01 7.17810246e-01 8.03989269e-03 1.83527749e+02] [-7.17763806e-01 6.96238783e-01 -8.16548196e-03 -7.23900243e+01] [-1.14589517e-02 -8.59977644e-05 9.99934340e-01 -2.37852148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:-72.44, Z:-2.38 [[ 6.96213999e-01 7.17789286e-01 8.03792528e-03 1.83570341e+02] [-7.17742823e-01 6.96260392e-01 -8.16741817e-03 -7.24364132e+01] [-1.14589743e-02 -8.28923102e-05 9.99934340e-01 -2.37885139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.61, Y:-72.48, Z:-2.38 [[ 6.96436944e-01 7.17573001e-01 8.03564774e-03 1.83612036e+02] [-7.17526497e-01 6.96483297e-01 -8.16965836e-03 -7.24840661e+01] [-1.14590207e-02 -7.61382711e-05 9.99934340e-01 -2.37838755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.66, Y:-72.53, Z:-2.38 [[ 6.95217674e-01 7.18754374e-01 8.03340326e-03 1.83655508e+02] [-7.18707923e-01 6.95264081e-01 -8.17186480e-03 -7.25294808e+01] [-1.14589003e-02 -9.24457323e-05 9.99934340e-01 -2.37909140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.70, Y:-72.57, Z:-2.38 [[ 6.92073040e-01 7.21782798e-01 8.03116779e-03 1.83698600e+02] [-7.21736525e-01 6.92119623e-01 -8.17406120e-03 -7.25741335e+01] [-1.14584256e-02 -1.39339745e-04 9.99934340e-01 -2.37991665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:-72.62, Z:-2.38 [[ 6.91095147e-01 7.22719192e-01 8.02910141e-03 1.83741994e+02] [-7.22672959e-01 6.91141770e-01 -8.17609043e-03 -7.26184421e+01] [-1.14582648e-02 -1.51958057e-04 9.99934340e-01 -2.38231186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.78, Y:-72.66, Z:-2.38 [[ 6.89586806e-01 7.24158550e-01 8.02692010e-03 1.83784879e+02] [-7.24112389e-01 6.89633500e-01 -8.17823138e-03 -7.26638449e+01] [-1.14579692e-02 -1.72791835e-04 9.99934340e-01 -2.38108901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.83, Y:-72.71, Z:-2.38 [[ 6.89508403e-01 7.24233228e-01 8.02458413e-03 1.83827917e+02] [-7.24187046e-01 6.89555076e-01 -8.18052282e-03 -7.27087739e+01] [-1.14579992e-02 -1.70760644e-04 9.99934340e-01 -2.37959581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:-72.75, Z:-2.38 [[ 6.89678965e-01 7.24070827e-01 8.02256215e-03 1.83873365e+02] [-7.24024611e-01 6.89725605e-01 -8.18250528e-03 -7.27508025e+01] [-1.14580799e-02 -1.65230661e-04 9.99934340e-01 -2.37941338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:-72.79, Z:-2.38 [[ 6.89685260e-01 7.24064855e-01 8.02048504e-03 1.83917260e+02] [-7.24018614e-01 6.89731875e-01 -8.18454075e-03 -7.27941676e+01] [-1.14581225e-02 -1.62223359e-04 9.99934340e-01 -2.38094525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.96, Y:-72.84, Z:-2.38 [[ 6.90866095e-01 7.22938273e-01 8.01828902e-03 1.83960824e+02] [-7.22891931e-01 6.90912610e-01 -8.18669160e-03 -7.28389854e+01] [-1.14584097e-02 -1.40448778e-04 9.99934340e-01 -2.38319895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.00, Y:-72.88, Z:-2.38 [[ 6.92618847e-01 7.21259227e-01 8.01624669e-03 1.84003847e+02] [-7.21212749e-01 6.92665226e-01 -8.18869092e-03 -7.28844491e+01] [-1.14587442e-02 -1.09777651e-04 9.99934340e-01 -2.38492623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:-72.93, Z:-2.39 [[ 6.97423319e-01 7.16614587e-01 8.01552327e-03 1.84046889e+02] [-7.16567792e-01 6.97469378e-01 -8.18939899e-03 -7.29296949e+01] [-1.14592248e-02 -3.21879864e-05 9.99934340e-01 -2.38900858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:-72.97, Z:-2.39 [[ 7.01621456e-01 7.12504819e-01 8.01348673e-03 1.84089264e+02] [-7.12457732e-01 7.01667216e-01 -8.19139129e-03 -7.29747758e+01] [-1.14592067e-02 3.79853105e-05 9.99934340e-01 -2.38773886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.13, Y:-73.02, Z:-2.39 [[ 7.08269468e-01 7.05896720e-01 8.01133639e-03 1.84130427e+02] [-7.05849182e-01 7.08314760e-01 -8.19349382e-03 -7.30197670e+01] [-1.14583082e-02 1.48406275e-04 9.99934340e-01 -2.38634821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.17, Y:-73.06, Z:-2.38 [[ 7.12057312e-01 7.02075659e-01 8.00952817e-03 1.84174211e+02] [-7.02027859e-01 7.12102327e-01 -8.19526107e-03 -7.30633866e+01] [-1.14572970e-02 2.12583664e-04 9.99934340e-01 -2.38495138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.22, Y:-73.11, Z:-2.38 [[ 7.17913659e-01 6.96086100e-01 8.00752728e-03 1.84217473e+02] [-6.96037902e-01 7.17958247e-01 -8.19721565e-03 -7.31078540e+01] [-1.14550381e-02 3.11350592e-04 9.99934340e-01 -2.38333782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:-73.15, Z:-2.38 [[ 7.20958885e-01 6.92931597e-01 8.00549524e-03 1.84262342e+02] [-6.92883182e-01 7.21003238e-01 -8.19919968e-03 -7.31519376e+01] [-1.14534725e-02 3.64412843e-04 9.99934340e-01 -2.38272774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:-73.19, Z:-2.38 [[ 7.23056053e-01 6.90743001e-01 8.00315387e-03 1.84309859e+02] [-6.90694427e-01 7.23100231e-01 -8.20148443e-03 -7.31932754e+01] [-1.14522004e-02 4.02399182e-04 9.99934340e-01 -2.38335587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.36, Y:-73.24, Z:-2.38 [[ 7.22274975e-01 6.91559721e-01 8.00084392e-03 1.84356765e+02] [-6.91511171e-01 7.22319181e-01 -8.20373725e-03 -7.32354211e+01] [-1.14525373e-02 3.92681166e-04 9.99934340e-01 -2.38481008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.40, Y:-73.28, Z:-2.39 [[ 7.19027322e-01 6.94935777e-01 7.99856289e-03 1.84403623e+02] [-6.94887410e-01 7.19071728e-01 -8.20596064e-03 -7.32758527e+01] [-1.14541561e-02 3.42209247e-04 9.99934340e-01 -2.38636096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:-73.32, Z:-2.39 [[ 7.15915692e-01 6.98140945e-01 7.99645660e-03 1.84450234e+02] [-6.98092754e-01 7.15960289e-01 -8.20801263e-03 -7.33171135e+01] [-1.14554951e-02 2.93976628e-04 9.99934340e-01 -2.38808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.50, Y:-73.36, Z:-2.39 [[ 7.11773413e-01 7.02363652e-01 7.99438719e-03 1.84499305e+02] [-7.02315703e-01 7.11818269e-01 -8.21002769e-03 -7.33555882e+01] [-1.14569759e-02 2.29095762e-04 9.99934340e-01 -2.39046286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.55, Y:-73.40, Z:-2.39 [[ 7.09687769e-01 7.04471002e-01 7.99234959e-03 1.84546561e+02] [-7.04423164e-01 7.09732744e-01 -8.21201079e-03 -7.33978685e+01] [-1.14575557e-02 1.97967438e-04 9.99934340e-01 -2.39158771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.59, Y:-73.44, Z:-2.39 [[ 7.07909589e-01 7.06257864e-01 7.99021370e-03 1.84591856e+02] [-7.06210117e-01 7.07954659e-01 -8.21408847e-03 -7.34397086e+01] [-1.14579736e-02 1.72062237e-04 9.99934340e-01 -2.39041777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:-73.48, Z:-2.39 [[ 7.07008836e-01 7.07159595e-01 7.98823796e-03 1.84636532e+02] [-7.07111884e-01 7.07053945e-01 -8.21600944e-03 -7.34823388e+01] [-1.14581451e-02 1.60213283e-04 9.99934340e-01 -2.39055321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:-73.52, Z:-2.39 [[ 7.05667577e-01 7.08498053e-01 7.98629659e-03 1.84683325e+02] [-7.08450405e-01 7.05712753e-01 -8.21789609e-03 -7.35233697e+01] [-1.14583947e-02 1.41207764e-04 9.99934340e-01 -2.39118586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.73, Y:-73.57, Z:-2.39 [[ 7.04781800e-01 7.09379210e-01 7.98438469e-03 1.84727889e+02] [-7.09331598e-01 7.04827014e-01 -8.21975325e-03 -7.35675924e+01] [-1.14585321e-02 1.29556136e-04 9.99934340e-01 -2.39170318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.77, Y:-73.61, Z:-2.39 [[ 7.03772909e-01 7.10380162e-01 7.98237924e-03 1.84772071e+02] [-7.10332592e-01 7.03818167e-01 -8.22170032e-03 -7.36118704e+01] [-1.14586763e-02 1.16065811e-04 9.99934340e-01 -2.39223877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.82, Y:-73.66, Z:-2.39 [[ 7.03169007e-01 7.10977965e-01 7.98004735e-03 1.84816878e+02] [-7.10930408e-01 7.03214279e-01 -8.22396305e-03 -7.36561244e+01] [-1.14587398e-02 1.09577618e-04 9.99934340e-01 -2.39483978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:-73.70, Z:-2.40 [[ 7.03086954e-01 7.11059133e-01 7.97773513e-03 1.84860531e+02] [-7.11011556e-01 7.03132204e-01 -8.22620543e-03 -7.37002701e+01] [-1.14587210e-02 1.11475848e-04 9.99934340e-01 -2.39700238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.90, Y:-73.75, Z:-2.40 [[ 7.05468918e-01 7.08695981e-01 7.97574525e-03 1.84903909e+02] [-7.08648231e-01 7.05513985e-01 -8.22813427e-03 -7.37450799e+01] [-1.14582455e-02 1.52695209e-04 9.99934340e-01 -2.39794171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.737628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:184.95, Y:-73.79, Z:-2.40 [[ 7.11209023e-01 7.02935378e-01 7.97367806e-03 1.84946397e+02] [-7.02887240e-01 7.11253676e-01 -8.23013705e-03 -7.37892632e+01] [-1.14565623e-02 2.48751164e-04 9.99934340e-01 -2.40151073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.99, Y:-73.84, Z:-2.40 [[ 7.16941130e-01 6.97088126e-01 7.97253736e-03 1.84987944e+02] [-6.97039612e-01 7.16985374e-01 -8.23124189e-03 -7.38352525e+01] [-1.14540937e-02 3.44141515e-04 9.99934340e-01 -2.39950302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:185.03, Y:-73.88, Z:-2.40 [[ 7.20015545e-01 6.93912160e-01 7.97049182e-03 1.85030986e+02] [-6.93863429e-01 7.20059550e-01 -8.23322216e-03 -7.38804839e+01] [-1.14523617e-02 3.97615163e-04 9.99934341e-01 -2.40185125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.08, Y:-73.92, Z:-2.40 [[ 7.20707615e-01 6.93193362e-01 7.96844346e-03 1.85075040e+02] [-6.93144565e-01 7.20751548e-01 -8.23520416e-03 -7.39244397e+01] [-1.14518568e-02 4.11891077e-04 9.99934341e-01 -2.40167575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97762799999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:185.12, Y:-73.97, Z:-2.40 [[ 7.20416609e-01 6.93495816e-01 7.96627975e-03 1.85118726e+02] [-6.93447015e-01 7.20460536e-01 -8.23729669e-03 -7.39690469e+01] [-1.14519210e-02 4.10092436e-04 9.99934341e-01 -2.40361876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:-74.01, Z:-2.40 [[ 7.18075860e-01 6.95919273e-01 7.96398023e-03 1.85162687e+02] [-6.95870595e-01 7.18119924e-01 -8.23951931e-03 -7.40132267e+01] [-1.14531332e-02 3.74700246e-04 9.99934341e-01 -2.40018360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.097628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:-74.06, Z:-2.40 [[ 7.12703753e-01 7.01419965e-01 7.96192707e-03 1.85206782e+02] [-7.01371606e-01 7.12748166e-01 -8.24150282e-03 -7.40573875e+01] [-1.14556035e-02 2.89480427e-04 9.99934341e-01 -2.40172950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.25, Y:-74.10, Z:-2.40 [[ 7.07743102e-01 7.06425045e-01 7.95972584e-03 1.85250786e+02] [-7.06376976e-01 7.07787829e-01 -8.24362824e-03 -7.41015822e+01] [-1.14573025e-02 2.11803950e-04 9.99934341e-01 -2.39917449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:-74.15, Z:-2.40 [[ 7.01282164e-01 7.12839394e-01 7.95768045e-03 1.85294836e+02] [-7.12791711e-01 7.01327304e-01 -8.24560221e-03 -7.41466386e+01] [-1.14587287e-02 1.10325096e-04 9.99934341e-01 -2.40050973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.34, Y:-74.19, Z:-2.40 [[ 6.97488518e-01 7.16551799e-01 7.95534552e-03 1.85337413e+02] [-7.16504331e-01 6.97533882e-01 -8.24785433e-03 -7.41910836e+01] [-1.14591379e-02 5.27441669e-05 9.99934341e-01 -2.40140434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.38, Y:-74.24, Z:-2.40 [[ 6.93399252e-01 7.20509697e-01 7.95318903e-03 1.85380529e+02] [-7.20462464e-01 6.93444861e-01 -8.24993326e-03 -7.42370586e+01] [-1.14592550e-02 -9.47661384e-06 9.99934341e-01 -2.40225657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.42, Y:-74.28, Z:-2.40 [[ 6.92302336e-01 7.21563759e-01 7.95088767e-03 1.85421670e+02] [-7.21516570e-01 6.92347991e-01 -8.25215060e-03 -7.42834209e+01] [-1.14592339e-02 -2.37140637e-05 9.99934341e-01 -2.40375638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.46, Y:-74.33, Z:-2.41 [[ 6.92036334e-01 7.21818903e-01 7.94883831e-03 1.85461509e+02] [-7.21771708e-01 6.92081983e-01 -8.25412416e-03 -7.43313876e+01] [-1.14592306e-02 -2.50927828e-05 9.99934341e-01 -2.40594404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.50, Y:-74.38, Z:-2.41 [[ 6.91812325e-01 7.22033626e-01 7.94672696e-03 1.85501964e+02] [-7.21986422e-01 6.91857964e-01 -8.25615638e-03 -7.43780206e+01] [-1.14592289e-02 -2.57182230e-05 9.99934341e-01 -2.40770081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.54, Y:-74.43, Z:-2.41 [[ 6.91079241e-01 7.22735338e-01 7.94449756e-03 1.85541321e+02] [-7.22688155e-01 6.91124902e-01 -8.25830107e-03 -7.44272036e+01] [-1.14592061e-02 -3.42538600e-05 9.99934341e-01 -2.40890395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.58, Y:-74.48, Z:-2.41 [[ 6.89903884e-01 7.23857412e-01 7.94219218e-03 1.85579373e+02] [-7.23810279e-01 6.89949596e-01 -8.26051760e-03 -7.44771795e+01] [-1.14591492e-02 -4.96771617e-05 9.99934341e-01 -2.41002492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.62, Y:-74.53, Z:-2.41 [[ 6.89584857e-01 7.24161362e-01 7.94020014e-03 1.85620308e+02] [-7.24114227e-01 6.89630567e-01 -8.26243196e-03 -7.45252339e+01] [-1.14591387e-02 -5.19639256e-05 9.99934341e-01 -2.41159735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.66, Y:-74.57, Z:-2.41 [[ 6.90122782e-01 7.23648765e-01 7.93787871e-03 1.85660249e+02] [-7.23601570e-01 6.90168431e-01 -8.26466160e-03 -7.45737019e+01] [-1.14591855e-02 -4.02302387e-05 9.99934341e-01 -2.41328021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.70, Y:-74.62, Z:-2.41 [[ 6.91134496e-01 7.22682579e-01 7.93716408e-03 1.85697414e+02] [-7.22635312e-01 6.91180070e-01 -8.26534786e-03 -7.46243815e+01] [-1.14592325e-02 -2.32080206e-05 9.99934341e-01 -2.41376518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:-74.67, Z:-2.41 [[ 6.92482067e-01 7.21391448e-01 7.93512619e-03 1.85736964e+02] [-7.21344074e-01 6.92527530e-01 -8.26730387e-03 -7.46734225e+01] [-1.14592556e-02 1.00342135e-06 9.99934341e-01 -2.41429147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:-74.72, Z:-2.41 [[ 6.94118958e-01 7.19816604e-01 7.93279143e-03 1.85777088e+02] [-7.19769101e-01 6.94164286e-01 -8.26954355e-03 -7.47226873e+01] [-1.14592153e-02 3.02687896e-05 9.99934341e-01 -2.41464330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.82, Y:-74.77, Z:-2.41 [[ 6.92762954e-01 7.21121763e-01 7.93049017e-03 1.85820007e+02] [-7.21074320e-01 6.92808345e-01 -8.27174986e-03 -7.47671361e+01] [-1.14592486e-02 1.18890602e-05 9.99934341e-01 -2.41355578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:-74.81, Z:-2.42 [[ 6.92415147e-01 7.21455754e-01 7.92843781e-03 1.85863185e+02] [-7.21408310e-01 6.92460537e-01 -8.27371658e-03 -7.48134729e+01] [-1.14592507e-02 9.20574851e-06 9.99934341e-01 -2.41503730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.91, Y:-74.86, Z:-2.42 [[ 6.91513513e-01 7.22320039e-01 7.92610462e-03 1.85906409e+02] [-7.22272627e-01 6.91558936e-01 -8.27595114e-03 -7.48573666e+01] [-1.14592538e-02 -1.87635149e-06 9.99934341e-01 -2.41681445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.95, Y:-74.90, Z:-2.42 [[ 6.91994258e-01 7.21859514e-01 7.92394988e-03 1.85951268e+02] [-7.21812048e-01 6.92039624e-01 -8.27801371e-03 -7.49009461e+01] [-1.14592503e-02 8.73546284e-06 9.99934341e-01 -2.41958663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.99, Y:-74.95, Z:-2.42 [[ 6.96240230e-01 7.17765133e-01 7.92191207e-03 1.85994510e+02] [-7.17717378e-01 6.96285292e-01 -8.27996341e-03 -7.49453717e+01] [-1.14589799e-02 7.91496695e-05 9.99934341e-01 -2.42086544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.297628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:186.04, Y:-74.99, Z:-2.42 [[ 6.99673694e-01 7.14418644e-01 7.91984741e-03 1.86038279e+02] [-7.14370651e-01 6.99718502e-01 -8.28193779e-03 -7.49904303e+01] [-1.14584345e-02 1.36947454e-04 9.99934341e-01 -2.42340126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.08, Y:-75.03, Z:-2.42 [[ 7.04465125e-01 7.09694443e-01 7.91748447e-03 1.86080537e+02] [-7.09646124e-01 7.04509582e-01 -8.28419614e-03 -7.50348537e+01] [-1.14571916e-02 2.17315097e-04 9.99934341e-01 -2.42039427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.12, Y:-75.08, Z:-2.42 [[ 7.07401385e-01 7.06767730e-01 7.91559868e-03 1.86123773e+02] [-7.06719207e-01 7.07445620e-01 -8.28599763e-03 -7.50796917e+01] [-1.14561313e-02 2.67420585e-04 9.99934341e-01 -2.41936791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.17, Y:-75.12, Z:-2.42 [[ 7.09773538e-01 7.04385478e-01 7.91355201e-03 1.86166790e+02] [-7.04336785e-01 7.09817585e-01 -8.28795184e-03 -7.51241154e+01] [-1.14550913e-02 3.08763115e-04 9.99934341e-01 -2.41572682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.21, Y:-75.17, Z:-2.42 [[ 7.09988946e-01 7.04168378e-01 7.91147879e-03 1.86211422e+02] [-7.04119650e-01 7.10032954e-01 -8.28993041e-03 -7.51687799e+01] [-1.14549175e-02 3.15131276e-04 9.99934341e-01 -2.41518249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.26, Y:-75.21, Z:-2.42 [[ 7.07201405e-01 7.06967905e-01 7.90912000e-03 1.86255006e+02] [-7.06919325e-01 7.07245578e-01 -8.29218024e-03 -7.52124504e+01] [-1.14559954e-02 2.73131745e-04 9.99934341e-01 -2.41706015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.30, Y:-75.26, Z:-2.42 [[ 7.03699041e-01 7.10454179e-01 7.90694082e-03 1.86298684e+02] [-7.10405795e-01 7.03743428e-01 -8.29425766e-03 -7.52569373e+01] [-1.14571476e-02 2.19524588e-04 9.99934341e-01 -2.42006530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.34, Y:-75.30, Z:-2.42 [[ 6.98469039e-01 7.15596614e-01 7.90493227e-03 1.86342446e+02] [-7.15548535e-01 6.98513756e-01 -8.29617149e-03 -7.53016871e+01] [-1.14584162e-02 1.38256213e-04 9.99934341e-01 -2.42406454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.39, Y:-75.35, Z:-2.43 [[ 6.95561177e-01 7.18423393e-01 7.90421616e-03 1.86385997e+02] [-7.18375489e-01 6.95606081e-01 -8.29685371e-03 -7.53466080e+01] [-1.14588746e-02 9.27741892e-05 9.99934341e-01 -2.42584066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.43, Y:-75.39, Z:-2.43 [[ 6.92537003e-01 7.21339074e-01 7.90195134e-03 1.86428067e+02] [-7.21291334e-01 6.92582081e-01 -8.29901017e-03 -7.53926485e+01] [-1.14591502e-02 4.77626055e-05 9.99934341e-01 -2.42550130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.47, Y:-75.44, Z:-2.43 [[ 6.91883708e-01 7.21965731e-01 7.90055427e-03 1.86470750e+02] [-7.21918016e-01 6.91928813e-01 -8.30033996e-03 -7.54389281e+01] [-1.14591821e-02 3.93175159e-05 9.99934341e-01 -2.42540644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.51, Y:-75.49, Z:-2.42 [[ 6.91608388e-01 7.22229502e-01 7.89835040e-03 1.86511644e+02] [-7.22181781e-01 6.91653486e-01 -8.30243656e-03 -7.54862953e+01] [-1.14591862e-02 3.79900082e-05 9.99934341e-01 -2.42278008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.55, Y:-75.53, Z:-2.42 [[ 6.91528419e-01 7.22306094e-01 7.89635089e-03 1.86553909e+02] [-7.22258356e-01 6.91573499e-01 -8.30433784e-03 -7.55333684e+01] [-1.14591808e-02 3.94802040e-05 9.99934341e-01 -2.42094968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.60, Y:-75.58, Z:-2.42 [[ 6.90660916e-01 7.23135660e-01 7.89405576e-03 1.86595677e+02] [-7.23087952e-01 6.90706027e-01 -8.30651900e-03 -7.55801782e+01] [-1.14592120e-02 2.88914151e-05 9.99934341e-01 -2.42182898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.64, Y:-75.63, Z:-2.42 [[ 6.89697193e-01 7.24054903e-01 7.89173806e-03 1.86637614e+02] [-7.24007229e-01 6.89742342e-01 -8.30872038e-03 -7.56260134e+01] [-1.14592356e-02 1.68257275e-05 9.99934341e-01 -2.42434006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.68, Y:-75.67, Z:-2.43 [[ 6.88516658e-01 7.25177609e-01 7.88969771e-03 1.86678641e+02] [-7.25129987e-01 6.88561860e-01 -8.31065738e-03 -7.56730195e+01] [-1.14592476e-02 9.69643901e-07 9.99934341e-01 -2.42705100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.72, Y:-75.72, Z:-2.43 [[ 6.88675942e-01 7.25026366e-01 7.88767586e-03 1.86720204e+02] [-7.24978712e-01 6.88721110e-01 -8.31257589e-03 -7.57191785e+01] [-1.14592456e-02 6.27394233e-06 9.99934341e-01 -2.42824828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:-75.77, Z:-2.43 [[ 6.90131718e-01 7.23640814e-01 7.88563090e-03 1.86761032e+02] [-7.23593047e-01 6.90176768e-01 -8.31451536e-03 -7.57651842e+01] [-1.14592019e-02 3.21230802e-05 9.99934341e-01 -2.42820478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.80, Y:-75.81, Z:-2.42 [[ 6.92665954e-01 7.21215444e-01 7.88419237e-03 1.86802700e+02] [-7.21167503e-01 6.92710819e-01 -8.31587922e-03 -7.58098247e+01] [-1.14590059e-02 7.43030813e-05 9.99934341e-01 -2.42475202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:-75.85, Z:-2.43 [[ 6.95646773e-01 7.18340752e-01 7.88236189e-03 1.86846040e+02] [-7.18292607e-01 6.95691418e-01 -8.31761391e-03 -7.58546037e+01] [-1.14585725e-02 1.24279003e-04 9.99934341e-01 -2.42542678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.89, Y:-75.90, Z:-2.43 [[ 7.01737729e-01 7.12391789e-01 7.88029769e-03 1.86890125e+02] [-7.12343243e-01 7.01781938e-01 -8.31956912e-03 -7.58999300e+01] [-1.14570433e-02 2.24678722e-04 9.99934341e-01 -2.42552245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:-75.94, Z:-2.43 [[ 7.05891588e-01 7.08276079e-01 7.87792580e-03 1.86933498e+02] [-7.08227251e-01 7.05935485e-01 -8.32181450e-03 -7.59442119e+01] [-1.14554495e-02 2.94937118e-04 9.99934341e-01 -2.42590020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.98, Y:-75.99, Z:-2.43 [[ 7.09815509e-01 7.04343607e-01 7.87573832e-03 1.86979413e+02] [-7.04294512e-01 7.09859108e-01 -8.32388420e-03 -7.59868285e+01] [-1.14535392e-02 3.61582823e-04 9.99934341e-01 -2.42642941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.03, Y:-76.03, Z:-2.43 [[ 7.10498877e-01 7.03654286e-01 7.87345964e-03 1.87025292e+02] [-7.03605125e-01 7.10542402e-01 -8.32603902e-03 -7.60305115e+01] [-1.14530800e-02 3.75834815e-04 9.99934341e-01 -2.42597508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.07, Y:-76.07, Z:-2.43 [[ 7.08752695e-01 7.05413115e-01 7.87114155e-03 1.87072596e+02] [-7.05364038e-01 7.08796314e-01 -8.32822989e-03 -7.60705847e+01] [-1.14538787e-02 3.50635189e-04 9.99934341e-01 -2.42778435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.12, Y:-76.11, Z:-2.43 [[ 7.07073214e-01 7.07096563e-01 7.86900207e-03 1.87119140e+02] [-7.07047567e-01 7.07116924e-01 -8.33025089e-03 -7.61128362e+01] [-1.14545963e-02 3.26338496e-04 9.99934341e-01 -2.42761746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.17, Y:-76.15, Z:-2.43 [[ 7.05129158e-01 7.09035251e-01 7.86664143e-03 1.87166805e+02] [-7.08986351e-01 7.05172975e-01 -8.33247956e-03 -7.61538847e+01] [-1.14553647e-02 2.98132894e-04 9.99934341e-01 -2.42862454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.21, Y:-76.20, Z:-2.43 [[ 7.03958536e-01 7.10197530e-01 7.86429603e-03 1.87212470e+02] [-7.10148678e-01 7.04002406e-01 -8.33469259e-03 -7.61977542e+01] [-1.14557614e-02 2.82458568e-04 9.99934341e-01 -2.42895944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.26, Y:-76.24, Z:-2.43 [[ 7.00732166e-01 7.13381120e-01 7.86190948e-03 1.87257350e+02] [-7.13332442e-01 7.00776229e-01 -8.33694316e-03 -7.62400582e+01] [-1.14568571e-02 2.33809144e-04 9.99934341e-01 -2.42979152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.30, Y:-76.28, Z:-2.43 [[ 6.97022958e-01 7.17005733e-01 7.85970675e-03 1.87302393e+02] [-7.16957261e-01 6.97067247e-01 -8.33901928e-03 -7.62832954e+01] [-1.14578688e-02 1.77414063e-04 9.99934341e-01 -2.43080084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.35, Y:-76.32, Z:-2.43 [[ 6.90846023e-01 7.22959217e-01 7.85765988e-03 1.87348020e+02] [-7.22911104e-01 6.90890703e-01 -8.34094755e-03 -7.63238240e+01] [-1.14589491e-02 8.19208693e-05 9.99934341e-01 -2.43344753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.157628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:187.39, Y:-76.37, Z:-2.44 [[ 6.87671232e-01 7.25979719e-01 7.85651408e-03 1.87392168e+02] [-7.25931790e-01 6.87716109e-01 -8.34202666e-03 -7.63682383e+01] [-1.14591935e-02 3.32784209e-05 9.99934341e-01 -2.43602061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.44, Y:-76.41, Z:-2.43 [[ 6.84386407e-01 7.29077196e-01 7.85422801e-03 1.87435560e+02] [-7.29029445e-01 6.84431474e-01 -8.34417851e-03 -7.64108133e+01] [-1.14592311e-02 -1.53211380e-05 9.99934341e-01 -2.43186632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.48, Y:-76.46, Z:-2.43 [[ 6.82962899e-01 7.30410847e-01 7.85324140e-03 1.87480499e+02] [-7.30363174e-01 6.83008048e-01 -8.34510696e-03 -7.64552164e+01] [-1.14591837e-02 -3.63198683e-05 9.99934341e-01 -2.43391506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.52, Y:-76.50, Z:-2.44 [[ 6.81241066e-01 7.32017057e-01 7.85100943e-03 1.87523982e+02] [-7.31969467e-01 6.81286301e-01 -8.34720625e-03 -7.64991005e+01] [-1.14590825e-02 -6.02395035e-05 9.99934341e-01 -2.43870194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.397628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:187.56, Y:-76.54, Z:-2.44 [[ 6.80829841e-01 7.32399563e-01 7.84908875e-03 1.87564398e+02] [-7.32351977e-01 6.80875081e-01 -8.34901192e-03 -7.65446842e+01] [-1.14590616e-02 -6.40392074e-05 9.99934341e-01 -2.44232810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:-76.59, Z:-2.44 [[ 6.80023821e-01 7.33148022e-01 7.84733058e-03 1.87606283e+02] [-7.33100467e-01 6.80069094e-01 -8.35066412e-03 -7.65903273e+01] [-1.14589999e-02 -7.42311882e-05 9.99934341e-01 -2.43768412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:-76.64, Z:-2.44 [[ 6.79050784e-01 7.34049375e-01 7.84523597e-03 1.87648694e+02] [-7.34001857e-01 6.79096096e-01 -8.35263150e-03 -7.66368636e+01] [-1.14589130e-02 -8.65567986e-05 9.99934341e-01 -2.43908431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.69, Y:-76.68, Z:-2.44 [[ 6.77419958e-01 7.35554682e-01 7.84286578e-03 1.87688969e+02] [-7.35507239e-01 6.77465348e-01 -8.35485644e-03 -7.66842549e+01] [-1.14587236e-02 -1.08738057e-04 9.99934341e-01 -2.43764782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.73, Y:-76.73, Z:-2.44 [[ 6.76275612e-01 7.36606963e-01 7.84081043e-03 1.87730303e+02] [-7.36559568e-01 6.76321053e-01 -8.35678488e-03 -7.67307069e+01] [-1.14585711e-02 -1.23734133e-04 9.99934341e-01 -2.43555971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:-76.78, Z:-2.44 [[ 6.76511358e-01 7.36390478e-01 7.83875138e-03 1.87771597e+02] [-7.36343046e-01 6.76556761e-01 -8.35871584e-03 -7.67765678e+01] [-1.14586390e-02 -1.17243860e-04 9.99934341e-01 -2.43543687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:-76.83, Z:-2.44 [[ 6.77490700e-01 7.35489590e-01 7.83671514e-03 1.87811371e+02] [-7.35442076e-01 6.77536016e-01 -8.36062449e-03 -7.68255099e+01] [-1.14588090e-02 -9.92047056e-05 9.99934341e-01 -2.43554509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.85, Y:-76.87, Z:-2.44 [[ 6.78348704e-01 7.34698345e-01 7.83431729e-03 1.87853090e+02] [-7.34650752e-01 6.78393938e-01 -8.36287079e-03 -7.68728056e+01] [-1.14589407e-02 -8.25445266e-05 9.99934341e-01 -2.43548741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.89, Y:-76.92, Z:-2.44 [[ 6.80972758e-01 7.32266867e-01 7.83193365e-03 1.87893530e+02] [-7.32219087e-01 6.81017793e-01 -8.36510250e-03 -7.69208302e+01] [-1.14591736e-02 -3.82843836e-05 9.99934341e-01 -2.43759135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:-76.97, Z:-2.44 [[ 6.82228896e-01 7.31096732e-01 7.82952523e-03 1.87933064e+02] [-7.31048849e-01 6.82273822e-01 -8.36735612e-03 -7.69677727e+01] [-1.14592268e-02 -1.53132735e-05 9.99934341e-01 -2.44048112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.97, Y:-77.02, Z:-2.44 [[ 6.84328883e-01 7.29131467e-01 7.82835158e-03 1.87970804e+02] [-7.29083442e-01 6.84373658e-01 -8.36845402e-03 -7.70179362e+01] [-1.14592208e-02 1.92532753e-05 9.99934341e-01 -2.44049865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.057628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:188.01, Y:-77.07, Z:-2.44 [[ 6.87648476e-01 7.26001600e-01 7.82627007e-03 1.88011724e+02] [-7.25953349e-01 6.87693007e-01 -8.37040022e-03 -7.70663761e+01] [-1.14589951e-02 7.43859898e-05 9.99934341e-01 -2.44401065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:-77.12, Z:-2.44 [[ 6.93640959e-01 7.20278423e-01 7.82391400e-03 1.88050205e+02] [-7.20229780e-01 6.93685061e-01 -8.37260189e-03 -7.71155881e+01] [-1.14579367e-02 1.72563747e-04 9.99934341e-01 -2.44041597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.177628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:-77.16, Z:-2.44 [[ 6.99548359e-01 7.14542450e-01 7.82184177e-03 1.88089740e+02] [-7.14493423e-01 6.99592035e-01 -8.37453735e-03 -7.71647698e+01] [-1.14560606e-02 2.69739355e-04 9.99934341e-01 -2.44225649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.237628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:188.13, Y:-77.22, Z:-2.44 [[ 7.06978867e-01 7.07191443e-01 7.81949458e-03 1.88128400e+02] [-7.07141939e-01 7.07022000e-01 -8.37672840e-03 -7.72151527e+01] [-1.14525053e-02 3.92677391e-04 9.99934341e-01 -2.44194158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.17, Y:-77.26, Z:-2.44 [[ 7.05845089e-01 7.08323092e-01 7.81709988e-03 1.88171248e+02] [-7.08273633e-01 7.05888273e-01 -8.37896253e-03 -7.72593241e+01] [-1.14530118e-02 3.77603827e-04 9.99934341e-01 -2.43970829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.21, Y:-77.30, Z:-2.44 [[ 7.04237566e-01 7.09921389e-01 7.81489147e-03 1.88214536e+02] [-7.09872004e-01 7.04280836e-01 -8.38102176e-03 -7.73034958e+01] [-1.14537449e-02 3.54657694e-04 9.99934341e-01 -2.44303979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:188.26, Y:-77.35, Z:-2.45 [[ 7.03643629e-01 7.10510100e-01 7.81288883e-03 1.88258058e+02] [-7.10460731e-01 7.03686917e-01 -8.38288823e-03 -7.73473076e+01] [-1.14539544e-02 3.47815189e-04 9.99934341e-01 -2.44797465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47762799999998 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:188.30, Y:-77.39, Z:-2.45 [[ 7.01383093e-01 7.12741711e-01 7.81089312e-03 1.88303950e+02] [-7.12692459e-01 7.01426514e-01 -8.38474735e-03 -7.73906324e+01] [-1.14549267e-02 3.14155405e-04 9.99934341e-01 -2.44762843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:-77.43, Z:-2.44 [[ 6.98320014e-01 7.15743100e-01 7.80858021e-03 1.88348191e+02] [-7.15694010e-01 6.98363618e-01 -8.38690078e-03 -7.74348754e+01] [-1.14560947e-02 2.68186581e-04 9.99934341e-01 -2.44341424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.39, Y:-77.48, Z:-2.45 [[ 6.91720364e-01 7.22123260e-01 7.80613790e-03 1.88391764e+02] [-7.22074547e-01 6.91764389e-01 -8.38917335e-03 -7.74795001e+01] [-1.14580254e-02 1.66348547e-04 9.99934341e-01 -2.44530078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.657628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:188.44, Y:-77.52, Z:-2.45 [[ 6.82935592e-01 7.30436908e-01 7.80387936e-03 1.88436035e+02] [-7.30388708e-01 6.82980177e-01 -8.39127379e-03 -7.75228488e+01] [-1.14591910e-02 3.08341716e-05 9.99934341e-01 -2.45145792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.717628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:188.48, Y:-77.57, Z:-2.45 [[ 6.76950971e-01 7.35986762e-01 7.80179642e-03 1.88479859e+02] [-7.35938905e-01 6.76995925e-01 -8.39320995e-03 -7.75673843e+01] [-1.14590758e-02 -5.98538830e-05 9.99934341e-01 -2.45347057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.52, Y:-77.61, Z:-2.45 [[ 6.72103348e-01 7.40416274e-01 7.79944829e-03 1.88521952e+02] [-7.40368687e-01 6.72148588e-01 -8.39539140e-03 -7.76136140e+01] [-1.14584726e-02 -1.31896623e-04 9.99934341e-01 -2.45126456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.56, Y:-77.66, Z:-2.45 [[ 6.68796029e-01 7.43405056e-01 7.79711961e-03 1.88561374e+02] [-7.43357646e-01 6.68841454e-01 -8.39755358e-03 -7.76603584e+01] [-1.14578206e-02 -1.79797997e-04 9.99934341e-01 -2.44964536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:-77.71, Z:-2.45 [[ 6.68908248e-01 7.43304103e-01 7.79525746e-03 1.88599911e+02] [-7.43256666e-01 6.68953646e-01 -8.39928182e-03 -7.77082794e+01] [-1.14578865e-02 -1.75528187e-04 9.99934341e-01 -2.44746277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.64, Y:-77.76, Z:-2.45 [[ 6.69358933e-01 7.42898298e-01 7.79342125e-03 1.88640742e+02] [-7.42850815e-01 6.69404280e-01 -8.40098524e-03 -7.77562680e+01] [-1.14580272e-02 -1.66074810e-04 9.99934341e-01 -2.44808578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.68, Y:-77.80, Z:-2.45 [[ 6.71101201e-01 7.41324811e-01 7.79119349e-03 1.88678478e+02] [-7.41277197e-01 6.71146412e-01 -8.40305078e-03 -7.78045971e+01] [-1.14584216e-02 -1.36136599e-04 9.99934341e-01 -2.45188829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:-77.85, Z:-2.46 [[ 6.72479316e-01 7.40074925e-01 7.78941328e-03 1.88718402e+02] [-7.40027207e-01 6.72524418e-01 -8.40470067e-03 -7.78519355e+01] [-1.14586788e-02 -1.12390393e-04 9.99934341e-01 -2.45617026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.76, Y:-77.90, Z:-2.46 [[ 6.72505535e-01 7.40051120e-01 7.78751590e-03 1.88761090e+02] [-7.40003381e-01 6.72550614e-01 -8.40645835e-03 -7.78956188e+01] [-1.14587075e-02 -1.09398320e-04 9.99934341e-01 -2.46087820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.80, Y:-77.94, Z:-2.46 [[ 6.74355942e-01 7.38365388e-01 7.78578244e-03 1.88803782e+02] [-7.38317517e-01 6.74400881e-01 -8.40806352e-03 -7.79407429e+01] [-1.14589616e-02 -7.83519709e-05 9.99934341e-01 -2.46387739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:-77.99, Z:-2.46 [[ 6.79669110e-01 7.33477546e-01 7.78394431e-03 1.88844257e+02] [-7.33429333e-01 6.79713682e-01 -8.40976486e-03 -7.79875471e+01] [-1.14592271e-02 6.88430839e-06 9.99934341e-01 -2.45759721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.89, Y:-78.03, Z:-2.46 [[ 6.83830731e-01 7.29599187e-01 7.78187685e-03 1.88886056e+02] [-7.29550699e-01 6.83875004e-01 -8.41167752e-03 -7.80334862e+01] [-1.14589841e-02 7.48898833e-05 9.99934341e-01 -2.45585429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.377628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:188.93, Y:-78.08, Z:-2.46 [[ 6.90705129e-01 7.23094668e-01 7.77977365e-03 1.88928305e+02] [-7.23045742e-01 6.90748917e-01 -8.41362227e-03 -7.80774872e+01] [-1.14577156e-02 1.86199847e-04 9.99934341e-01 -2.45925536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:-78.12, Z:-2.46 [[ 6.93461423e-01 7.20451775e-01 7.77784551e-03 1.88969995e+02] [-7.20402662e-01 6.93505000e-01 -8.41540434e-03 -7.81236539e+01] [-1.14568677e-02 2.32577654e-04 9.99934341e-01 -2.45556629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.01, Y:-78.17, Z:-2.45 [[ 6.95277906e-01 7.18698943e-01 7.77578036e-03 1.89012471e+02] [-7.18649699e-01 6.95321335e-01 -8.41731209e-03 -7.81682759e+01] [-1.14561793e-02 2.64308911e-04 9.99934341e-01 -2.45274291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.06, Y:-78.21, Z:-2.45 [[ 6.94880869e-01 7.19082850e-01 7.77385016e-03 1.89056049e+02] [-7.19033610e-01 6.94924303e-01 -8.41909436e-03 -7.82124243e+01] [-1.14562638e-02 2.60608053e-04 9.99934341e-01 -2.45377581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.10, Y:-78.26, Z:-2.45 [[ 6.93233590e-01 7.20671070e-01 7.77165425e-03 1.89099428e+02] [-7.20621907e-01 6.93277111e-01 -8.42112091e-03 -7.82579970e+01] [-1.14567682e-02 2.37379573e-04 9.99934341e-01 -2.45419348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.14, Y:-78.30, Z:-2.46 [[ 6.91920614e-01 7.21931785e-01 7.76928624e-03 1.89142865e+02] [-7.21882677e-01 6.91964196e-01 -8.42330506e-03 -7.83030972e+01] [-1.14571196e-02 2.19745253e-04 9.99934341e-01 -2.45691875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:-78.35, Z:-2.46 [[ 6.90727660e-01 7.23073284e-01 7.76692597e-03 1.89187378e+02] [-7.23024223e-01 6.90771297e-01 -8.42548085e-03 -7.83472474e+01] [-1.14574096e-02 2.04037060e-04 9.99934341e-01 -2.45983417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.23, Y:-78.39, Z:-2.46 [[ 6.90111636e-01 7.23661276e-01 7.76453690e-03 1.89231782e+02] [-7.23612227e-01 6.90155286e-01 -8.42768193e-03 -7.83924281e+01] [-1.14575232e-02 1.97527521e-04 9.99934341e-01 -2.46188460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.27, Y:-78.44, Z:-2.46 [[ 6.89103653e-01 7.24621214e-01 7.76216906e-03 1.89274674e+02] [-7.24572201e-01 6.89147344e-01 -8.42986222e-03 -7.84389282e+01] [-1.14577352e-02 1.84796927e-04 9.99934341e-01 -2.46140281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:-78.48, Z:-2.46 [[ 6.87057675e-01 7.26561447e-01 7.75978258e-03 1.89317173e+02] [-7.26512534e-01 6.87101476e-01 -8.43205843e-03 -7.84845342e+01] [-1.14581666e-02 1.55731163e-04 9.99934341e-01 -2.46151536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.36, Y:-78.53, Z:-2.46 [[ 6.80447819e-01 7.32755475e-01 7.75757743e-03 1.89361481e+02] [-7.32706937e-01 6.80492036e-01 -8.43408671e-03 -7.85296711e+01] [-1.14590929e-02 5.49251043e-05 9.99934341e-01 -2.46262042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.40, Y:-78.57, Z:-2.46 [[ 6.74826153e-01 7.37935986e-01 7.75524953e-03 1.89404554e+02] [-7.37887762e-01 6.74870714e-01 -8.43622669e-03 -7.85749520e+01] [-1.14591860e-02 -2.95173193e-05 9.99934341e-01 -2.46464063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.45, Y:-78.62, Z:-2.47 [[ 6.68808443e-01 7.43394350e-01 7.75284052e-03 1.89446499e+02] [-7.43346465e-01 6.68853367e-01 -8.43843998e-03 -7.86213988e+01] [-1.14586021e-02 -1.19346680e-04 9.99934341e-01 -2.46685425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.49, Y:-78.67, Z:-2.47 [[ 6.66373380e-01 7.45577930e-01 7.75044334e-03 1.89487389e+02] [-7.45530166e-01 6.66418433e-01 -8.44064114e-03 -7.86690376e+01] [-1.14581941e-02 -1.53570748e-04 9.99934341e-01 -2.46654639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:-78.72, Z:-2.47 [[ 6.65318996e-01 7.46518989e-01 7.74807388e-03 1.89527580e+02] [-7.46471264e-01 6.65364089e-01 -8.44281562e-03 -7.87174927e+01] [-1.14580123e-02 -1.66548889e-04 9.99934341e-01 -2.46658191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.57, Y:-78.77, Z:-2.47 [[ 6.65557050e-01 7.46306785e-01 7.74570121e-03 1.89568444e+02] [-7.46259020e-01 6.65602101e-01 -8.44499182e-03 -7.87654913e+01] [-1.14581097e-02 -1.59675547e-04 9.99934341e-01 -2.46845007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.61, Y:-78.82, Z:-2.47 [[ 6.68906479e-01 7.43306238e-01 7.74331131e-03 1.89606200e+02] [-7.43258246e-01 6.68951288e-01 -8.44718259e-03 -7.88155702e+01] [-1.14587416e-02 -1.04904819e-04 9.99934341e-01 -2.46886998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.65, Y:-78.86, Z:-2.47 [[ 6.72551342e-01 7.40009980e-01 7.74089378e-03 1.89645566e+02] [-7.39961743e-01 6.72595887e-01 -8.44939740e-03 -7.88639148e+01] [-1.14591317e-02 -4.53116900e-05 9.99934341e-01 -2.47100749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.69, Y:-78.91, Z:-2.47 [[ 6.75753063e-01 7.37087452e-01 7.73865887e-03 1.89687068e+02] [-7.37038998e-01 6.75797372e-01 -8.45144382e-03 -7.89112783e+01] [-1.14592185e-02 7.39566452e-06 9.99934341e-01 -2.47001200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.73, Y:-78.96, Z:-2.47 [[ 6.77796619e-01 7.35208741e-01 7.73627476e-03 1.89728588e+02] [-7.35160140e-01 6.77840767e-01 -8.45362562e-03 -7.89584710e+01] [-1.14591419e-02 4.24380285e-05 9.99934341e-01 -2.47022465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.77, Y:-79.01, Z:-2.47 [[ 6.83609468e-01 7.29807017e-01 7.73385208e-03 1.89770647e+02] [-7.29758042e-01 6.83653201e-01 -8.45584144e-03 -7.90051990e+01] [-1.14584052e-02 1.36652516e-04 9.99934341e-01 -2.47034690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.81, Y:-79.05, Z:-2.47 [[ 6.87907714e-01 7.25756985e-01 7.73146293e-03 1.89813739e+02] [-7.25707728e-01 6.87951129e-01 -8.45802536e-03 -7.90508496e+01] [-1.14573396e-02 2.07558490e-04 9.99934341e-01 -2.46974640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.86, Y:-79.10, Z:-2.47 [[ 6.96165900e-01 7.17839328e-01 7.72908917e-03 1.89856478e+02] [-7.17789553e-01 6.96208721e-01 -8.46019398e-03 -7.90961724e+01] [-1.14541192e-02 3.41839098e-04 9.99934341e-01 -2.47136923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:-79.14, Z:-2.48 [[ 7.03250849e-01 7.10899807e-01 7.72704047e-03 1.89901846e+02] [-7.10849590e-01 7.03293150e-01 -8.46206474e-03 -7.91393400e+01] [-1.14500548e-02 4.58190665e-04 9.99934341e-01 -2.47512435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.94, Y:-79.18, Z:-2.47 [[ 7.06149319e-01 7.08020807e-01 7.72501672e-03 1.89944797e+02] [-7.07970397e-01 7.06191390e-01 -8.46391181e-03 -7.91823507e+01] [-1.14479660e-02 5.07702413e-04 9.99934341e-01 -2.47224255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.99, Y:-79.22, Z:-2.47 [[ 7.07893659e-01 7.06276802e-01 7.72316363e-03 1.89991322e+02] [-7.06226270e-01 7.07935583e-01 -8.46560238e-03 -7.92243485e+01] [-1.14465609e-02 5.38445196e-04 9.99934341e-01 -2.46877482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.04, Y:-79.27, Z:-2.47 [[ 7.05902447e-01 7.08266982e-01 7.72117833e-03 1.90037509e+02] [-7.08216549e-01 7.05944490e-01 -8.46741272e-03 -7.92659890e+01] [-1.14479122e-02 5.08901085e-04 9.99934341e-01 -2.46827383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.09, Y:-79.30, Z:-2.47 [[ 6.99200909e-01 7.14883560e-01 7.71907953e-03 1.90087534e+02] [-7.14833504e-01 6.99243400e-01 -8.46932560e-03 -7.93049881e+01] [-1.14520971e-02 4.03903495e-04 9.99934341e-01 -2.46844061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.13, Y:-79.35, Z:-2.47 [[ 6.94226884e-01 7.19714864e-01 7.71673883e-03 1.90134584e+02] [-7.19665080e-01 6.94269694e-01 -8.47145777e-03 -7.93474910e+01] [-1.14545320e-02 3.27646266e-04 9.99934341e-01 -2.46995024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.18, Y:-79.39, Z:-2.47 [[ 6.88748263e-01 7.24959529e-01 7.71442803e-03 1.90182767e+02] [-7.24910047e-01 6.88791422e-01 -8.47356154e-03 -7.93863805e+01] [-1.14566210e-02 2.43884405e-04 9.99934341e-01 -2.47216694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:-79.43, Z:-2.47 [[ 6.85673086e-01 7.27868762e-01 7.71257796e-03 1.90230042e+02] [-7.27819445e-01 6.85716432e-01 -8.47524513e-03 -7.94277381e+01] [-1.14575076e-02 1.97883269e-04 9.99934341e-01 -2.47320392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:-79.47, Z:-2.47 [[ 6.84274625e-01 7.29183643e-01 7.71048686e-03 1.90274816e+02] [-7.29134388e-01 6.84318042e-01 -8.47714712e-03 -7.94723092e+01] [-1.14578223e-02 1.78715556e-04 9.99934341e-01 -2.47415071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.32, Y:-79.52, Z:-2.48 [[ 6.82435093e-01 7.30905552e-01 7.70828628e-03 1.90320555e+02] [-7.30856384e-01 6.82478608e-01 -8.47914763e-03 -7.95156116e+01] [-1.14581966e-02 1.52817662e-04 9.99934341e-01 -2.47561286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:-79.56, Z:-2.48 [[ 6.80810409e-01 7.32419144e-01 7.70611334e-03 1.90365220e+02] [-7.32370050e-01 6.80854008e-01 -8.48112202e-03 -7.95593446e+01] [-1.14584743e-02 1.30309542e-04 9.99934341e-01 -2.47684784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:-79.60, Z:-2.48 [[ 6.77667360e-01 7.35328223e-01 7.70410452e-03 1.90409103e+02] [-7.35279295e-01 6.77711146e-01 -8.48294640e-03 -7.96048790e+01] [-1.14589074e-02 8.39473470e-05 9.99934341e-01 -2.47507591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47762799999998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:190.45, Y:-79.65, Z:-2.48 [[ 6.76232071e-01 7.36648403e-01 7.70172378e-03 1.90452951e+02] [-7.36599536e-01 6.76275925e-01 -8.48510734e-03 -7.96500005e+01] [-1.14590311e-02 6.48155522e-05 9.99934341e-01 -2.47790060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.50, Y:-79.70, Z:-2.48 [[ 6.74635353e-01 7.38111008e-01 7.69933543e-03 1.90495435e+02] [-7.38062212e-01 6.74679285e-01 -8.48727395e-03 -7.96953101e+01] [-1.14591325e-02 4.32265179e-05 9.99934341e-01 -2.47908679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.54, Y:-79.74, Z:-2.48 [[ 6.74083000e-01 7.38615503e-01 7.69726925e-03 1.90537197e+02] [-7.38566718e-01 6.74126945e-01 -8.48914740e-03 -7.97413141e+01] [-1.14591525e-02 3.74430598e-05 9.99934341e-01 -2.47994143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.58, Y:-79.79, Z:-2.48 [[ 6.71795116e-01 7.40697042e-01 7.69511037e-03 1.90576127e+02] [-7.40648371e-01 6.71839186e-01 -8.49110390e-03 -7.97878978e+01] [-1.14592122e-02 4.91117181e-06 9.99934341e-01 -2.48457401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.717628 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:190.62, Y:-79.84, Z:-2.49 [[ 6.71033737e-01 7.41386903e-01 7.69313750e-03 1.90617204e+02] [-7.41338257e-01 6.71077834e-01 -8.49289099e-03 -7.98352219e+01] [-1.14592122e-02 -4.20076660e-06 9.99934341e-01 -2.48690974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.66, Y:-79.88, Z:-2.48 [[ 6.70635828e-01 7.41746866e-01 7.69238313e-03 1.90655199e+02] [-7.41698236e-01 6.70679943e-01 -8.49357420e-03 -7.98840440e+01] [-1.14592091e-02 -9.33183355e-06 9.99934341e-01 -2.48336525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.837628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:190.69, Y:-79.93, Z:-2.48 [[ 6.72781040e-01 7.39801682e-01 7.69044889e-03 1.90692291e+02] [-7.39752904e-01 6.72824992e-01 -8.49532518e-03 -7.99337035e+01] [-1.14591821e-02 2.64618113e-05 9.99934341e-01 -2.48280935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:-79.98, Z:-2.48 [[ 6.76758763e-01 7.36164700e-01 7.68838213e-03 1.90728557e+02] [-7.36115664e-01 6.76802428e-01 -8.49719522e-03 -7.99847721e+01] [-1.14588509e-02 9.10128020e-05 9.99934341e-01 -2.47636187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.77, Y:-80.03, Z:-2.48 [[ 6.79191353e-01 7.33920995e-01 7.68623609e-03 1.90766421e+02] [-7.33871794e-01 6.79234831e-01 -8.49913600e-03 -8.00323965e+01] [-1.14584536e-02 1.31827813e-04 9.99934341e-01 -2.47566800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:-80.08, Z:-2.48 [[ 6.80162521e-01 7.33021067e-01 7.68507993e-03 1.90804732e+02] [-7.32971796e-01 6.80205920e-01 -8.50018130e-03 -8.00819461e+01] [-1.14582488e-02 1.48557911e-04 9.99934341e-01 -2.47680772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.84, Y:-80.13, Z:-2.48 [[ 6.79740515e-01 7.33412441e-01 7.68272136e-03 1.90844421e+02] [-7.33363171e-01 6.79783915e-01 -8.50231250e-03 -8.01298225e+01] [-1.14582922e-02 1.45141379e-04 9.99934341e-01 -2.47941592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137628 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:-80.18, Z:-2.49 [[ 6.80758835e-01 7.32467348e-01 7.68062083e-03 1.90883056e+02] [-7.32417996e-01 6.80802142e-01 -8.50420961e-03 -8.01783230e+01] [-1.14580390e-02 1.63890912e-04 9.99934341e-01 -2.48605135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19762799999998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:190.92, Y:-80.23, Z:-2.49 [[ 6.83457110e-01 7.29950285e-01 7.67853436e-03 1.90921250e+02] [-7.29900753e-01 6.83500210e-01 -8.50609309e-03 -8.02275860e+01] [-1.14573049e-02 2.08981795e-04 9.99934341e-01 -2.48620159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:-80.27, Z:-2.49 [[ 6.84889973e-01 7.28606065e-01 7.67643431e-03 1.90960525e+02] [-7.28556426e-01 6.84932951e-01 -8.50798788e-03 -8.02749835e+01] [-1.14568144e-02 2.34320041e-04 9.99934341e-01 -2.48562577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.00, Y:-80.32, Z:-2.48 [[ 6.86497924e-01 7.27091264e-01 7.67421227e-03 1.90999809e+02] [-7.27041509e-01 6.86540767e-01 -8.50999169e-03 -8.03235996e+01] [-1.14562002e-02 2.62620759e-04 9.99934341e-01 -2.48443384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.377628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:191.04, Y:-80.37, Z:-2.48 [[ 6.85310874e-01 7.28210233e-01 7.67215106e-03 1.91039864e+02] [-7.28160527e-01 6.85353774e-01 -8.51184956e-03 -8.03727151e+01] [-1.14565536e-02 2.46705503e-04 9.99934341e-01 -2.48465925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.08, Y:-80.42, Z:-2.48 [[ 6.82680005e-01 7.30677210e-01 7.66971579e-03 1.91079298e+02] [-7.30627635e-01 6.82723056e-01 -8.51404333e-03 -8.04198206e+01] [-1.14573092e-02 2.08660839e-04 9.99934341e-01 -2.48434114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.497628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:-80.47, Z:-2.49 [[ 6.77787856e-01 7.35217529e-01 7.66855448e-03 1.91119232e+02] [-7.35168230e-01 6.77831223e-01 -8.51508919e-03 -8.04669191e+01] [-1.14584285e-02 1.33746418e-04 9.99934341e-01 -2.48743320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:-80.52, Z:-2.49 [[ 6.73515265e-01 7.39133556e-01 7.66645598e-03 1.91160351e+02] [-7.39084487e-01 6.73558893e-01 -8.51697813e-03 -8.05150769e+01] [-1.14589939e-02 7.01560933e-05 9.99934341e-01 -2.48613304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.617628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:191.20, Y:-80.56, Z:-2.49 [[ 6.68111960e-01 7.44021285e-01 7.66404957e-03 1.91199341e+02] [-7.43972510e-01 6.68155916e-01 -8.51914300e-03 -8.05643645e+01] [-1.14592038e-02 -1.01008718e-05 9.99934341e-01 -2.48882393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:-80.61, Z:-2.49 [[ 6.64505208e-01 7.47244357e-01 7.66160293e-03 1.91238934e+02] [-7.47195770e-01 6.64549372e-01 -8.52134279e-03 -8.06115258e+01] [-1.14590387e-02 -6.22406410e-05 9.99934341e-01 -2.48755103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:-80.66, Z:-2.49 [[ 6.61311520e-01 7.50072269e-01 7.65933932e-03 1.91277841e+02] [-7.50023848e-01 6.61355865e-01 -8.52337693e-03 -8.06610473e+01] [-1.14586977e-02 -1.08079799e-04 9.99934341e-01 -2.48897663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.32, Y:-80.71, Z:-2.49 [[ 6.59419752e-01 7.51735966e-01 7.65692844e-03 1.91316479e+02] [-7.51687631e-01 6.59464192e-01 -8.52554218e-03 -8.07098869e+01] [-1.14584268e-02 -1.33707493e-04 9.99934341e-01 -2.48979579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.35, Y:-80.76, Z:-2.49 [[ 6.57486741e-01 7.53427230e-01 7.65470041e-03 1.91353802e+02] [-7.53378987e-01 6.57531279e-01 -8.52754216e-03 -8.07597575e+01] [-1.14580874e-02 -1.60144545e-04 9.99934341e-01 -2.49270315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.39, Y:-80.81, Z:-2.49 [[ 6.56332531e-01 7.54432929e-01 7.65267816e-03 1.91394337e+02] [-7.54384733e-01 6.56377121e-01 -8.52935656e-03 -8.08075349e+01] [-1.14578703e-02 -1.74969392e-04 9.99934341e-01 -2.49419519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.44, Y:-80.85, Z:-2.50 [[ 6.56308517e-01 7.54453828e-01 7.65193109e-03 1.91437187e+02] [-7.54405625e-01 6.56353099e-01 -8.53002673e-03 -8.08527843e+01] [-1.14578800e-02 -1.74330666e-04 9.99934341e-01 -2.49564575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.48, Y:-80.90, Z:-2.50 [[ 6.58082142e-01 7.52907281e-01 7.64980893e-03 1.91480413e+02] [-7.52858952e-01 6.58126587e-01 -8.53192948e-03 -8.08985927e+01] [-1.14582945e-02 -1.44516703e-04 9.99934341e-01 -2.49613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.097628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:191.52, Y:-80.94, Z:-2.50 [[ 6.60080739e-01 7.51155734e-01 7.64737922e-03 1.91521957e+02] [-7.51107261e-01 6.60125027e-01 -8.53410672e-03 -8.09445174e+01] [-1.14586696e-02 -1.10802592e-04 9.99934341e-01 -2.49798062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.56, Y:-80.99, Z:-2.50 [[ 6.58977520e-01 7.52123780e-01 7.64513949e-03 1.91563077e+02] [-7.52075349e-01 6.59021854e-01 -8.53611268e-03 -8.09905033e+01] [-1.14585273e-02 -1.24614595e-04 9.99934341e-01 -2.49506743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.60, Y:-81.04, Z:-2.50 [[ 6.58529682e-01 7.52515941e-01 7.64308013e-03 1.91604981e+02] [-7.52467515e-01 6.58574022e-01 -8.53795620e-03 -8.10360199e+01] [-1.14584822e-02 -1.28671924e-04 9.99934341e-01 -2.49533741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.65, Y:-81.08, Z:-2.50 [[ 6.59328005e-01 7.51816598e-01 7.64100300e-03 1.91647251e+02] [-7.51768103e-01 6.59372270e-01 -8.53981471e-03 -8.10822652e+01] [-1.14586399e-02 -1.13723333e-04 9.99934341e-01 -2.49666750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:-81.13, Z:-2.49 [[ 6.62268762e-01 7.49227428e-01 7.63864480e-03 1.91686320e+02] [-7.49178736e-01 6.62312809e-01 -8.54192354e-03 -8.11301716e+01] [-1.14590157e-02 -6.56611327e-05 9.99934341e-01 -2.49494579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.73, Y:-81.18, Z:-2.50 [[ 6.63901946e-01 7.47780642e-01 7.63657129e-03 1.91726218e+02] [-7.47731833e-01 6.63945864e-01 -8.54377688e-03 -8.11774777e+01] [-1.14591409e-02 -3.78773447e-05 9.99934341e-01 -2.49537892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.77, Y:-81.22, Z:-2.50 [[ 6.64591158e-01 7.47168193e-01 7.63438120e-03 1.91766904e+02] [-7.47119321e-01 6.64635006e-01 -8.54573341e-03 -8.12248159e+01] [-1.14591772e-02 -2.43748374e-05 9.99934341e-01 -2.49783399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.81, Y:-81.27, Z:-2.50 [[ 6.63949836e-01 7.47738164e-01 7.63237968e-03 1.91808561e+02] [-7.47689309e-01 6.63993703e-01 -8.54752063e-03 -8.12713127e+01] [-1.14591594e-02 -3.15237633e-05 9.99934341e-01 -2.49826472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:191.85, Y:-81.32, Z:-2.50 [[ 6.62971165e-01 7.48606050e-01 7.62997173e-03 1.91849149e+02] [-7.48557227e-01 6.63015068e-01 -8.54966956e-03 -8.13175399e+01] [-1.14591206e-02 -4.32860923e-05 9.99934341e-01 -2.50183016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.89, Y:-81.36, Z:-2.50 [[ 6.61985840e-01 7.49477518e-01 7.62878518e-03 1.91889574e+02] [-7.49428741e-01 6.62029793e-01 -8.55072817e-03 -8.13642242e+01] [-1.14590616e-02 -5.67699045e-05 9.99934341e-01 -2.49769784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:-81.41, Z:-2.50 [[ 6.63344214e-01 7.48275542e-01 7.62668120e-03 1.91930603e+02] [-7.48226664e-01 6.63388055e-01 -8.55260437e-03 -8.14108390e+01] [-1.14591539e-02 -3.31656068e-05 9.99934341e-01 -2.49682383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75762799999998 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:-81.46, Z:-2.50 [[ 6.66653478e-01 7.45328791e-01 7.62458146e-03 1.91973448e+02] [-7.45279698e-01 6.66697078e-01 -8.55447586e-03 -8.14568616e+01] [-1.14591833e-02 2.04253153e-05 9.99934341e-01 -2.50151512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.02, Y:-81.50, Z:-2.50 [[ 6.67064377e-01 7.44961086e-01 7.62217802e-03 1.92015621e+02] [-7.44911944e-01 6.67107922e-01 -8.55661683e-03 -8.15032624e+01] [-1.14591619e-02 2.99628213e-05 9.99934341e-01 -2.49952666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.877628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:192.06, Y:-81.55, Z:-2.51 [[ 6.71053767e-01 7.41369530e-01 7.61978362e-03 1.92055826e+02] [-7.41320132e-01 6.71097020e-01 -8.55874855e-03 -8.15489950e+01] [-1.14588095e-02 9.46814644e-05 9.99934341e-01 -2.50502623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:-81.60, Z:-2.50 [[ 6.72904521e-01 7.39690120e-01 7.61787039e-03 1.92097372e+02] [-7.39640594e-01 6.72947629e-01 -8.56045112e-03 -8.15957343e+01] [-1.14585089e-02 1.25880082e-04 9.99934341e-01 -2.50256906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:-81.64, Z:-2.50 [[ 6.75053496e-01 7.37729477e-01 7.61547053e-03 1.92139413e+02] [-7.37679802e-01 6.75096432e-01 -8.56258553e-03 -8.16407240e+01] [-1.14580487e-02 1.62424508e-04 9.99934341e-01 -2.50246958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.18, Y:-81.69, Z:-2.50 [[ 6.74937513e-01 7.37835610e-01 7.61355101e-03 1.92181270e+02] [-7.37785922e-01 6.74980434e-01 -8.56429195e-03 -8.16867134e+01] [-1.14580375e-02 1.63191155e-04 9.99934341e-01 -2.50174649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.22, Y:-81.73, Z:-2.50 [[ 6.72482045e-01 7.40074297e-01 7.61142610e-03 1.92222790e+02] [-7.40024731e-01 6.72525106e-01 -8.56618003e-03 -8.17325429e+01] [-1.14584848e-02 1.27958713e-04 9.99934341e-01 -2.50277985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:-81.78, Z:-2.50 [[ 6.69109437e-01 7.43124915e-01 7.61067137e-03 1.92265635e+02] [-7.43075537e-01 6.69152714e-01 -8.56685052e-03 -8.17790270e+01] [-1.14589415e-02 7.68568128e-05 9.99934341e-01 -2.50374479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.237628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:192.31, Y:-81.82, Z:-2.51 [[ 6.63278770e-01 7.48333742e-01 7.60819468e-03 1.92308795e+02] [-7.48284679e-01 6.63322403e-01 -8.56904949e-03 -8.18238095e+01] [-1.14591949e-02 -9.42690857e-06 9.99934341e-01 -2.50946953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.35, Y:-81.87, Z:-2.51 [[ 6.59263070e-01 7.51873894e-01 7.60606330e-03 1.92351339e+02] [-7.51825044e-01 6.59306941e-01 -8.57094093e-03 -8.18707244e+01] [-1.14589971e-02 -6.79240458e-05 9.99934341e-01 -2.50860329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.39, Y:-81.92, Z:-2.51 [[ 6.56803629e-01 7.54023327e-01 7.60363690e-03 1.92391079e+02] [-7.53974595e-01 6.56847632e-01 -8.57309296e-03 -8.19182658e+01] [-1.14587430e-02 -1.02110487e-04 9.99934341e-01 -2.50848663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.43, Y:-81.97, Z:-2.51 [[ 6.56559838e-01 7.54235638e-01 7.60139541e-03 1.92429861e+02] [-7.54186897e-01 6.56603832e-01 -8.57507993e-03 -8.19659892e+01] [-1.14587362e-02 -1.02819728e-04 9.99934341e-01 -2.50760341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:-82.01, Z:-2.51 [[ 6.56655203e-01 7.54152632e-01 7.59949847e-03 1.92469350e+02] [-7.54103866e-01 6.56699169e-01 -8.57676073e-03 -8.20137723e+01] [-1.14587710e-02 -9.88366165e-05 9.99934341e-01 -2.50648760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:-82.06, Z:-2.51 [[ 6.56043399e-01 7.54684926e-01 7.59744372e-03 1.92509127e+02] [-7.54636175e-01 6.56087381e-01 -8.57858047e-03 -8.20629136e+01] [-1.14587123e-02 -1.05384780e-04 9.99934341e-01 -2.50733533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.55, Y:-82.11, Z:-2.51 [[ 6.55532932e-01 7.55128393e-01 7.59500135e-03 1.92548539e+02] [-7.55079647e-01 6.55576920e-01 -8.58074227e-03 -8.21108510e+01] [-1.14586697e-02 -1.09871794e-04 9.99934341e-01 -2.50953093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:-82.16, Z:-2.51 [[ 6.53652448e-01 7.56756781e-01 7.59288335e-03 1.92591104e+02] [-7.56708122e-01 6.53696532e-01 -8.58261602e-03 -8.21560922e+01] [-1.14583944e-02 -1.35548533e-04 9.99934341e-01 -2.51352668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.63, Y:-82.20, Z:-2.52 [[ 6.51909702e-01 7.58258611e-01 7.59077765e-03 1.92633239e+02] [-7.58210032e-01 6.51953874e-01 -8.58447797e-03 -8.22009887e+01] [-1.14580912e-02 -1.59099288e-04 9.99934341e-01 -2.51562950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.777628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:192.68, Y:-82.25, Z:-2.52 [[ 6.52667026e-01 7.57606867e-01 7.58869566e-03 1.92676610e+02] [-7.57558222e-01 6.52711127e-01 -8.58631807e-03 -8.22457267e+01] [-1.14582796e-02 -1.44872114e-04 9.99934341e-01 -2.51964132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.72, Y:-82.29, Z:-2.52 [[ 6.55904294e-01 7.54805935e-01 7.58663052e-03 1.92718021e+02] [-7.54757082e-01 6.55948162e-01 -8.58814238e-03 -8.22935401e+01] [-1.14588172e-02 -9.30636533e-05 9.99934341e-01 -2.51629090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.897628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:193.41, Y:-81.74, Z:-1.65 [[ 7.13599584e-01 7.00512750e-01 7.58421439e-03 1.93410898e+02] [-7.00460555e-01 7.13639417e-01 -8.59027554e-03 -8.17425674e+01] [-1.14299919e-02 8.17574036e-04 9.99934341e-01 -1.64825418e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 209.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.45, Y:-81.79, Z:-1.64 [[ 7.20865924e-01 6.93027115e-01 8.10787858e-03 1.93454284e+02] [-6.92980227e-01 7.20911493e-01 -8.06375009e-03 -8.17875105e+01] [-1.14334603e-02 1.94283118e-04 9.99934617e-01 -1.64330884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.50, Y:-81.83, Z:-1.64 [[ 7.30042543e-01 6.83353627e-01 8.10591546e-03 1.93499928e+02] [-6.83306114e-01 7.30087460e-01 -8.06572300e-03 -8.18297020e+01] [-1.14297683e-02 3.49499337e-04 9.99934617e-01 -1.64139121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.077628 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:193.54, Y:-81.87, Z:-1.64 [[ 7.35430289e-01 6.77551929e-01 8.10392453e-03 1.93544391e+02] [-6.77504040e-01 7.35474804e-01 -8.06772286e-03 -8.18742374e+01] [-1.14265335e-02 4.42806140e-04 9.99934617e-01 -1.64484548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137628 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:-81.92, Z:-1.65 [[ 7.38924253e-01 6.73739796e-01 8.10158118e-03 1.93590459e+02] [-6.73691652e-01 7.38968492e-01 -8.07007536e-03 -8.19174231e+01] [-1.14239442e-02 5.05206804e-04 9.99934617e-01 -1.64678331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19762799999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:193.64, Y:-81.96, Z:-1.65 [[ 7.37475153e-01 6.75325699e-01 8.09928407e-03 1.93637277e+02] [-6.75277625e-01 7.37519468e-01 -8.07238012e-03 -8.19575469e+01] [-1.14248654e-02 4.83914458e-04 9.99934617e-01 -1.64784911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25762799999998 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:193.69, Y:-82.00, Z:-1.65 [[ 7.32996459e-01 6.80184260e-01 8.09716546e-03 1.93686086e+02] [-6.80136456e-01 7.33041065e-01 -8.07450468e-03 -8.19972904e+01] [-1.14277058e-02 4.11405910e-04 9.99934617e-01 -1.64950642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31762799999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:-82.04, Z:-1.65 [[ 7.28604278e-01 6.84887055e-01 8.09487473e-03 1.93732051e+02] [-6.84839514e-01 7.28649165e-01 -8.07680054e-03 -8.20398148e+01] [-1.14300198e-02 3.41101354e-04 9.99934617e-01 -1.64511964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:-82.08, Z:-1.64 [[ 7.21785141e-01 6.92069881e-01 8.09256630e-03 1.93781367e+02] [-6.92022761e-01 7.21830469e-01 -8.07911281e-03 -8.20793694e+01] [-1.14327716e-02 2.31143511e-04 9.99934617e-01 -1.64411533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.437628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:193.83, Y:-82.12, Z:-1.65 [[ 7.20091914e-01 6.93831523e-01 8.09026036e-03 1.93827518e+02] [-6.93784488e-01 7.20137330e-01 -8.08142128e-03 -8.21211935e+01] [-1.14332433e-02 2.06468975e-04 9.99934617e-01 -1.64823831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.88, Y:-82.16, Z:-1.65 [[ 7.14858970e-01 6.99221879e-01 8.08812797e-03 1.93875883e+02] [-6.99175162e-01 7.14904713e-01 -8.08355487e-03 -8.21611381e+01] [-1.14344392e-02 1.23583517e-04 9.99934617e-01 -1.64628999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.92, Y:-82.20, Z:-1.65 [[ 7.12950226e-01 7.01168021e-01 8.08584030e-03 1.93921947e+02] [-7.01121404e-01 7.12996071e-01 -8.08584254e-03 -8.22039919e+01] [-1.14347066e-02 9.56475638e-05 9.99934617e-01 -1.64669534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.97, Y:-82.25, Z:-1.65 [[ 7.11894241e-01 7.02240162e-01 8.08357812e-03 1.93969763e+02] [-7.02193588e-01 7.11940130e-01 -8.08810346e-03 -8.22450699e+01] [-1.14348147e-02 8.16375514e-05 9.99934617e-01 -1.64936860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.02, Y:-82.29, Z:-1.65 [[ 7.12571548e-01 7.01552907e-01 8.08130813e-03 1.94015357e+02] [-7.01506263e-01 7.12617365e-01 -8.09037091e-03 -8.22875030e+01] [-1.14347037e-02 9.58798540e-05 9.99934617e-01 -1.65220906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.06, Y:-82.33, Z:-1.65 [[ 7.17439986e-01 6.96573457e-01 8.07991021e-03 1.94059007e+02] [-6.96526479e-01 7.17485461e-01 -8.09176677e-03 -8.23322407e+01] [-1.14337281e-02 1.77485631e-04 9.99934617e-01 -1.65379895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.10, Y:-82.38, Z:-1.66 [[ 7.22447190e-01 6.91378919e-01 8.07755840e-03 1.94102688e+02] [-6.91331588e-01 7.22492298e-01 -8.09411377e-03 -8.23772327e+01] [-1.14320734e-02 2.63298470e-04 9.99934617e-01 -1.65552897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:-82.42, Z:-1.66 [[ 7.29439117e-01 6.83998074e-01 8.07523695e-03 1.94145188e+02] [-6.83950261e-01 7.29483714e-01 -8.09642914e-03 -8.24217435e+01] [-1.14286958e-02 3.82791703e-04 9.99934617e-01 -1.65704498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.19, Y:-82.47, Z:-1.66 [[ 7.32304975e-01 6.80928960e-01 8.07309723e-03 1.94189256e+02] [-6.80880937e-01 7.32349345e-01 -8.09856213e-03 -8.24668651e+01] [-1.14268730e-02 4.33799330e-04 9.99934617e-01 -1.65852357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.23, Y:-82.51, Z:-1.66 [[ 7.33719384e-01 6.79404686e-01 8.07083094e-03 1.94233597e+02] [-6.79356546e-01 7.33763627e-01 -8.10082004e-03 -8.25108085e+01] [-1.14258173e-02 4.60756863e-04 9.99934617e-01 -1.66033077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03762799999998 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:194.28, Y:-82.55, Z:-1.66 [[ 7.32432980e-01 6.80791325e-01 8.06857061e-03 1.94278748e+02] [-6.80743244e-01 7.32477287e-01 -8.10307075e-03 -8.25547153e+01] [-1.14265450e-02 4.42331324e-04 9.99934617e-01 -1.66232248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.097628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:194.33, Y:-82.60, Z:-1.66 [[ 7.25936388e-01 6.87714546e-01 8.06626725e-03 1.94325381e+02] [-6.87666862e-01 7.25981123e-01 -8.10536300e-03 -8.25976244e+01] [-1.14301338e-02 3.37073255e-04 9.99934617e-01 -1.66148775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.37, Y:-82.64, Z:-1.66 [[ 7.16471903e-01 6.97569340e-01 8.06398379e-03 1.94372026e+02] [-6.97522246e-01 7.16517259e-01 -8.10763416e-03 -8.26395638e+01] [-1.14336206e-02 1.84083988e-04 9.99934617e-01 -1.66210574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.42, Y:-82.68, Z:-1.66 [[ 7.10003297e-01 7.04152205e-01 8.06166223e-03 1.94417468e+02] [-7.04105506e-01 7.10049058e-01 -8.10994190e-03 -8.26824333e+01] [-1.14348091e-02 8.18247209e-05 9.99934617e-01 -1.66363627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:-82.73, Z:-1.66 [[ 7.02076565e-01 7.12055857e-01 8.05936316e-03 1.94461417e+02] [-7.12009647e-01 7.02122820e-01 -8.11222599e-03 -8.27271305e+01] [-1.14350208e-02 -4.29405617e-05 9.99934617e-01 -1.66282497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.50, Y:-82.77, Z:-1.66 [[ 6.98101172e-01 7.15953796e-01 8.05703768e-03 1.94504840e+02] [-7.15907817e-01 6.98147657e-01 -8.11453499e-03 -8.27727699e+01] [-1.14346341e-02 -1.03329874e-04 9.99934617e-01 -1.66234481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.55, Y:-82.82, Z:-1.66 [[ 6.93383504e-01 7.20523725e-01 8.05472248e-03 1.94547757e+02] [-7.20478026e-01 6.93430264e-01 -8.11683248e-03 -8.28182660e+01] [-1.14337587e-02 -1.75172804e-04 9.99934617e-01 -1.66353368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:-82.86, Z:-1.67 [[ 6.91033207e-01 7.22778158e-01 8.05237847e-03 1.94590106e+02] [-7.22732584e-01 6.91080090e-01 -8.11915721e-03 -8.28639723e+01] [-1.14331879e-02 -2.09109050e-04 9.99934617e-01 -1.66507802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.63, Y:-82.91, Z:-1.67 [[ 6.89518079e-01 7.24223732e-01 8.05021182e-03 1.94630652e+02] [-7.24178231e-01 6.89565032e-01 -8.12130489e-03 -8.29119975e+01] [-1.14327863e-02 -2.30001612e-04 9.99934617e-01 -1.66598990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.67, Y:-82.96, Z:-1.67 [[ 6.89597900e-01 7.24147752e-01 8.04794879e-03 1.94672410e+02] [-7.24102221e-01 6.89644823e-01 -8.12354686e-03 -8.29585003e+01] [-1.14328744e-02 -2.25556735e-04 9.99934617e-01 -1.66663989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:-83.01, Z:-1.67 [[ 6.90806322e-01 7.22995086e-01 8.04558118e-03 1.94711437e+02] [-7.22949449e-01 6.90853142e-01 -8.12589107e-03 -8.30069321e+01] [-1.14332944e-02 -2.03131562e-04 9.99934617e-01 -1.66769658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.75, Y:-83.06, Z:-1.67 [[ 6.93543352e-01 7.20369990e-01 8.04339544e-03 1.94749579e+02] [-7.20324150e-01 6.93589975e-01 -8.12805405e-03 -8.30569298e+01] [-1.14340247e-02 -1.56694132e-04 9.99934617e-01 -1.67009273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.79, Y:-83.10, Z:-1.67 [[ 6.94707103e-01 7.19247787e-01 8.04133881e-03 1.94789481e+02] [-7.19201848e-01 6.94753628e-01 -8.13008823e-03 -8.31049164e+01] [-1.14342973e-02 -1.35315696e-04 9.99934617e-01 -1.67162454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.83, Y:-83.15, Z:-1.67 [[ 6.95860861e-01 7.18131619e-01 8.03989005e-03 1.94829206e+02] [-7.18085589e-01 6.95907296e-01 -8.13152066e-03 -8.31531431e+01] [-1.14345202e-02 -1.14922211e-04 9.99934617e-01 -1.67404579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.877628 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:194.87, Y:-83.20, Z:-1.68 [[ 6.97501345e-01 7.16538392e-01 8.03785037e-03 1.94869394e+02] [-7.16492233e-01 6.97547651e-01 -8.13353634e-03 -8.32000681e+01] [-1.14347747e-02 -8.59048259e-05 9.99934617e-01 -1.67865262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.91, Y:-83.25, Z:-1.67 [[ 7.00221315e-01 7.13880617e-01 8.03581065e-03 1.94909561e+02] [-7.13834260e-01 7.00267422e-01 -8.13555105e-03 -8.32483577e+01] [-1.14350286e-02 -3.95506916e-05 9.99934617e-01 -1.67382584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.95, Y:-83.29, Z:-1.67 [[ 7.01650725e-01 7.12475767e-01 8.03379797e-03 1.94953163e+02] [-7.12429294e-01 7.01696716e-01 -8.13753807e-03 -8.32927126e+01] [-1.14350883e-02 -1.38035267e-05 9.99934617e-01 -1.67148649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.00, Y:-83.33, Z:-1.67 [[ 7.08712208e-01 7.05451981e-01 8.03174649e-03 1.95001493e+02] [-7.05405029e-01 7.08757711e-01 -8.13956238e-03 -8.33337332e+01] [-1.14346327e-02 1.02972864e-04 9.99934617e-01 -1.67144395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.05, Y:-83.38, Z:-1.67 [[ 7.10718785e-01 7.03430408e-01 8.02931391e-03 1.95045720e+02] [-7.03383300e-01 7.10764125e-01 -8.14196131e-03 -8.33786302e+01] [-1.14342514e-02 1.38959532e-04 9.99934617e-01 -1.67298412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.09, Y:-83.43, Z:-1.67 [[ 7.10094576e-01 7.04060552e-01 8.02694363e-03 1.95086613e+02] [-7.04013458e-01 7.10139931e-01 -8.14429743e-03 -8.34254113e+01] [-1.14343317e-02 1.32145091e-04 9.99934617e-01 -1.67049002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.13, Y:-83.47, Z:-1.67 [[ 7.10918452e-01 7.03228667e-01 8.02474993e-03 1.95132890e+02] [-7.03181495e-01 7.10963726e-01 -8.14645836e-03 -8.34685055e+01] [-1.14341292e-02 1.48611910e-04 9.99934617e-01 -1.67283073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.18, Y:-83.51, Z:-1.68 [[ 7.12012807e-01 7.02120647e-01 8.02246107e-03 1.95179579e+02] [-7.02073379e-01 7.12057981e-01 -8.14871176e-03 -8.35102114e+01] [-1.14338362e-02 1.69630784e-04 9.99934617e-01 -1.67544315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357628 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:195.22, Y:-83.55, Z:-1.68 [[ 7.12684435e-01 7.01438930e-01 8.02016849e-03 1.95224672e+02] [-7.01391594e-01 7.12729537e-01 -8.15096755e-03 -8.35546850e+01] [-1.14336169e-02 1.83788940e-04 9.99934617e-01 -1.67957836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.27, Y:-83.60, Z:-1.68 [[ 7.13988307e-01 7.00111714e-01 8.01780665e-03 1.95269841e+02] [-7.00064268e-01 7.14033294e-01 -8.15329015e-03 -8.35976337e+01] [-1.14331948e-02 2.08373886e-04 9.99934617e-01 -1.67728951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.31, Y:-83.64, Z:-1.68 [[ 7.14869781e-01 6.99211660e-01 8.01562601e-03 1.95313754e+02] [-6.99164133e-01 7.14914683e-01 -8.15543340e-03 -8.36409038e+01] [-1.14328629e-02 2.25834685e-04 9.99934617e-01 -1.67858720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.36, Y:-83.69, Z:-1.68 [[ 7.14757511e-01 6.99326451e-01 8.01348511e-03 1.95358675e+02] [-6.99278908e-01 7.14802395e-01 -8.15753650e-03 -8.36851173e+01] [-1.14328394e-02 2.26999365e-04 9.99934617e-01 -1.68044462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.597628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:195.40, Y:-83.73, Z:-1.68 [[ 7.13651138e-01 7.00455476e-01 8.01122238e-03 1.95402854e+02] [-7.00407979e-01 7.13696070e-01 -8.15975804e-03 -8.37295136e+01] [-1.14331251e-02 2.12096531e-04 9.99934617e-01 -1.68208529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.45, Y:-83.77, Z:-1.68 [[ 7.09462006e-01 7.04698176e-01 8.00889745e-03 1.95446090e+02] [-7.04650923e-01 7.09507194e-01 -8.16203935e-03 -8.37743871e+01] [-1.14341446e-02 1.47179836e-04 9.99934617e-01 -1.68064941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.49, Y:-83.82, Z:-1.68 [[ 7.05685247e-01 7.08480222e-01 8.00674619e-03 1.95490610e+02] [-7.08433186e-01 7.05730662e-01 -8.16414913e-03 -8.38185417e+01] [-1.14347445e-02 8.90748866e-05 9.99934617e-01 -1.68200373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.54, Y:-83.86, Z:-1.69 [[ 7.00078552e-01 7.14020972e-01 8.00447259e-03 1.95535271e+02] [-7.13974271e-01 7.00124311e-01 -8.16637766e-03 -8.38624916e+01] [-1.14350908e-02 2.11836936e-06 9.99934617e-01 -1.68565828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.58, Y:-83.91, Z:-1.69 [[ 6.96577039e-01 7.17437379e-01 8.00222447e-03 1.95577778e+02] [-7.17390876e-01 6.96623001e-01 -8.16857999e-03 -8.39084929e+01] [-1.14349782e-02 -5.06775586e-05 9.99934617e-01 -1.68791754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.62, Y:-83.95, Z:-1.69 [[ 6.94038788e-01 7.19893160e-01 7.99993971e-03 1.95617910e+02] [-7.19846794e-01 6.94084888e-01 -8.17081697e-03 -8.39546483e+01] [-1.14347525e-02 -8.78670426e-05 9.99934617e-01 -1.69156232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.957628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:-84.00, Z:-1.69 [[ 6.95931323e-01 7.18063802e-01 7.99811317e-03 1.95659326e+02] [-7.18017295e-01 6.95977279e-01 -8.17260451e-03 -8.40023571e+01] [-1.14349565e-02 -5.52121122e-05 9.99934617e-01 -1.69463100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.70, Y:-84.05, Z:-1.69 [[ 6.97847432e-01 7.16201808e-01 7.99581331e-03 1.95700061e+02] [-7.16155152e-01 6.97893237e-01 -8.17485400e-03 -8.40492723e+01] [-1.14350692e-02 -2.14420240e-05 9.99934617e-01 -1.69021029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.74, Y:-84.09, Z:-1.69 [[ 6.99618483e-01 7.14471887e-01 7.99378818e-03 1.95744397e+02] [-7.14425095e-01 6.99664150e-01 -8.17683380e-03 -8.40932931e+01] [-1.14350849e-02 9.70118357e-06 9.99934617e-01 -1.68946548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:-84.14, Z:-1.69 [[ 7.01202572e-01 7.12917309e-01 7.99148346e-03 1.95788862e+02] [-7.12870390e-01 7.01248108e-01 -8.17908565e-03 -8.41380782e+01] [-1.14350244e-02 3.83039597e-05 9.99934617e-01 -1.69037658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.83, Y:-84.18, Z:-1.69 [[ 7.02414773e-01 7.11723022e-01 7.98919409e-03 1.95832458e+02] [-7.11676000e-01 7.02460203e-01 -8.18132126e-03 -8.41828174e+01] [-1.14349256e-02 6.09632244e-05 9.99934617e-01 -1.69089900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:-84.23, Z:-1.69 [[ 7.01720605e-01 7.12407469e-01 7.98687793e-03 1.95877165e+02] [-7.12360466e-01 7.01766055e-01 -8.18358175e-03 -8.42268556e+01] [-1.14349646e-02 5.30518553e-05 9.99934617e-01 -1.69229990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:195.92, Y:-84.27, Z:-1.70 [[ 7.00378516e-01 7.13726965e-01 7.98456566e-03 1.95921939e+02] [-7.13680022e-01 7.00424028e-01 -8.18583716e-03 -8.42700834e+01] [-1.14350344e-02 3.47594900e-05 9.99934617e-01 -1.69726692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.377628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:-84.31, Z:-1.70 [[ 6.98100249e-01 7.15955530e-01 7.98254237e-03 1.95966325e+02] [-7.15908710e-01 6.98145886e-01 -8.18780973e-03 -8.43126314e+01] [-1.14350868e-02 1.14039511e-06 9.99934617e-01 -1.70006028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.01, Y:-84.36, Z:-1.70 [[ 6.94063571e-01 7.19869472e-01 7.98141207e-03 1.96010778e+02] [-7.19822896e-01 6.94109458e-01 -8.18891139e-03 -8.43565469e+01] [-1.14349209e-02 -6.15780746e-05 9.99934617e-01 -1.69868359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.05, Y:-84.40, Z:-1.70 [[ 6.92861436e-01 7.21026604e-01 7.97911550e-03 1.96054677e+02] [-7.20980080e-01 6.92907375e-01 -8.19114852e-03 -8.44017807e+01] [-1.14348240e-02 -7.74524031e-05 9.99934617e-01 -1.69879040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:-84.45, Z:-1.70 [[ 6.94144682e-01 7.19791311e-01 7.97677961e-03 1.96096805e+02] [-7.19744679e-01 6.94190511e-01 -8.19342264e-03 -8.44472954e+01] [-1.14349591e-02 -5.38239281e-05 9.99934617e-01 -1.69785668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.14, Y:-84.49, Z:-1.70 [[ 6.97552612e-01 7.16489189e-01 7.97471594e-03 1.96138082e+02] [-7.16442316e-01 6.97598196e-01 -8.19543073e-03 -8.44940855e+01] [-1.14350850e-02 3.32015058e-06 9.99934617e-01 -1.69719353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.18, Y:-84.54, Z:-1.70 [[ 6.99503092e-01 7.14585098e-01 7.97253887e-03 1.96180263e+02] [-7.14538078e-01 6.99548523e-01 -8.19754805e-03 -8.45407060e+01] [-1.14350235e-02 3.75276127e-05 9.99934617e-01 -1.69708928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.22, Y:-84.59, Z:-1.70 [[ 6.99468176e-01 7.14619302e-01 7.97022208e-03 1.96223843e+02] [-7.14572257e-01 6.99513583e-01 -8.19979997e-03 -8.45854984e+01] [-1.14350139e-02 4.01995414e-05 9.99934617e-01 -1.69632673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.27, Y:-84.63, Z:-1.70 [[ 6.98802307e-01 7.15270473e-01 7.96787618e-03 1.96268461e+02] [-7.15223445e-01 6.98847730e-01 -8.20207889e-03 -8.46298012e+01] [-1.14350370e-02 3.28198043e-05 9.99934617e-01 -1.69699370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:-84.67, Z:-1.70 [[ 6.98137464e-01 7.15919431e-01 7.96555357e-03 1.96314340e+02] [-7.15872420e-01 6.98182904e-01 -8.20433390e-03 -8.46720853e+01] [-1.14350554e-02 2.54327541e-05 9.99934617e-01 -1.70283478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:196.36, Y:-84.72, Z:-1.71 [[ 6.98525637e-01 7.15540717e-01 7.96350033e-03 1.96358106e+02] [-7.15493658e-01 6.98571028e-01 -8.20632639e-03 -8.47154296e+01] [-1.14350313e-02 3.44953803e-05 9.99934617e-01 -1.70791601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97762799999998 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:196.40, Y:-84.76, Z:-1.71 [[ 6.99479279e-01 7.14608531e-01 7.96146419e-03 1.96402094e+02] [-7.14561390e-01 6.99524584e-01 -8.20830129e-03 -8.47600524e+01] [-1.14349621e-02 5.25817512e-05 9.99934617e-01 -1.70777833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.45, Y:-84.80, Z:-1.71 [[ 6.99439131e-01 7.14647853e-01 7.95913725e-03 1.96446506e+02] [-7.14600688e-01 6.99484412e-01 -8.21055697e-03 -8.48047162e+01] [-1.14349494e-02 5.51798724e-05 9.99934617e-01 -1.70554793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.49, Y:-84.85, Z:-1.71 [[ 6.99187460e-01 7.14894108e-01 7.95681539e-03 1.96490043e+02] [-7.14846933e-01 6.99232731e-01 -8.21280647e-03 -8.48494338e+01] [-1.14349527e-02 5.43862143e-05 9.99934617e-01 -1.70602115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.157628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:196.53, Y:-84.89, Z:-1.71 [[ 6.99628396e-01 7.14462618e-01 7.95449971e-03 1.96533366e+02] [-7.14415391e-01 6.99673612e-01 -8.21504870e-03 -8.48943641e+01] [-1.14348987e-02 6.46643333e-05 9.99934617e-01 -1.70811143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.58, Y:-84.94, Z:-1.71 [[ 6.99044800e-01 7.15033657e-01 7.95218423e-03 1.96576731e+02] [-7.14986441e-01 6.99090027e-01 -8.21728948e-03 -8.49397584e+01] [-1.14349312e-02 5.85495745e-05 9.99934617e-01 -1.70523778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.62, Y:-84.98, Z:-1.71 [[ 6.98300103e-01 7.15760970e-01 7.94984784e-03 1.96620870e+02] [-7.15713775e-01 6.98345352e-01 -8.21954921e-03 -8.49849542e+01] [-1.14349718e-02 4.98964456e-05 9.99934617e-01 -1.70565060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.66, Y:-85.03, Z:-1.71 [[ 6.96027302e-01 7.17971330e-01 7.94752401e-03 1.96664734e+02] [-7.17924253e-01 6.96072675e-01 -8.22179552e-03 -8.50298367e+01] [-1.14350678e-02 1.68739179e-05 9.99934617e-01 -1.70583214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.71, Y:-85.08, Z:-1.71 [[ 6.94759891e-01 7.19197864e-01 7.94519724e-03 1.96708388e+02] [-7.19150842e-01 6.94805320e-01 -8.22404340e-03 -8.50755149e+01] [-1.14350798e-02 -5.97847690e-08 9.99934617e-01 -1.70733541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:-85.12, Z:-1.71 [[ 6.94042160e-01 7.19890541e-01 7.94287412e-03 1.96751497e+02] [-7.19843538e-01 6.94087609e-01 -8.22628648e-03 -8.51216562e+01] [-1.14350763e-02 -8.23696543e-06 9.99934617e-01 -1.70991993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:-85.17, Z:-1.71 [[ 6.94066418e-01 7.19867179e-01 7.94055094e-03 1.96793996e+02] [-7.19820149e-01 6.94111839e-01 -8.22852835e-03 -8.51683612e+01] [-1.14350779e-02 -4.62336489e-06 9.99934617e-01 -1.71119275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:-85.21, Z:-1.71 [[ 6.95069084e-01 7.18899126e-01 7.93819741e-03 1.96836378e+02] [-7.18852007e-01 6.95114413e-01 -8.23079822e-03 -8.52135304e+01] [-1.14350691e-02 1.45842457e-05 9.99934617e-01 -1.71262822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.88, Y:-85.26, Z:-1.71 [[ 6.96278202e-01 7.17728141e-01 7.93602322e-03 1.96881189e+02] [-7.17680922e-01 6.96323427e-01 -8.23289401e-03 -8.52574845e+01] [-1.14350186e-02 3.68521830e-05 9.99934617e-01 -1.71482685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.93, Y:-85.30, Z:-1.72 [[ 6.97526270e-01 7.16515289e-01 7.93369446e-03 1.96925571e+02] [-7.16467965e-01 6.97571385e-01 -8.23513752e-03 -8.53024729e+01] [-1.14349202e-02 5.99868319e-05 9.99934617e-01 -1.71646647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:196.97, Y:-85.35, Z:-1.72 [[ 6.99858104e-01 7.14237864e-01 7.93138997e-03 1.96968724e+02] [-7.14190369e-01 6.99903038e-01 -8.23735642e-03 -8.53478096e+01] [-1.14346358e-02 1.00458321e-04 9.99934617e-01 -1.72081566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.01, Y:-85.39, Z:-1.72 [[ 7.00662778e-01 7.13448510e-01 7.93067763e-03 1.97013228e+02] [-7.13400956e-01 7.00707650e-01 -8.23804218e-03 -8.53917628e+01] [-1.14345054e-02 1.14336513e-04 9.99934617e-01 -1.72019492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.877628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:197.06, Y:-85.44, Z:-1.72 [[ 7.01964022e-01 7.12168276e-01 7.92831611e-03 1.97057281e+02] [-7.12120615e-01 7.02008780e-01 -8.24031429e-03 -8.54359318e+01] [-1.14342379e-02 1.38486822e-04 9.99934617e-01 -1.72342393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.10, Y:-85.48, Z:-1.72 [[ 7.01810336e-01 7.12319754e-01 7.92596242e-03 1.97101189e+02] [-7.12272077e-01 7.01855077e-01 -8.24257757e-03 -8.54804620e+01] [-1.14342278e-02 1.39284421e-04 9.99934617e-01 -1.72143565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.997628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:197.15, Y:-85.52, Z:-1.72 [[ 6.99724858e-01 7.14368490e-01 7.92362519e-03 1.97146033e+02] [-7.14320918e-01 6.99769711e-01 -8.24482374e-03 -8.55246869e+01] [-1.14345552e-02 1.09096901e-04 9.99934617e-01 -1.72398509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.19, Y:-85.57, Z:-1.72 [[ 6.95440736e-01 7.18539794e-01 7.92129678e-03 1.97190389e+02] [-7.18492466e-01 6.95485846e-01 -8.24706018e-03 -8.55692939e+01] [-1.14349907e-02 4.39495397e-05 9.99934617e-01 -1.72327329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.23, Y:-85.61, Z:-1.72 [[ 6.93054100e-01 7.20842081e-01 7.91892173e-03 1.97232628e+02] [-7.20794876e-01 6.93099340e-01 -8.24934010e-03 -8.56139593e+01] [-1.14350709e-02 9.32077012e-06 9.99934617e-01 -1.72449558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:-85.66, Z:-1.73 [[ 6.90047226e-01 7.23721037e-01 7.91745771e-03 1.97274941e+02] [-7.23674006e-01 6.90092645e-01 -8.25074499e-03 -8.56608759e+01] [-1.14350171e-02 -3.62546412e-05 9.99934617e-01 -1.72635618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.32, Y:-85.71, Z:-1.73 [[ 6.88382726e-01 7.25304470e-01 7.91507892e-03 1.97316596e+02] [-7.25257516e-01 6.88428226e-01 -8.25302636e-03 -8.57060128e+01] [-1.14349207e-02 -5.92297006e-05 9.99934617e-01 -1.72717590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.36, Y:-85.75, Z:-1.73 [[ 6.86842097e-01 7.26763593e-01 7.91288306e-03 1.97358409e+02] [-7.26716712e-01 6.86887672e-01 -8.25513118e-03 -8.57530803e+01] [-1.14347906e-02 -8.04527452e-05 9.99934617e-01 -1.72714458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.40, Y:-85.80, Z:-1.73 [[ 6.86052589e-01 7.27508947e-01 7.91053417e-03 1.97401619e+02] [-7.27462090e-01 6.86098188e-01 -8.25738141e-03 -8.57989867e+01] [-1.14347220e-02 -8.96158207e-05 9.99934617e-01 -1.72736860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.45, Y:-85.84, Z:-1.73 [[ 6.86145699e-01 7.27421158e-01 7.90817502e-03 1.97445382e+02] [-7.27374268e-01 6.86191265e-01 -8.25964018e-03 -8.58447941e+01] [-1.14347576e-02 -8.48864385e-05 9.99934617e-01 -1.72758160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.49, Y:-85.89, Z:-1.73 [[ 6.87932962e-01 7.25731175e-01 7.90580287e-03 1.97488162e+02] [-7.25684147e-01 6.87978386e-01 -8.26191008e-03 -8.58896540e+01] [-1.14349472e-02 -5.34755429e-05 9.99934617e-01 -1.72839321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.53, Y:-85.94, Z:-1.73 [[ 6.93246442e-01 7.20657272e-01 7.90361059e-03 1.97529291e+02] [-7.20609888e-01 6.93291494e-01 -8.26400675e-03 -8.59360996e+01] [-1.14350226e-02 3.35733307e-05 9.99934617e-01 -1.72894906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.57, Y:-85.98, Z:-1.73 [[ 6.97264118e-01 7.16770756e-01 7.90145561e-03 1.97572842e+02] [-7.16723098e-01 6.97308879e-01 -8.26606668e-03 -8.59822002e+01] [-1.14346300e-02 1.00475945e-04 9.99934617e-01 -1.72999816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.62, Y:-86.03, Z:-1.73 [[ 7.03920544e-01 7.10234792e-01 7.89982135e-03 1.97616410e+02] [-7.10186701e-01 7.03964840e-01 -8.26762824e-03 -8.60258939e+01] [-1.14331537e-02 2.09405313e-04 9.99934617e-01 -1.73137044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:-86.07, Z:-1.73 [[ 7.10055003e-01 7.04101923e-01 7.89776955e-03 1.97660861e+02] [-7.04053427e-01 7.10098856e-01 -8.26958778e-03 -8.60687193e+01] [-1.14308298e-02 3.11410464e-04 9.99934617e-01 -1.73401799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.70, Y:-86.11, Z:-1.74 [[ 7.13449321e-01 7.00662347e-01 7.89569526e-03 1.97704733e+02] [-7.00613619e-01 7.13492914e-01 -8.27156781e-03 -8.61110089e+01] [-1.14290987e-02 3.69512810e-04 9.99934617e-01 -1.73585524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.837628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:-86.15, Z:-1.74 [[ 7.18255923e-01 6.95734229e-01 7.89380221e-03 1.97752123e+02] [-6.95685181e-01 7.18299157e-01 -8.27337401e-03 -8.61524257e+01] [-1.14261810e-02 4.50798662e-04 9.99934617e-01 -1.73619194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.80, Y:-86.19, Z:-1.73 [[ 7.17137123e-01 6.96887417e-01 7.89149933e-03 1.97798588e+02] [-6.96838415e-01 7.17180409e-01 -8.27557001e-03 -8.61941556e+01] [-1.14267693e-02 4.35618585e-04 9.99934617e-01 -1.73091060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.84, Y:-86.24, Z:-1.73 [[ 7.12510927e-01 7.01616659e-01 7.88944092e-03 1.97844600e+02] [-7.01567922e-01 7.12554512e-01 -8.27753192e-03 -8.62376068e+01] [-1.14293110e-02 3.62853272e-04 9.99934617e-01 -1.72839180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.89, Y:-86.28, Z:-1.73 [[ 7.00800397e-01 7.13313814e-01 7.88705710e-03 1.97893225e+02] [-7.13265781e-01 7.00844755e-01 -8.27980267e-03 -8.62768769e+01] [-1.14337002e-02 1.76921062e-04 9.99934617e-01 -1.72881975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.077628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:197.94, Y:-86.32, Z:-1.73 [[ 6.89751376e-01 7.24003362e-01 7.88485359e-03 1.97940131e+02] [-7.23955992e-01 6.89796442e-01 -8.28190053e-03 -8.63186371e+01] [-1.14350678e-02 4.16528660e-06 9.99934617e-01 -1.73322735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.98, Y:-86.36, Z:-1.73 [[ 6.84307852e-01 7.29150605e-01 7.88411796e-03 1.97983726e+02] [-7.29103566e-01 6.84353263e-01 -8.28260077e-03 -8.63636062e+01] [-1.14347852e-02 -8.04897830e-05 9.99934617e-01 -1.73218220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:-86.41, Z:-1.73 [[ 6.82468395e-01 7.30872606e-01 7.88177199e-03 1.98026801e+02] [-7.30825656e-01 6.82513899e-01 -8.28483261e-03 -8.64092520e+01] [-1.14345761e-02 -1.06064761e-04 9.99934617e-01 -1.73333848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.07, Y:-86.46, Z:-1.74 [[ 6.81085658e-01 7.32161349e-01 7.87942220e-03 1.98067811e+02] [-7.32114459e-01 6.81131223e-01 -8.28706682e-03 -8.64561931e+01] [-1.14343905e-02 -1.24436571e-04 9.99934617e-01 -1.73505650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:-86.50, Z:-1.74 [[ 6.81664074e-01 7.31622879e-01 7.87735673e-03 1.98108869e+02] [-7.31575931e-01 6.81709579e-01 -8.28902971e-03 -8.65034337e+01] [-1.14345133e-02 -1.12550816e-04 9.99934617e-01 -1.73733422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.15, Y:-86.55, Z:-1.74 [[ 6.84065290e-01 7.29378272e-01 7.87499235e-03 1.98146132e+02] [-7.29331148e-01 6.84110613e-01 -8.29127537e-03 -8.65527707e+01] [-1.14348420e-02 -7.17035258e-05 9.99934617e-01 -1.74106687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:-86.60, Z:-1.74 [[ 6.87772075e-01 7.25884004e-01 7.87310242e-03 1.98183612e+02] [-7.25836629e-01 6.87817136e-01 -8.29306959e-03 -8.66032952e+01] [-1.14350613e-02 -1.08444366e-05 9.99934617e-01 -1.74191288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:-86.65, Z:-1.74 [[ 6.91670413e-01 7.22170400e-01 7.87105907e-03 1.98222322e+02] [-7.22122761e-01 6.91715195e-01 -8.29500851e-03 -8.66524830e+01] [-1.14349408e-02 5.35410578e-05 9.99934617e-01 -1.74219653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:-86.70, Z:-1.74 [[ 6.98094679e-01 7.15962219e-01 7.86890224e-03 1.98259284e+02] [-7.15914159e-01 6.98139009e-01 -8.29705404e-03 -8.67038147e+01] [-1.14339648e-02 1.58670747e-04 9.99934617e-01 -1.74142492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:-86.75, Z:-1.74 [[ 7.00075057e-01 7.14025932e-01 7.86658718e-03 1.98301128e+02] [-7.13977725e-01 7.00119226e-01 -8.29924841e-03 -8.67506687e+01] [-1.14334275e-02 1.93528778e-04 9.99934618e-01 -1.74131124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:-86.80, Z:-1.74 [[ 7.00078368e-01 7.14022711e-01 7.86422488e-03 1.98343783e+02] [-7.13974479e-01 7.00122510e-01 -8.30148628e-03 -8.67951174e+01] [-1.14333706e-02 1.96835108e-04 9.99934618e-01 -1.74256725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.737628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:-86.84, Z:-1.75 [[ 7.02696353e-01 7.11446429e-01 7.86216794e-03 1.98388239e+02] [-7.11398013e-01 7.02740294e-01 -8.30343392e-03 -8.68378672e+01] [-1.14325106e-02 2.41662087e-04 9.99934618e-01 -1.74725299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.43, Y:-86.88, Z:-1.75 [[ 7.05365230e-01 7.08800473e-01 7.86012616e-03 1.98432536e+02] [-7.08751870e-01 7.05408965e-01 -8.30536624e-03 -8.68827942e+01] [-1.14314510e-02 2.87437458e-04 9.99934618e-01 -1.74697357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.48, Y:-86.93, Z:-1.75 [[ 7.11080408e-01 7.03066788e-01 7.85778697e-03 1.98477846e+02] [-7.03017809e-01 7.11123720e-01 -8.30757878e-03 -8.69259859e+01] [-1.14286414e-02 3.83192332e-04 9.99934618e-01 -1.74638894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.52, Y:-86.97, Z:-1.74 [[ 7.13892906e-01 7.00210829e-01 7.85574964e-03 1.98521510e+02] [-7.00161656e-01 7.13935997e-01 -8.30950486e-03 -8.69703061e+01] [-1.14269077e-02 4.31801907e-04 9.99934618e-01 -1.74379807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.57, Y:-87.01, Z:-1.74 [[ 7.12829299e-01 7.01293597e-01 7.85373163e-03 1.98568100e+02] [-7.01244468e-01 7.12872441e-01 -8.31141174e-03 -8.70122675e+01] [-1.14274487e-02 4.17231949e-04 9.99934618e-01 -1.73958568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:-87.06, Z:-1.74 [[ 7.08960134e-01 7.05204850e-01 7.85168605e-03 1.98613561e+02] [-7.05155937e-01 7.09003521e-01 -8.31334372e-03 -8.70550377e+01] [-1.14294834e-02 3.57166241e-04 9.99934618e-01 -1.73941431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:-87.10, Z:-1.74 [[ 7.00645570e-01 7.13466306e-01 7.84952159e-03 1.98660226e+02] [-7.13417883e-01 7.00689503e-01 -8.31538692e-03 -8.70969896e+01] [-1.14328258e-02 2.26149936e-04 9.99934618e-01 -1.73964252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.71, Y:-87.14, Z:-1.74 [[ 6.94094495e-01 7.19841131e-01 7.84723248e-03 1.98705453e+02] [-7.19793086e-01 6.94138841e-01 -8.31754660e-03 -8.71404029e+01] [-1.14343810e-02 1.24779616e-04 9.99934618e-01 -1.74184418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.75, Y:-87.18, Z:-1.74 [[ 6.85561557e-01 7.27972395e-01 7.84493371e-03 1.98750699e+02] [-7.27924852e-01 6.85606441e-01 -8.31971419e-03 -8.71842562e+01] [-1.14350593e-02 -6.84599483e-06 9.99934618e-01 -1.74469475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.79, Y:-87.23, Z:-1.75 [[ 6.82002927e-01 7.31307391e-01 7.84264039e-03 1.98793342e+02] [-7.31260043e-01 6.82048016e-01 -8.32187544e-03 -8.72298164e+01] [-1.14349063e-02 -5.94661356e-05 9.99934618e-01 -1.74586519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.83, Y:-87.28, Z:-1.75 [[ 6.80906587e-01 7.32328308e-01 7.84023238e-03 1.98833674e+02] [-7.32281001e-01 6.80951720e-01 -8.32414346e-03 -8.72763139e+01] [-1.14348256e-02 -7.32890994e-05 9.99934618e-01 -1.74842028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.87, Y:-87.33, Z:-1.75 [[ 6.82898447e-01 7.30471270e-01 7.83800910e-03 1.98872970e+02] [-7.30423817e-01 6.82943425e-01 -8.32623638e-03 -8.73253471e+01] [-1.14349932e-02 -3.90946332e-05 9.99934618e-01 -1.74983319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:-87.37, Z:-1.75 [[ 6.84347392e-01 7.29114017e-01 7.83565337e-03 1.98912583e+02] [-7.29066449e-01 6.84392249e-01 -8.32845271e-03 -8.73741343e+01] [-1.14350520e-02 -1.31570819e-05 9.99934618e-01 -1.75065583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.95, Y:-87.43, Z:-1.75 [[ 6.86625758e-01 7.26968849e-01 7.83331909e-03 1.98950321e+02] [-7.26921116e-01 6.86670439e-01 -8.33064764e-03 -8.74256431e+01] [-1.14350300e-02 2.58322005e-05 9.99934618e-01 -1.75050866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.99, Y:-87.48, Z:-1.75 [[ 6.88118990e-01 7.25555601e-01 7.83101254e-03 1.98989254e+02] [-7.25507751e-01 6.88163547e-01 -8.33281529e-03 -8.74754667e+01] [-1.14349382e-02 5.25081474e-05 9.99934618e-01 -1.75217274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.03, Y:-87.52, Z:-1.75 [[ 6.86615974e-01 7.26978141e-01 7.82864155e-03 1.99030754e+02] [-7.26930358e-01 6.86660602e-01 -8.33504223e-03 -8.75230113e+01] [-1.14350132e-02 3.20959304e-05 9.99934618e-01 -1.75275236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.07, Y:-87.57, Z:-1.75 [[ 6.85143362e-01 7.28366201e-01 7.82628710e-03 1.99074086e+02] [-7.28318483e-01 6.85188060e-01 -8.33725239e-03 -8.75684333e+01] [-1.14350513e-02 1.21835786e-05 9.99934618e-01 -1.75429275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.12, Y:-87.61, Z:-1.76 [[ 6.87317718e-01 7.26314767e-01 7.82389207e-03 1.99118015e+02] [-7.26266890e-01 6.87362246e-01 -8.33949933e-03 -8.76125730e+01] [-1.14349495e-02 4.96518857e-05 9.99934618e-01 -1.75772694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:-87.66, Z:-1.76 [[ 6.91179565e-01 7.22640733e-01 7.82181258e-03 1.99161135e+02] [-7.22592597e-01 6.91223812e-01 -8.34144928e-03 -8.76578873e+01] [-1.14344941e-02 1.13455409e-04 9.99934618e-01 -1.75778734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.877628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:199.20, Y:-87.70, Z:-1.76 [[ 7.00017818e-01 7.14082566e-01 7.81943973e-03 1.99203748e+02] [-7.14033865e-01 7.00061442e-01 -8.34367304e-03 -8.77038348e+01] [-1.14321597e-02 2.57375017e-04 9.99934618e-01 -1.76011799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.25, Y:-87.75, Z:-1.76 [[ 7.05037689e-01 7.09126752e-01 7.81708543e-03 1.99246365e+02] [-7.09077720e-01 7.05080941e-01 -8.34587817e-03 -8.77495282e+01] [-1.14299634e-02 3.41237546e-04 9.99934618e-01 -1.75685077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.29, Y:-87.79, Z:-1.76 [[ 7.09765869e-01 7.04394308e-01 7.81473999e-03 1.99291479e+02] [-7.04344964e-01 7.09808764e-01 -8.34807377e-03 -8.77940915e+01] [-1.14273066e-02 4.20905077e-04 9.99934618e-01 -1.75676820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:-87.84, Z:-1.76 [[ 7.10038420e-01 7.04119598e-01 7.81236203e-03 1.99335186e+02] [-7.04070213e-01 7.10081268e-01 -8.35029854e-03 -8.78393453e+01] [-1.14270208e-02 4.28581385e-04 9.99934618e-01 -1.75725247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.38, Y:-87.88, Z:-1.76 [[ 7.07573209e-01 7.06596885e-01 7.81001907e-03 1.99380850e+02] [-7.06547625e-01 7.07616202e-01 -8.35248934e-03 -8.78830607e+01] [-1.14283390e-02 3.91847255e-04 9.99934618e-01 -1.75712640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.42, Y:-87.93, Z:-1.76 [[ 7.03028024e-01 7.11119285e-01 7.80765969e-03 1.99424652e+02] [-7.11070278e-01 7.03071304e-01 -8.35469423e-03 -8.79263525e+01] [-1.14305257e-02 3.21789438e-04 9.99934618e-01 -1.75801982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.47, Y:-87.97, Z:-1.76 [[ 6.94443704e-01 7.19504695e-01 7.80620459e-03 1.99471449e+02] [-7.19456195e-01 6.94487552e-01 -8.35605358e-03 -8.79686501e+01] [-1.14335317e-02 1.86586541e-04 9.99934618e-01 -1.76099910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.51, Y:-88.01, Z:-1.76 [[ 6.89386829e-01 7.24351365e-01 7.80383665e-03 1.99514664e+02] [-7.24303149e-01 6.89430989e-01 -8.35826445e-03 -8.80131521e+01] [-1.14345271e-02 1.09733975e-04 9.99934618e-01 -1.76292782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.56, Y:-88.06, Z:-1.76 [[ 6.84837585e-01 7.28653976e-01 7.80164889e-03 1.99557226e+02] [-7.28606014e-01 6.84882020e-01 -8.36030601e-03 -8.80597926e+01] [-1.14349793e-02 4.11234800e-05 9.99934618e-01 -1.76431995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:-88.11, Z:-1.77 [[ 6.83550867e-01 7.29861208e-01 7.79932126e-03 1.99599205e+02] [-7.29813300e-01 6.83595360e-01 -8.36247689e-03 -8.81063065e+01] [-1.14350273e-02 2.41299445e-05 9.99934618e-01 -1.76624112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.64, Y:-88.15, Z:-1.77 [[ 6.84839670e-01 7.28652067e-01 7.79695209e-03 1.99639886e+02] [-7.28604055e-01 6.84884051e-01 -8.36468527e-03 -8.81546492e+01] [-1.14349533e-02 4.75773891e-05 9.99934618e-01 -1.76694927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.68, Y:-88.20, Z:-1.77 [[ 6.89502846e-01 7.24241030e-01 7.79460194e-03 1.99678306e+02] [-7.24192710e-01 6.89546891e-01 -8.36687467e-03 -8.82031383e+01] [-1.14343775e-02 1.24189993e-04 9.99934618e-01 -1.76642909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.72, Y:-88.25, Z:-1.77 [[ 6.93072326e-01 7.20825935e-01 7.79243505e-03 1.99718252e+02] [-7.20777375e-01 6.93116107e-01 -8.36889231e-03 -8.82503844e+01] [-1.14335769e-02 1.83636778e-04 9.99934618e-01 -1.76730037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.76, Y:-88.30, Z:-1.77 [[ 6.97231214e-01 7.16803980e-01 7.79030741e-03 1.99758164e+02] [-7.16755145e-01 6.97274688e-01 -8.37087238e-03 -8.82997414e+01] [-1.14322588e-02 2.52690600e-04 9.99934618e-01 -1.76826640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.80, Y:-88.35, Z:-1.77 [[ 6.97115254e-01 7.16916779e-01 7.78806205e-03 1.99801825e+02] [-7.16867928e-01 6.97158710e-01 -8.37296089e-03 -8.83451198e+01] [-1.14322314e-02 2.53906852e-04 9.99934618e-01 -1.76970922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.84, Y:-88.39, Z:-1.77 [[ 6.96952199e-01 7.17075319e-01 7.78584454e-03 1.99844434e+02] [-7.17026455e-01 6.96995640e-01 -8.37502240e-03 -8.83893971e+01] [-1.14322216e-02 2.54333769e-04 9.99934618e-01 -1.77301139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:-88.43, Z:-1.78 [[ 6.95920123e-01 7.18077009e-01 7.78407026e-03 1.99888506e+02] [-7.18028189e-01 6.95963614e-01 -8.37667116e-03 -8.84337066e+01] [-1.14325246e-02 2.40312153e-04 9.99934618e-01 -1.77509840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.897628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:199.93, Y:-88.48, Z:-1.78 [[ 6.95359371e-01 7.18620056e-01 7.78200955e-03 1.99932237e+02] [-7.18571248e-01 6.95402876e-01 -8.37858515e-03 -8.84774385e+01] [-1.14326511e-02 2.34199385e-04 9.99934618e-01 -1.77960685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.98, Y:-88.52, Z:-1.78 [[ 6.93435833e-01 7.20476382e-01 7.77996029e-03 1.99976177e+02] [-7.20427670e-01 6.93479444e-01 -8.38048755e-03 -8.85218045e+01] [-1.14331859e-02 2.06431701e-04 9.99934618e-01 -1.77693854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.02, Y:-88.57, Z:-1.78 [[ 6.91129543e-01 7.22689047e-01 7.77786918e-03 2.00018085e+02] [-7.22640453e-01 6.91173286e-01 -8.38242786e-03 -8.85656353e+01] [-1.14337442e-02 1.72740632e-04 9.99934618e-01 -1.77542346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.06, Y:-88.61, Z:-1.77 [[ 6.85838382e-01 7.27712329e-01 7.77683791e-03 2.00060856e+02] [-7.27664044e-01 6.85882466e-01 -8.38338451e-03 -8.86109176e+01] [-1.14346890e-02 9.07215471e-05 9.99934618e-01 -1.77400348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:-88.66, Z:-1.78 [[ 6.82278571e-01 7.31050959e-01 7.77478336e-03 2.00103823e+02] [-7.31002868e-01 6.82322867e-01 -8.38528947e-03 -8.86564623e+01] [-1.14349864e-02 3.77143853e-05 9.99934618e-01 -1.77514639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.15, Y:-88.70, Z:-1.78 [[ 6.78199396e-01 7.34836832e-01 7.77236703e-03 2.00145391e+02] [-7.34788962e-01 6.78243931e-01 -8.38752858e-03 -8.87035415e+01] [-1.14350257e-02 -2.26326876e-05 9.99934618e-01 -1.77562784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.19, Y:-88.75, Z:-1.78 [[ 6.76326759e-01 7.36560753e-01 7.76998167e-03 2.00187050e+02] [-7.36512972e-01 6.76371388e-01 -8.38973773e-03 -8.87508226e+01] [-1.14349448e-02 -4.84881664e-05 9.99934618e-01 -1.77708552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.23, Y:-88.80, Z:-1.78 [[ 6.74931640e-01 7.37839377e-01 7.76759038e-03 2.00227035e+02] [-7.37791655e-01 6.74976332e-01 -8.39195111e-03 -8.87983439e+01] [-1.14348516e-02 -6.68700407e-05 9.99934618e-01 -1.78041812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.27, Y:-88.85, Z:-1.78 [[ 6.74641952e-01 7.38104283e-01 7.76548782e-03 2.00266941e+02] [-7.38056556e-01 6.74686640e-01 -8.39389627e-03 -8.88465317e+01] [-1.14348417e-02 -6.84946295e-05 9.99934618e-01 -1.78257790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.31, Y:-88.89, Z:-1.78 [[ 6.75607370e-01 7.37220738e-01 7.76310652e-03 2.00308209e+02] [-7.37172927e-01 6.75651967e-01 -8.39609803e-03 -8.88939313e+01] [-1.14349358e-02 -5.02862521e-05 9.99934618e-01 -1.78285872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:-88.94, Z:-1.78 [[ 6.75180501e-01 7.37611729e-01 7.76065674e-03 2.00352671e+02] [-7.37563918e-01 6.75225099e-01 -8.39836180e-03 -8.89376366e+01] [-1.14349204e-02 -5.35702737e-05 9.99934618e-01 -1.78383961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:-88.98, Z:-1.78 [[ 6.74500905e-01 7.38233254e-01 7.75839721e-03 2.00396716e+02] [-7.38185460e-01 6.74545521e-01 -8.40044864e-03 -8.89819048e+01] [-1.14348826e-02 -6.10258036e-05 9.99934618e-01 -1.78449608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.44, Y:-89.03, Z:-1.79 [[ 6.75131587e-01 7.37656549e-01 7.75604391e-03 2.00441451e+02] [-7.37608692e-01 6.75176135e-01 -8.40262085e-03 -8.90260906e+01] [-1.14349440e-02 -4.80506592e-05 9.99934618e-01 -1.78698678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.48, Y:-89.07, Z:-1.79 [[ 6.75943466e-01 7.36912690e-01 7.75363853e-03 2.00482804e+02] [-7.36864758e-01 6.75987934e-01 -8.40483986e-03 -8.90718019e+01] [-1.14349992e-02 -3.21863976e-05 9.99934618e-01 -1.78914136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.737628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:-89.12, Z:-1.79 [[ 6.78016231e-01 7.35006057e-01 7.75154561e-03 2.00525018e+02] [-7.34957978e-01 6.78060540e-01 -8.40676966e-03 -8.91166829e+01] [-1.14350438e-02 2.86599312e-06 9.99934618e-01 -1.79465314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.57, Y:-89.16, Z:-1.79 [[ 6.78788084e-01 7.34293322e-01 7.74943452e-03 2.00567360e+02] [-7.34245175e-01 6.78832318e-01 -8.40871523e-03 -8.91620623e+01] [-1.14350300e-02 1.77508013e-05 9.99934618e-01 -1.79457640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:-89.21, Z:-1.79 [[ 6.80053448e-01 7.33121605e-01 7.74720579e-03 2.00608874e+02] [-7.33073358e-01 6.80097574e-01 -8.41076813e-03 -8.92085016e+01] [-1.14349717e-02 4.05017086e-05 9.99934618e-01 -1.79276107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:200.65, Y:-89.26, Z:-1.79 [[ 6.82549503e-01 7.30798323e-01 7.74512832e-03 2.00650042e+02] [-7.30749904e-01 6.82593440e-01 -8.41268074e-03 -8.92552905e+01] [-1.14347468e-02 8.23192868e-05 9.99934618e-01 -1.79283679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.69, Y:-89.30, Z:-1.79 [[ 6.82416558e-01 7.30922490e-01 7.74302152e-03 2.00692576e+02] [-7.30874057e-01 6.82460480e-01 -8.41461940e-03 -8.93021907e+01] [-1.14347407e-02 8.31020517e-05 9.99934618e-01 -1.79124196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.73, Y:-89.35, Z:-1.79 [[ 6.82777064e-01 7.30585768e-01 7.74061210e-03 2.00733845e+02] [-7.30537288e-01 6.82820934e-01 -8.41683524e-03 -8.93486328e+01] [-1.14346720e-02 9.20162762e-05 9.99934618e-01 -1.79199895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:-89.40, Z:-1.79 [[ 6.82630579e-01 7.30722663e-01 7.73839022e-03 2.00774957e+02] [-7.30674169e-01 6.82674433e-01 -8.41887753e-03 -8.93960163e+01] [-1.14346658e-02 9.27414014e-05 9.99934618e-01 -1.79096144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.82, Y:-89.44, Z:-1.79 [[ 6.80608383e-01 7.32606568e-01 7.73602544e-03 2.00819189e+02] [-7.32558171e-01 6.80652343e-01 -8.42104994e-03 -8.94413724e+01] [-1.14348603e-02 6.43485318e-05 9.99934618e-01 -1.79318387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.86, Y:-89.48, Z:-1.80 [[ 6.78148235e-01 7.34884455e-01 7.73364408e-03 2.00863967e+02] [-7.34836181e-01 6.78192330e-01 -8.42323634e-03 -8.94845203e+01] [-1.14350036e-02 2.92413738e-05 9.99934618e-01 -1.79599357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.91, Y:-89.53, Z:-1.80 [[ 6.75522364e-01 7.37298963e-01 7.73144519e-03 2.00909920e+02] [-7.37250823e-01 6.75566606e-01 -8.42525415e-03 -8.95269994e+01] [-1.14350373e-02 -8.56672406e-06 9.99934618e-01 -1.80069553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.95, Y:-89.57, Z:-1.80 [[ 6.75373972e-01 7.37434916e-01 7.72937161e-03 2.00953541e+02] [-7.37386763e-01 6.75418200e-01 -8.42715604e-03 -8.95717741e+01] [-1.14350374e-02 -8.05446750e-06 9.99934618e-01 -1.80292358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:-89.62, Z:-1.80 [[ 6.77954486e-01 7.35063269e-01 7.72698030e-03 2.00995145e+02] [-7.35014936e-01 6.77998518e-01 -8.42934810e-03 -8.96181435e+01] [-1.14349854e-02 3.52684327e-05 9.99934618e-01 -1.80140466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.04, Y:-89.66, Z:-1.80 [[ 6.80093180e-01 7.33084983e-01 7.72490245e-03 2.01037840e+02] [-7.33036501e-01 6.80137047e-01 -8.43125187e-03 -8.96640688e+01] [-1.14348165e-02 7.14014250e-05 9.99934618e-01 -1.80106699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.08, Y:-89.71, Z:-1.80 [[ 6.81841936e-01 7.31458774e-01 7.72251176e-03 2.01079231e+02] [-7.31410162e-01 6.81885659e-01 -8.43344103e-03 -8.97112157e+01] [-1.14345845e-02 1.01950184e-04 9.99934618e-01 -1.80135549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.12, Y:-89.76, Z:-1.80 [[ 6.81018541e-01 7.32225475e-01 7.72014029e-03 2.01120434e+02] [-7.32176888e-01 6.81062292e-01 -8.43561136e-03 -8.97574705e+01] [-1.14346660e-02 9.22994588e-05 9.99934618e-01 -1.80421719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.16, Y:-89.80, Z:-1.81 [[ 6.78776460e-01 7.34304399e-01 7.71802244e-03 2.01161579e+02] [-7.34255924e-01 6.78820334e-01 -8.43754861e-03 -8.98030923e+01] [-1.14348796e-02 6.02056772e-05 9.99934618e-01 -1.80695568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.21, Y:-89.85, Z:-1.81 [[ 6.75030818e-01 7.37749175e-01 7.71683612e-03 2.01205087e+02] [-7.37700911e-01 6.75074926e-01 -8.43863345e-03 -8.98477846e+01] [-1.14350374e-02 3.62060489e-06 9.99934618e-01 -1.80911168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.25, Y:-89.89, Z:-1.81 [[ 6.73269251e-01 7.39357152e-01 7.71472763e-03 2.01248755e+02] [-7.39308972e-01 6.73313449e-01 -8.44056063e-03 -8.98931643e+01] [-1.14350187e-02 -2.07974225e-05 9.99934618e-01 -1.81021182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.29, Y:-89.94, Z:-1.81 [[ 6.73308045e-01 7.39321850e-01 7.71228957e-03 2.01289354e+02] [-7.39273641e-01 6.73352213e-01 -8.44278774e-03 -8.99399280e+01] [-1.14350247e-02 -1.68954896e-05 9.99934618e-01 -1.81026306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.33, Y:-89.99, Z:-1.81 [[ 6.73918668e-01 7.38765311e-01 7.71003661e-03 2.01330580e+02] [-7.38717043e-01 6.73962770e-01 -8.44484467e-03 -8.99875404e+01] [-1.14350359e-02 -4.39698001e-06 9.99934618e-01 -1.80984929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.37, Y:-90.03, Z:-1.81 [[ 6.73601534e-01 7.39054508e-01 7.70761252e-03 2.01372294e+02] [-7.39006234e-01 6.73645629e-01 -8.44705655e-03 -9.00345071e+01] [-1.14350347e-02 -6.02344962e-06 9.99934618e-01 -1.81012550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.41, Y:-90.08, Z:-1.81 [[ 6.72699465e-01 7.39875705e-01 7.70520818e-03 2.01414386e+02] [-7.39827459e-01 6.72743592e-01 -8.44924917e-03 -9.00809915e+01] [-1.14350236e-02 -1.67191911e-05 9.99934618e-01 -1.81046786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:-90.13, Z:-1.81 [[ 6.70869132e-01 7.41535754e-01 7.70280853e-03 2.01456616e+02] [-7.41487592e-01 6.70913351e-01 -8.45143625e-03 -9.01268991e+01] [-1.14349592e-02 -4.17292469e-05 9.99934618e-01 -1.81225456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.50, Y:-90.17, Z:-1.81 [[ 6.69481205e-01 7.42789081e-01 7.70044927e-03 2.01499456e+02] [-7.42740977e-01 6.69525487e-01 -8.45358533e-03 -9.01727003e+01] [-1.14348779e-02 -5.99227275e-05 9.99934618e-01 -1.81181272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.54, Y:-90.22, Z:-1.81 [[ 6.68165079e-01 7.43973231e-01 7.69799515e-03 2.01541971e+02] [-7.43925180e-01 6.68209417e-01 -8.45581950e-03 -9.02170573e+01] [-1.14347762e-02 -7.68491297e-05 9.99934618e-01 -1.81302826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.58, Y:-90.26, Z:-1.81 [[ 6.68543549e-01 7.43633175e-01 7.69572638e-03 2.01583083e+02] [-7.43585078e-01 6.68587838e-01 -8.45788383e-03 -9.02632809e+01] [-1.14348321e-02 -6.79636268e-05 9.99934618e-01 -1.81347050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.62, Y:-90.31, Z:-1.81 [[ 6.72147594e-01 7.40377215e-01 7.69360875e-03 2.01623223e+02] [-7.40328881e-01 6.72191625e-01 -8.45980967e-03 -9.03100886e+01] [-1.14350297e-02 -9.56003186e-06 9.99934618e-01 -1.81353838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.67, Y:-90.36, Z:-1.82 [[ 6.74567790e-01 7.38172839e-01 7.69137305e-03 2.01665169e+02] [-7.38124338e-01 6.74611636e-01 -8.46184181e-03 -9.03567557e+01] [-1.14349915e-02 3.08962944e-05 9.99934618e-01 -1.81535140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.71, Y:-90.40, Z:-1.82 [[ 6.77926298e-01 7.35089664e-01 7.68900573e-03 2.01706153e+02] [-7.35040939e-01 6.77969895e-01 -8.46399237e-03 -9.04032703e+01] [-1.14347077e-02 8.62290241e-05 9.99934618e-01 -1.81638567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.75, Y:-90.45, Z:-1.82 [[ 6.78283919e-01 7.34759714e-01 7.68691466e-03 2.01749351e+02] [-7.34710947e-01 6.78327468e-01 -8.46589103e-03 -9.04489957e+01] [-1.14346410e-02 9.46173984e-05 9.99934618e-01 -1.81765909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.79, Y:-90.49, Z:-1.82 [[ 6.77048862e-01 7.35897946e-01 7.68448120e-03 2.01793059e+02] [-7.35849227e-01 6.77092465e-01 -8.46809931e-03 -9.04946250e+01] [-1.14347612e-02 7.86974489e-05 9.99934618e-01 -1.81674090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.83, Y:-90.54, Z:-1.82 [[ 6.75786697e-01 7.37057207e-01 7.68206416e-03 2.01834982e+02] [-7.37008537e-01 6.75830356e-01 -8.47029142e-03 -9.05386207e+01] [-1.14348615e-02 6.23633962e-05 9.99934618e-01 -1.81503840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.88, Y:-90.58, Z:-1.81 [[ 6.72927593e-01 7.39668486e-01 7.68013304e-03 2.01878865e+02] [-7.39619966e-01 6.72971418e-01 -8.47204204e-03 -9.05821699e+01] [-1.14350125e-02 2.06911212e-05 9.99934618e-01 -1.81414486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:-90.63, Z:-1.82 [[ 6.71038679e-01 7.41382587e-01 7.67803715e-03 2.01923052e+02] [-7.41334157e-01 6.71082603e-01 -8.47394106e-03 -9.06276520e+01] [-1.14350295e-02 -5.64898507e-06 9.99934618e-01 -1.81614323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.97, Y:-90.67, Z:-1.82 [[ 6.69307899e-01 7.42945504e-01 7.67564612e-03 2.01965179e+02] [-7.42897152e-01 6.69351909e-01 -8.47610630e-03 -9.06730260e+01] [-1.14349934e-02 -2.90907463e-05 9.99934618e-01 -1.81729635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.01, Y:-90.72, Z:-1.82 [[ 6.69182103e-01 7.43058827e-01 7.67417184e-03 2.02007295e+02] [-7.43010467e-01 6.69226104e-01 -8.47744088e-03 -9.07196740e+01] [-1.14349934e-02 -2.90382967e-05 9.99934618e-01 -1.81762130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.05, Y:-90.77, Z:-1.82 [[ 6.71518281e-01 7.40948272e-01 7.67181475e-03 2.02049142e+02] [-7.40899750e-01 6.71562103e-01 -8.47957343e-03 -9.07667244e+01] [-1.14350253e-02 1.01429430e-05 9.99934618e-01 -1.81770160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.09, Y:-90.81, Z:-1.82 [[ 6.74165014e-01 7.38540935e-01 7.66945963e-03 2.02088772e+02] [-7.38492232e-01 6.74208635e-01 -8.48170303e-03 -9.08140354e+01] [-1.14349008e-02 5.42310808e-05 9.99934618e-01 -1.81852459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.13, Y:-90.86, Z:-1.82 [[ 6.75509128e-01 7.37311759e-01 7.66728545e-03 2.02130168e+02] [-7.37262954e-01 6.75552636e-01 -8.48366798e-03 -9.08612350e+01] [-1.14347631e-02 7.79896459e-05 9.99934618e-01 -1.82044782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.17, Y:-90.91, Z:-1.82 [[ 6.77323090e-01 7.35645757e-01 7.66500878e-03 2.02172040e+02] [-7.35596821e-01 6.77366451e-01 -8.48572445e-03 -9.09079558e+01] [-1.14345070e-02 1.09221013e-04 9.99934618e-01 -1.82178368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:-90.95, Z:-1.82 [[ 6.77382624e-01 7.35590961e-01 7.66276657e-03 2.02213498e+02] [-7.35542000e-01 6.77425955e-01 -8.48774873e-03 -9.09544528e+01] [-1.14344682e-02 1.13166861e-04 9.99934618e-01 -1.81923882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.26, Y:-91.00, Z:-1.82 [[ 6.76607221e-01 7.36304273e-01 7.66068229e-03 2.02256019e+02] [-7.36255336e-01 6.76650579e-01 -8.48962950e-03 -9.10010627e+01] [-1.14345556e-02 1.03926407e-04 9.99934618e-01 -1.81918836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.30, Y:-91.05, Z:-1.82 [[ 6.75753872e-01 7.37087549e-01 7.65829327e-03 2.02298918e+02] [-7.37038638e-01 6.75797259e-01 -8.49178403e-03 -9.10468731e+01] [-1.14346419e-02 9.38978994e-05 9.99934618e-01 -1.82055949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.34, Y:-91.09, Z:-1.82 [[ 6.75063705e-01 7.37719717e-01 7.65589338e-03 2.02341025e+02] [-7.37670822e-01 6.75107111e-01 -8.49394714e-03 -9.10936449e+01] [-1.14347003e-02 8.64262653e-05 9.99934618e-01 -1.82067622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.38, Y:-91.14, Z:-1.82 [[ 6.75095306e-01 7.37690824e-01 7.65348312e-03 2.02383847e+02] [-7.37641902e-01 6.75138682e-01 -8.49611835e-03 -9.11397328e+01] [-1.14346711e-02 9.01597778e-05 9.99934618e-01 -1.82073626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.43, Y:-91.19, Z:-1.82 [[ 6.76572446e-01 7.36336327e-01 7.65108259e-03 2.02426130e+02] [-7.36287294e-01 6.76615696e-01 -8.49827956e-03 -9.11861623e+01] [-1.14344345e-02 1.16306886e-04 9.99934618e-01 -1.82145526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.47, Y:-91.23, Z:-1.82 [[ 6.77408444e-01 7.35567330e-01 7.64870074e-03 2.02468792e+02] [-7.35518224e-01 6.77451611e-01 -8.50042276e-03 -9.12322899e+01] [-1.14342579e-02 1.32499376e-04 9.99934618e-01 -1.82139882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:-91.28, Z:-1.82 [[ 6.78130994e-01 7.34901279e-01 7.64630224e-03 2.02511777e+02] [-7.34852106e-01 6.78174085e-01 -8.50257971e-03 -9.12778450e+01] [-1.14340807e-02 1.46961530e-04 9.99934618e-01 -1.82212571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.55, Y:-91.32, Z:-1.82 [[ 6.78211576e-01 7.34826937e-01 7.64392929e-03 2.02554565e+02] [-7.34777736e-01 6.78254634e-01 -8.50471249e-03 -9.13242024e+01] [-1.14340223e-02 1.51405411e-04 9.99934618e-01 -1.82178938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.60, Y:-91.37, Z:-1.82 [[ 6.80681609e-01 7.32539524e-01 7.64150613e-03 2.02602679e+02] [-7.32490153e-01 6.80724473e-01 -8.50688915e-03 -9.13653406e+01] [-1.14333928e-02 1.93154999e-04 9.99934618e-01 -1.82413136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:-91.41, Z:-1.82 [[ 6.74460154e-01 7.38271729e-01 7.63896184e-03 2.02641942e+02] [-7.38222697e-01 6.74503405e-01 -8.50917324e-03 -9.14137231e+01] [-1.14345878e-02 9.98432895e-05 9.99934618e-01 -1.82018798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:-91.46, Z:-1.82 [[ 6.71196057e-01 7.41240538e-01 7.63662176e-03 2.02687376e+02] [-7.41191673e-01 6.71239497e-01 -8.51127285e-03 -9.14572213e+01] [-1.14349026e-02 5.25323210e-05 9.99934618e-01 -1.82424837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.73, Y:-91.50, Z:-1.83 [[ 6.69320447e-01 7.42934626e-01 7.63420839e-03 2.02730247e+02] [-7.42885846e-01 6.69363983e-01 -8.51343698e-03 -9.15029918e+01] [-1.14349912e-02 2.68720909e-05 9.99934618e-01 -1.82601229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.77, Y:-91.55, Z:-1.83 [[ 6.67696350e-01 7.44394613e-01 7.63174032e-03 2.02772755e+02] [-7.44345904e-01 6.67739964e-01 -8.51564886e-03 -9.15486743e+01] [-1.14350212e-02 5.21301845e-06 9.99934618e-01 -1.82738093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.81, Y:-91.60, Z:-1.83 [[ 6.66439722e-01 7.45519879e-01 7.62931256e-03 2.02814721e+02] [-7.45471218e-01 6.66483390e-01 -8.51782338e-03 -9.15953374e+01] [-1.14350168e-02 -1.08170787e-05 9.99934618e-01 -1.82779399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.86, Y:-91.64, Z:-1.83 [[ 6.66114928e-01 7.45810119e-01 7.62689465e-03 2.02857096e+02] [-7.45761452e-01 6.66158589e-01 -8.51998783e-03 -9.16412057e+01] [-1.14350145e-02 -1.25529524e-05 9.99934618e-01 -1.82814738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.90, Y:-91.69, Z:-1.83 [[ 6.67878872e-01 7.44230932e-01 7.62448148e-03 2.02899493e+02] [-7.44182137e-01 6.67922390e-01 -8.52214682e-03 -9.16862760e+01] [-1.14350072e-02 1.77588837e-05 9.99934618e-01 -1.82992047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.95, Y:-91.73, Z:-1.83 [[ 6.73446562e-01 7.39196609e-01 7.62236702e-03 2.02945434e+02] [-7.39147468e-01 6.73489689e-01 -8.52403761e-03 -9.17286055e+01] [-1.14345253e-02 1.06430542e-04 9.99934618e-01 -1.83246243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.98, Y:-91.78, Z:-1.83 [[ 6.72679790e-01 7.39894475e-01 7.62014162e-03 2.02982560e+02] [-7.39845356e-01 6.72722942e-01 -8.52602657e-03 -9.17768493e+01] [-1.14346040e-02 9.75593741e-05 9.99934618e-01 -1.83205174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.03, Y:-91.82, Z:-1.83 [[ 6.73753886e-01 7.38916548e-01 7.61812678e-03 2.03026419e+02] [-7.38867346e-01 6.73796944e-01 -8.52782648e-03 -9.18226502e+01] [-1.14344226e-02 1.16871119e-04 9.99934618e-01 -1.83181733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.07, Y:-91.87, Z:-1.83 [[ 6.74295755e-01 7.38422126e-01 7.61565392e-03 2.03068352e+02] [-7.38372867e-01 6.74338748e-01 -8.53003426e-03 -9.18687919e+01] [-1.14342966e-02 1.28573671e-04 9.99934618e-01 -1.83206836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.11, Y:-91.91, Z:-1.83 [[ 6.77026834e-01 7.35918951e-01 7.61337312e-03 2.03114094e+02] [-7.35869511e-01 6.77069618e-01 -8.53206947e-03 -9.19112237e+01] [-1.14336952e-02 1.73990833e-04 9.99934618e-01 -1.83361594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.16, Y:-91.96, Z:-1.84 [[ 6.76950023e-01 7.35989631e-01 7.61112427e-03 2.03158420e+02] [-7.35940173e-01 6.76992786e-01 -8.53407511e-03 -9.19560614e+01] [-1.14336670e-02 1.75810233e-04 9.99934618e-01 -1.83616614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:-92.00, Z:-1.84 [[ 6.73444812e-01 7.39198346e-01 7.60853181e-03 2.03196208e+02] [-7.39149065e-01 6.73487780e-01 -8.53638578e-03 -9.20049615e+01] [-1.14343354e-02 1.24945547e-04 9.99934618e-01 -1.83679022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.24, Y:-92.05, Z:-1.84 [[ 6.73444150e-01 7.39198972e-01 7.60630530e-03 2.03237804e+02] [-7.39149669e-01 6.73487092e-01 -8.53836924e-03 -9.20514595e+01] [-1.14343022e-02 1.27916769e-04 9.99934618e-01 -1.83718893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.28, Y:-92.10, Z:-1.84 [[ 6.73649509e-01 7.39011851e-01 7.60418587e-03 2.03280376e+02] [-7.38962514e-01 6.73692413e-01 -8.54025637e-03 -9.20974129e+01] [-1.14342330e-02 1.33931197e-04 9.99934618e-01 -1.83890524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.32, Y:-92.14, Z:-1.84 [[ 6.74088067e-01 7.38611850e-01 7.60343753e-03 2.03320621e+02] [-7.38562481e-01 6.74130933e-01 -8.54092256e-03 -9.21442422e+01] [-1.14341391e-02 1.41720292e-04 9.99934618e-01 -1.83606907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.36, Y:-92.19, Z:-1.84 [[ 6.73892501e-01 7.38790307e-01 7.60129571e-03 2.03361592e+02] [-7.38740927e-01 6.73935355e-01 -8.54282833e-03 -9.21906450e+01] [-1.14341407e-02 1.41559716e-04 9.99934618e-01 -1.83569562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.40, Y:-92.24, Z:-1.84 [[ 6.72544616e-01 7.40017562e-01 7.59915292e-03 2.03401652e+02] [-7.39968239e-01 6.72587535e-01 -8.54473400e-03 -9.22365957e+01] [-1.14343488e-02 1.23583041e-04 9.99934618e-01 -1.83528136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.44, Y:-92.28, Z:-1.84 [[ 6.70479256e-01 7.41889379e-01 7.59719352e-03 2.03443182e+02] [-7.41840156e-01 6.70522289e-01 -8.54647576e-03 -9.22837152e+01] [-1.14346272e-02 9.43314800e-05 9.99934618e-01 -1.83617875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.48, Y:-92.33, Z:-1.84 [[ 6.66787498e-01 7.45209201e-01 7.59475847e-03 2.03481936e+02] [-7.45160167e-01 6.66830747e-01 -8.54863910e-03 -9.23305226e+01] [-1.14349430e-02 4.08141859e-05 9.99934618e-01 -1.83869852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.52, Y:-92.38, Z:-1.84 [[ 6.63440194e-01 7.48190790e-01 7.59281210e-03 2.03520573e+02] [-7.48141931e-01 6.63483641e-01 -8.55036750e-03 -9.23789175e+01] [-1.14350128e-02 -7.84363400e-06 9.99934618e-01 -1.84126656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.56, Y:-92.43, Z:-1.84 [[ 6.61500382e-01 7.49906411e-01 7.59068441e-03 2.03559470e+02] [-7.49857644e-01 6.61543931e-01 -8.55225596e-03 -9.24276754e+01] [-1.14349628e-02 -3.46121373e-05 9.99934618e-01 -1.84237311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.60, Y:-92.48, Z:-1.85 [[ 6.59722363e-01 7.51471103e-01 7.58851850e-03 2.03596104e+02] [-7.51422416e-01 6.59766003e-01 -8.55417736e-03 -9.24771131e+01] [-1.14348636e-02 -5.88008010e-05 9.99934618e-01 -1.84627574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.63, Y:-92.53, Z:-1.85 [[ 6.59730973e-01 7.51463556e-01 7.58729597e-03 2.03633919e+02] [-7.51414857e-01 6.59774598e-01 -8.55526158e-03 -9.25270923e+01] [-1.14348724e-02 -5.70358762e-05 9.99934618e-01 -1.84649229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.67, Y:-92.58, Z:-1.85 [[ 6.60109621e-01 7.51130985e-01 7.58489113e-03 2.03668351e+02] [-7.51082240e-01 6.60153195e-01 -8.55739312e-03 -9.25778917e+01] [-1.14349132e-02 -4.80594857e-05 9.99934618e-01 -1.84597973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.297628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:203.71, Y:-92.63, Z:-1.85 [[ 6.60027235e-01 7.51203400e-01 7.58296810e-03 2.03706250e+02] [-7.51154639e-01 6.60070792e-01 -8.55909683e-03 -9.26283182e+01] [-1.14349184e-02 -4.67446566e-05 9.99934618e-01 -1.84625302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.74, Y:-92.68, Z:-1.84 [[ 6.58295369e-01 7.52721557e-01 7.58058632e-03 2.03743035e+02] [-7.52672872e-01 6.58339011e-01 -8.56120580e-03 -9.26784178e+01] [-1.14347999e-02 -6.98995506e-05 9.99934618e-01 -1.84263047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.78, Y:-92.73, Z:-1.84 [[ 6.56732130e-01 7.54085855e-01 7.57844722e-03 2.03781763e+02] [-7.54037239e-01 6.56775849e-01 -8.56309893e-03 -9.27287407e+01] [-1.14346529e-02 -9.07692127e-05 9.99934618e-01 -1.84311907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.82, Y:-92.78, Z:-1.84 [[ 6.56708693e-01 7.54106290e-01 7.57600139e-03 2.03817293e+02] [-7.54057651e-01 6.56752385e-01 -8.56526228e-03 -9.27787986e+01] [-1.14346751e-02 -8.78596114e-05 9.99934618e-01 -1.84495527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.86, Y:-92.82, Z:-1.85 [[ 6.62199325e-01 7.49289455e-01 7.57404863e-03 2.03857194e+02] [-7.49240478e-01 6.62242639e-01 -8.56698871e-03 -9.28245584e+01] [-1.14350122e-02 -1.72966945e-06 9.99934618e-01 -1.85014954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.90, Y:-92.87, Z:-1.85 [[ 6.65212230e-01 7.46615933e-01 7.57212638e-03 2.03899719e+02] [-7.46566763e-01 6.65255324e-01 -8.56868740e-03 -9.28713332e+01] [-1.14349159e-02 4.68977803e-05 9.99934618e-01 -1.84985825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:-92.92, Z:-1.85 [[ 6.71046387e-01 7.41376723e-01 7.56974767e-03 2.03939294e+02] [-7.41327193e-01 6.71089066e-01 -8.57078828e-03 -9.29184231e+01] [-1.14341578e-02 1.39736720e-04 9.99934618e-01 -1.84696412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.98, Y:-92.96, Z:-1.85 [[ 6.75553971e-01 7.37271700e-01 7.56784712e-03 2.03979925e+02] [-7.37221892e-01 6.75596326e-01 -8.57246610e-03 -9.29647434e+01] [-1.14330464e-02 2.11980949e-04 9.99934618e-01 -1.84568736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.02, Y:-93.01, Z:-1.85 [[ 6.81568216e-01 7.31715458e-01 7.56672605e-03 2.04022602e+02] [-7.31665293e-01 6.81610149e-01 -8.57345553e-03 -9.30081502e+01] [-1.14308872e-02 3.07083961e-04 9.99934618e-01 -1.84538199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:-93.05, Z:-1.84 [[ 6.82927676e-01 7.30446824e-01 7.56485860e-03 2.04065609e+02] [-7.30396563e-01 6.82969493e-01 -8.57510297e-03 -9.30529781e+01] [-1.14302244e-02 3.30828415e-04 9.99934618e-01 -1.84182542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.11, Y:-93.10, Z:-1.84 [[ 6.79999033e-01 7.33174002e-01 7.56288674e-03 2.04109036e+02] [-7.33123890e-01 6.80041028e-01 -8.57684172e-03 -9.30984013e+01] [-1.14313906e-02 2.87711128e-04 9.99934618e-01 -1.83961435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.16, Y:-93.14, Z:-1.84 [[ 6.69960512e-01 7.42358237e-01 7.56047821e-03 2.04156215e+02] [-7.42308677e-01 6.70003156e-01 -8.57896431e-03 -9.31400973e+01] [-1.14342091e-02 1.35358747e-04 9.99934618e-01 -1.84355178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.20, Y:-93.18, Z:-1.85 [[ 6.60285178e-01 7.50976937e-01 7.55808830e-03 2.04200390e+02] [-7.50927909e-01 6.60328434e-01 -8.58106931e-03 -9.31834277e+01] [-1.14350058e-02 -9.62657580e-06 9.99934618e-01 -1.84799568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.24, Y:-93.23, Z:-1.85 [[ 6.55418717e-01 7.55227921e-01 7.55594277e-03 2.04241679e+02] [-7.55179152e-01 6.55462265e-01 -8.58295811e-03 -9.32287197e+01] [-1.14347250e-02 -8.06590634e-05 9.99934618e-01 -1.85169690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.28, Y:-93.28, Z:-1.85 [[ 6.52096477e-01 7.58098352e-01 7.55472937e-03 2.04281834e+02] [-7.58049762e-01 6.52140225e-01 -8.58402601e-03 -9.32758488e+01] [-1.14342789e-02 -1.29247688e-04 9.99934618e-01 -1.85182771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.32, Y:-93.32, Z:-1.85 [[ 6.51888395e-01 7.58277310e-01 7.55262146e-03 2.04321918e+02] [-7.58228711e-01 6.51932132e-01 -8.58588025e-03 -9.33229678e+01] [-1.14342748e-02 -1.29578744e-04 9.99934618e-01 -1.85073325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.36, Y:-93.37, Z:-1.85 [[ 6.54289785e-01 7.56206233e-01 7.55054553e-03 2.04360199e+02] [-7.56157475e-01 6.54333344e-01 -8.58770546e-03 -9.33701804e+01] [-1.14346501e-02 -9.05534887e-05 9.99934618e-01 -1.84853390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:-93.42, Z:-1.85 [[ 6.57601520e-01 7.53328113e-01 7.54952089e-03 2.04397662e+02] [-7.53279154e-01 6.57644853e-01 -8.58860614e-03 -9.34205460e+01] [-1.14349420e-02 -3.90162547e-05 9.99934618e-01 -1.84759787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:-93.47, Z:-1.85 [[ 6.58498823e-01 7.52543914e-01 7.54706230e-03 2.04436152e+02] [-7.52494878e-01 6.58542069e-01 -8.59076603e-03 -9.34700503e+01] [-1.14349867e-02 -2.21164062e-05 9.99934618e-01 -1.84971383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:-93.51, Z:-1.85 [[ 6.54973307e-01 7.55614333e-01 7.54629086e-03 2.04478431e+02] [-7.55565492e-01 6.55016774e-01 -8.59144362e-03 -9.35144373e+01] [-1.14347650e-02 -7.45507295e-05 9.99934618e-01 -1.85360965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.52, Y:-93.56, Z:-1.86 [[ 6.54066507e-01 7.56399416e-01 7.54508537e-03 2.04521012e+02] [-7.56350615e-01 6.54110018e-01 -8.59250217e-03 -9.35604109e+01] [-1.14346796e-02 -8.66620785e-05 9.99934618e-01 -1.85711252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.56, Y:-93.61, Z:-1.86 [[ 6.56679084e-01 7.54132391e-01 7.54432564e-03 2.04562172e+02] [-7.54083433e-01 6.56722418e-01 -8.59316917e-03 -9.36067423e+01] [-1.14349150e-02 -4.60965202e-05 9.99934618e-01 -1.85916183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:-93.65, Z:-1.86 [[ 6.62420711e-01 7.49094065e-01 7.54216333e-03 2.04603314e+02] [-7.49044755e-01 6.62463644e-01 -8.59506659e-03 -9.36547883e+01] [-1.14349224e-02 4.41322366e-05 9.99934618e-01 -1.85822947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.65, Y:-93.70, Z:-1.86 [[ 6.64820839e-01 7.46964795e-01 7.53968317e-03 2.04645079e+02] [-7.46915323e-01 6.64863586e-01 -8.59724166e-03 -9.37023713e+01] [-1.14346976e-02 8.41205239e-05 9.99934618e-01 -1.85847904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.69, Y:-93.75, Z:-1.86 [[ 6.72953833e-01 7.39646084e-01 7.53723366e-03 2.04687869e+02] [-7.39596123e-01 6.72996007e-01 -8.59938862e-03 -9.37481709e+01] [-1.14330323e-02 2.12482739e-04 9.99934618e-01 -1.85893731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.73, Y:-93.79, Z:-1.86 [[ 6.77854223e-01 7.35157724e-01 7.53481821e-03 2.04729931e+02] [-7.35107460e-01 6.77896036e-01 -8.60150453e-03 -9.37944081e+01] [-1.14312859e-02 2.91665098e-04 9.99934618e-01 -1.85841253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.77, Y:-93.84, Z:-1.85 [[ 6.82585815e-01 7.30766628e-01 7.53269031e-03 2.04771840e+02] [-7.30716075e-01 6.82627278e-01 -8.60336761e-03 -9.38398184e+01] [-1.14290738e-02 3.68278794e-04 9.99934618e-01 -1.85479795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.82, Y:-93.89, Z:-1.86 [[ 6.82356301e-01 7.30980963e-01 7.53056340e-03 2.04815084e+02] [-7.30930403e-01 6.82397755e-01 -8.60522891e-03 -9.38856675e+01] [-1.14290981e-02 3.67514430e-04 9.99934618e-01 -1.85505813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.86, Y:-93.93, Z:-1.86 [[ 6.78113555e-01 7.34918590e-01 7.52812670e-03 2.04859864e+02] [-7.34868247e-01 6.78155272e-01 -8.60736008e-03 -9.39294790e+01] [-1.14309477e-02 3.04586275e-04 9.99934618e-01 -1.85600137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.90, Y:-93.97, Z:-1.86 [[ 6.72692861e-01 7.39883558e-01 7.52567886e-03 2.04904328e+02] [-7.39833498e-01 6.72734919e-01 -8.60949977e-03 -9.39725699e+01] [-1.14328143e-02 2.23799717e-04 9.99934618e-01 -1.85939583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:-94.02, Z:-1.86 [[ 6.70760336e-01 7.41636007e-01 7.52356516e-03 2.04945623e+02] [-7.41586038e-01 6.70802500e-01 -8.61134647e-03 -9.40183059e+01] [-1.14333109e-02 1.96778776e-04 9.99934618e-01 -1.85811480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.99, Y:-94.06, Z:-1.86 [[ 6.72956049e-01 7.39644226e-01 7.52157524e-03 2.04986090e+02] [-7.39594112e-01 6.72998042e-01 -8.61308422e-03 -9.40648570e+01] [-1.14326234e-02 2.33314367e-04 9.99934618e-01 -1.85636101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.03, Y:-94.11, Z:-1.86 [[ 6.76469748e-01 7.36432032e-01 7.51944400e-03 2.05027472e+02] [-7.36381698e-01 6.76511476e-01 -8.61494444e-03 -9.41123188e+01] [-1.14313112e-02 2.90568351e-04 9.99934618e-01 -1.85588132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.07, Y:-94.16, Z:-1.86 [[ 6.81520362e-01 7.31760542e-01 7.51699068e-03 2.05069492e+02] [-7.31709899e-01 6.81561714e-01 -8.61708456e-03 -9.41584406e+01] [-1.14289355e-02 3.72462105e-04 9.99934618e-01 -1.85593991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.11, Y:-94.20, Z:-1.86 [[ 6.84928575e-01 7.28571463e-01 7.51473168e-03 2.05113859e+02] [-7.28520605e-01 6.84969664e-01 -8.61905413e-03 -9.42033544e+01] [-1.14269601e-02 4.28799592e-04 9.99934618e-01 -1.85939154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:-94.25, Z:-1.86 [[ 6.81043119e-01 7.32204763e-01 7.51358603e-03 2.05153397e+02] [-7.32154114e-01 6.81084465e-01 -8.62005272e-03 -9.42502647e+01] [-1.14290304e-02 3.69524671e-04 9.99934618e-01 -1.85834786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:-94.30, Z:-1.86 [[ 6.76439226e-01 7.36460149e-01 7.51146751e-03 2.05197247e+02] [-7.36409740e-01 6.76480863e-01 -8.62189839e-03 -9.42958898e+01] [-1.14310486e-02 3.00672438e-04 9.99934618e-01 -1.86006621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.24, Y:-94.34, Z:-1.86 [[ 6.73769269e-01 7.38903638e-01 7.50903535e-03 2.05239100e+02] [-7.38853356e-01 6.73811060e-01 -8.62401610e-03 -9.43435056e+01] [-1.14319879e-02 2.62521044e-04 9.99934618e-01 -1.85980020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.577628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:205.28, Y:-94.39, Z:-1.86 [[ 6.69980304e-01 7.42340921e-01 7.50663434e-03 2.05280044e+02] [-7.42290830e-01 6.70022323e-01 -8.62610551e-03 -9.43897958e+01] [-1.14331237e-02 2.07214948e-04 9.99934618e-01 -1.86421174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.32, Y:-94.44, Z:-1.87 [[ 6.65363470e-01 7.46481839e-01 7.50450181e-03 2.05321050e+02] [-7.46431988e-01 6.65405775e-01 -8.62796036e-03 -9.44363770e+01] [-1.14341546e-02 1.39129429e-04 9.99934618e-01 -1.86554201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.36, Y:-94.48, Z:-1.87 [[ 6.63219968e-01 7.48386925e-01 7.50238453e-03 2.05361507e+02] [-7.48337175e-01 6.63262391e-01 -8.62980104e-03 -9.44846605e+01] [-1.14344798e-02 1.09143122e-04 9.99934618e-01 -1.86505826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.40, Y:-94.53, Z:-1.86 [[ 6.63084582e-01 7.48506906e-01 7.49997812e-03 2.05400274e+02] [-7.48457140e-01 6.63126987e-01 -8.63189189e-03 -9.45332211e+01] [-1.14344686e-02 1.10262247e-04 9.99934618e-01 -1.86269554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.44, Y:-94.58, Z:-1.86 [[ 6.67314683e-01 7.44738140e-01 7.49778346e-03 2.05438460e+02] [-7.44688113e-01 6.67356780e-01 -8.63379778e-03 -9.45820864e+01] [-1.14336151e-02 1.77949807e-04 9.99934618e-01 -1.86242682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.48, Y:-94.63, Z:-1.86 [[ 6.71495517e-01 7.40970707e-01 7.49546697e-03 2.05478286e+02] [-7.40920422e-01 6.71537304e-01 -8.63580839e-03 -9.46313770e+01] [-1.14323667e-02 2.45362073e-04 9.99934618e-01 -1.86194407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.52, Y:-94.68, Z:-1.86 [[ 6.78933052e-01 7.34161947e-01 7.49302100e-03 2.05519762e+02] [-7.34111220e-01 6.78974302e-01 -8.63793015e-03 -9.46782433e+01] [-1.14292083e-02 3.63865494e-04 9.99934618e-01 -1.86174321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.56, Y:-94.73, Z:-1.86 [[ 6.79940600e-01 7.33228937e-01 7.49043150e-03 2.05557230e+02] [-7.33178128e-01 6.79981749e-01 -8.64017507e-03 -9.47274204e+01] [-1.14285831e-02 3.82985270e-04 9.99934618e-01 -1.86300912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:-94.77, Z:-1.87 [[ 6.83525436e-01 7.29888284e-01 7.48805267e-03 2.05598193e+02] [-7.29837252e-01 6.83566308e-01 -8.64223621e-03 -9.47749730e+01] [-1.14264475e-02 4.42128489e-04 9.99934618e-01 -1.86525378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.64, Y:-94.82, Z:-1.87 [[ 6.85278353e-01 7.28242779e-01 7.48558026e-03 2.05639158e+02] [-7.28191625e-01 6.85319073e-01 -8.64437719e-03 -9.48219886e+01] [-1.14252162e-02 4.72867705e-04 9.99934618e-01 -1.86789062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.68, Y:-94.87, Z:-1.87 [[ 6.86293442e-01 7.27286265e-01 7.48330194e-03 2.05679616e+02] [-7.27235034e-01 6.86334063e-01 -8.64634904e-03 -9.48698676e+01] [-1.14244159e-02 4.91813301e-04 9.99934618e-01 -1.86856239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.73, Y:-94.91, Z:-1.88 [[ 6.87999527e-01 7.25672575e-01 7.48086824e-03 2.05728283e+02] [-7.25621226e-01 6.88039999e-01 -8.64845417e-03 -9.49102912e+01] [-1.14230826e-02 5.21855600e-04 9.99934618e-01 -1.87500380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.76, Y:-94.96, Z:-1.87 [[ 6.79659471e-01 7.33489658e-01 7.47831578e-03 2.05764709e+02] [-7.33438750e-01 6.79700497e-01 -8.65066073e-03 -9.49591863e+01] [-1.14281851e-02 3.94616916e-04 9.99934618e-01 -1.87277768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.81, Y:-95.00, Z:-1.87 [[ 6.72745809e-01 7.39835915e-01 7.47628410e-03 2.05808265e+02] [-7.39785375e-01 6.72787288e-01 -8.65241624e-03 -9.50040976e+01] [-1.14313172e-02 2.90031135e-04 9.99934618e-01 -1.87301141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.85, Y:-95.05, Z:-1.87 [[ 6.67706721e-01 7.44386912e-01 7.47387198e-03 2.05851504e+02] [-7.44336632e-01 6.67748514e-01 -8.65449930e-03 -9.50494051e+01] [-1.14329629e-02 2.15590661e-04 9.99934618e-01 -1.87271840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.90, Y:-95.09, Z:-1.87 [[ 6.60164984e-01 7.51083465e-01 7.47141741e-03 2.05895516e+02] [-7.51033585e-01 6.60207253e-01 -8.65661781e-03 -9.50945146e+01] [-1.14345265e-02 1.03510561e-04 9.99934618e-01 -1.87195488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:-95.14, Z:-1.87 [[ 6.57445649e-01 7.53464951e-01 7.46894336e-03 2.05939773e+02] [-7.53415200e-01 6.57488070e-01 -8.65875190e-03 -9.51387162e+01] [-1.14348072e-02 6.54433152e-05 9.99934618e-01 -1.87352740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.98, Y:-95.19, Z:-1.87 [[ 6.53025677e-01 7.57298965e-01 7.46615262e-03 2.05978286e+02] [-7.57249435e-01 6.53068356e-01 -8.66115759e-03 -9.51873823e+01] [-1.14349937e-02 2.21845014e-06 9.99934618e-01 -1.87360392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.02, Y:-95.24, Z:-1.88 [[ 6.51914558e-01 7.58255698e-01 7.46353363e-03 2.06018982e+02] [-7.58206205e-01 6.51957281e-01 -8.66341386e-03 -9.52353767e+01] [-1.14349880e-02 -1.10918909e-05 9.99934618e-01 -1.87553015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.06, Y:-95.28, Z:-1.88 [[ 6.52905533e-01 7.57402599e-01 7.46104496e-03 2.06056142e+02] [-7.57353026e-01 6.52948162e-01 -8.66555660e-03 -9.52848376e+01] [-1.14349907e-02 7.14487557e-06 9.99934618e-01 -1.87885678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.09, Y:-95.34, Z:-1.88 [[ 6.54615271e-01 7.55925402e-01 7.45874819e-03 2.06093634e+02] [-7.55875710e-01 6.54657762e-01 -8.66753306e-03 -9.53355975e+01] [-1.14349358e-02 3.60129167e-05 9.99934618e-01 -1.88088511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:-95.39, Z:-1.88 [[ 6.57052069e-01 7.53808319e-01 7.45633041e-03 2.06128523e+02] [-7.53758466e-01 6.57094371e-01 -8.66961247e-03 -9.53885926e+01] [-1.14347388e-02 7.61146348e-05 9.99934618e-01 -1.88195422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:-95.44, Z:-1.88 [[ 6.58786404e-01 7.52293103e-01 7.45392370e-03 2.06162880e+02] [-7.52243129e-01 6.58828564e-01 -8.67168121e-03 -9.54420726e+01] [-1.14345038e-02 1.05622792e-04 9.99934618e-01 -1.88141070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.20, Y:-95.49, Z:-1.88 [[ 6.60466930e-01 7.50818160e-01 7.45152911e-03 2.06198962e+02] [-7.50768069e-01 6.60508950e-01 -8.67373838e-03 -9.54937718e+01] [-1.14342020e-02 1.34347241e-04 9.99934618e-01 -1.88141862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.017628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:206.23, Y:-95.55, Z:-1.88 [[ 6.63616420e-01 7.48035933e-01 7.44910401e-03 2.06233994e+02] [-7.47985643e-01 6.63658201e-01 -8.67582059e-03 -9.55471674e+01] [-1.14334845e-02 1.85594154e-04 9.99934618e-01 -1.88291250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.28, Y:-95.60, Z:-1.88 [[ 6.60438100e-01 7.50843567e-01 7.44666262e-03 2.06275152e+02] [-7.50793431e-01 6.60480066e-01 -8.67791559e-03 -9.55953799e+01] [-1.14341293e-02 1.40320704e-04 9.99934618e-01 -1.88173510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.32, Y:-95.64, Z:-1.88 [[ 6.59106489e-01 7.52012779e-01 7.44420080e-03 2.06315108e+02] [-7.51962694e-01 6.59148515e-01 -8.68002690e-03 -9.56424582e+01] [-1.14343251e-02 1.23300770e-04 9.99934618e-01 -1.88320459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.35, Y:-95.69, Z:-1.88 [[ 6.59597585e-01 7.51582093e-01 7.44203498e-03 2.06354969e+02] [-7.51531959e-01 6.59639553e-01 -8.68188343e-03 -9.56902658e+01] [-1.14342087e-02 1.33622215e-04 9.99934618e-01 -1.88464106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.40, Y:-95.74, Z:-1.89 [[ 6.63120987e-01 7.48475254e-01 7.43989922e-03 2.06397411e+02] [-7.48424902e-01 6.63162694e-01 -8.68371327e-03 -9.57364969e+01] [-1.14334081e-02 1.90146662e-04 9.99934618e-01 -1.88513341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.44, Y:-95.78, Z:-1.88 [[ 6.65050058e-01 7.46761745e-01 7.43747192e-03 2.06438425e+02] [-7.46711263e-01 6.65091607e-01 -8.68579172e-03 -9.57836026e+01] [-1.14328171e-02 2.22842233e-04 9.99934618e-01 -1.88390625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.48, Y:-95.83, Z:-1.88 [[ 6.66606453e-01 7.45372765e-01 7.43499837e-03 2.06480044e+02] [-7.45322172e-01 6.66647868e-01 -8.68790855e-03 -9.58300758e+01] [-1.14322562e-02 2.49946756e-04 9.99934618e-01 -1.88203082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.52, Y:-95.88, Z:-1.88 [[ 6.65783947e-01 7.46107558e-01 7.43283647e-03 2.06522255e+02] [-7.46056991e-01 6.65825393e-01 -8.68975774e-03 -9.58767723e+01] [-1.14324652e-02 2.40181595e-04 9.99934618e-01 -1.88110353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.56, Y:-95.92, Z:-1.88 [[ 6.62119057e-01 7.49361824e-01 7.43038127e-03 2.06564809e+02] [-7.49311437e-01 6.62160722e-01 -8.69185661e-03 -9.59231274e+01] [-1.14334522e-02 1.87374236e-04 9.99934618e-01 -1.88096101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.61, Y:-95.97, Z:-1.88 [[ 6.57429462e-01 7.53479481e-01 7.42794133e-03 2.06607257e+02] [-7.53429332e-01 6.57471412e-01 -8.69394125e-03 -9.59693521e+01] [-1.14343654e-02 1.19224240e-04 9.99934618e-01 -1.88257421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:-96.02, Z:-1.88 [[ 6.54174103e-01 7.56307546e-01 7.42553484e-03 2.06649012e+02] [-7.56257555e-01 6.54216241e-01 -8.69599617e-03 -9.60169309e+01] [-1.14347530e-02 7.30786775e-05 9.99934618e-01 -1.88497814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.69, Y:-96.06, Z:-1.89 [[ 6.52025467e-01 7.58160726e-01 7.42312920e-03 2.06688719e+02] [-7.58110832e-01 6.52067720e-01 -8.69804919e-03 -9.60649301e+01] [-1.14349022e-02 4.37949393e-05 9.99934618e-01 -1.88619740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.73, Y:-96.11, Z:-1.89 [[ 6.53095645e-01 7.57239070e-01 7.42090540e-03 2.06728452e+02] [-7.57189094e-01 6.53137801e-01 -8.69994606e-03 -9.61138050e+01] [-1.14348129e-02 6.28682453e-05 9.99934618e-01 -1.88890432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.77, Y:-96.16, Z:-1.89 [[ 6.55737504e-01 7.54952510e-01 7.41844732e-03 2.06766954e+02] [-7.54902364e-01 6.55779457e-01 -8.70204156e-03 -9.61637565e+01] [-1.14344935e-02 1.06051594e-04 9.99934618e-01 -1.89055083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.81, Y:-96.21, Z:-1.89 [[ 6.61172450e-01 7.50197304e-01 7.41600365e-03 2.06805373e+02] [-7.50146832e-01 6.61214011e-01 -8.70412359e-03 -9.62127105e+01] [-1.14333756e-02 1.91835077e-04 9.99934618e-01 -1.88865885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.84, Y:-96.26, Z:-1.89 [[ 6.60025641e-01 7.51206490e-01 7.41371112e-03 2.06844887e+02] [-7.51156059e-01 6.60067253e-01 -8.70607581e-03 -9.62592166e+01] [-1.14336086e-02 1.77379243e-04 9.99934618e-01 -1.89351122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.89, Y:-96.31, Z:-1.90 [[ 6.57871974e-01 7.53093302e-01 7.41246870e-03 2.06885894e+02] [-7.53042980e-01 6.57913715e-01 -8.70713350e-03 -9.63054418e+01] [-1.14340487e-02 1.46271584e-04 9.99934618e-01 -1.89705558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.93, Y:-96.35, Z:-1.90 [[ 6.56156997e-01 7.54588021e-01 7.41035230e-03 2.06926906e+02] [-7.54537773e-01 6.56198829e-01 -8.70893432e-03 -9.63514333e+01] [-1.14343220e-02 1.23037470e-04 9.99934618e-01 -1.89910856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:-96.40, Z:-1.90 [[ 6.54833649e-01 7.55736733e-01 7.40822276e-03 2.06967802e+02] [-7.55686538e-01 6.54875544e-01 -8.71074543e-03 -9.63977146e+01] [-1.14344942e-02 1.05795000e-04 9.99934618e-01 -1.90092419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.01, Y:-96.44, Z:-1.90 [[ 6.51551229e-01 7.58568486e-01 7.40597034e-03 2.07009238e+02] [-7.58518451e-01 6.51593316e-01 -8.71266004e-03 -9.64449409e+01] [-1.14348301e-02 5.91792038e-05 9.99934618e-01 -1.90263548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:-96.49, Z:-1.90 [[ 6.49030417e-01 7.60726432e-01 7.40362736e-03 2.07049049e+02] [-7.60676515e-01 6.49072642e-01 -8.71465054e-03 -9.64931670e+01] [-1.14349570e-02 2.43078180e-05 9.99934618e-01 -1.90217156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.09, Y:-96.54, Z:-1.90 [[ 6.47612265e-01 7.61934101e-01 7.40126584e-03 2.07087452e+02] [-7.61884240e-01 6.47654557e-01 -8.71665569e-03 -9.65418950e+01] [-1.14349808e-02 6.10533798e-06 9.99934618e-01 -1.89893801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.13, Y:-96.59, Z:-1.90 [[ 6.46482750e-01 7.62892722e-01 7.39921426e-03 2.07127359e+02] [-7.62842903e-01 6.46525092e-01 -8.71839685e-03 -9.65906587e+01] [-1.14349792e-02 -8.14490899e-06 9.99934618e-01 -1.89671690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:-96.64, Z:-1.90 [[ 6.44215151e-01 7.64808555e-01 7.39678376e-03 2.07166903e+02] [-7.64758839e-01 6.44257613e-01 -8.72045843e-03 -9.66398707e+01] [-1.14349155e-02 -3.89043098e-05 9.99934618e-01 -1.89693237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:-96.69, Z:-1.90 [[ 6.43087494e-01 7.65757011e-01 7.39430836e-03 2.07207046e+02] [-7.65707333e-01 6.43130001e-01 -8.72255688e-03 -9.66884174e+01] [-1.14348606e-02 -5.25088940e-05 9.99934618e-01 -1.89731698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.24, Y:-96.74, Z:-1.90 [[ 6.40624934e-01 7.67818373e-01 7.39184390e-03 2.07244358e+02] [-7.67768808e-01 6.40667572e-01 -8.72464486e-03 -9.67377807e+01] [-1.14346573e-02 -8.60021396e-05 9.99934618e-01 -1.89996021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.28, Y:-96.79, Z:-1.90 [[ 6.39037080e-01 7.69140425e-01 7.39032237e-03 2.07282863e+02] [-7.69090933e-01 6.39079803e-01 -8.72593351e-03 -9.67871187e+01] [-1.14344740e-02 -1.07634864e-04 9.99934618e-01 -1.90131027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.32, Y:-96.83, Z:-1.91 [[ 6.36827336e-01 7.70971052e-01 7.38781357e-03 2.07323983e+02] [-7.70921659e-01 6.36870173e-01 -8.72805706e-03 -9.68333196e+01] [-1.14341574e-02 -1.37160164e-04 9.99934618e-01 -1.90575025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.36, Y:-96.88, Z:-1.91 [[ 6.35119269e-01 7.72378773e-01 7.38549399e-03 2.07364527e+02] [-7.72329451e-01 6.35162189e-01 -8.73001940e-03 -9.68803695e+01] [-1.14338682e-02 -1.59430975e-04 9.99934618e-01 -1.90848724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:-96.93, Z:-1.91 [[ 6.35870296e-01 7.71760620e-01 7.38321506e-03 2.07406595e+02] [-7.71711234e-01 6.35913142e-01 -8.73194633e-03 -9.69267458e+01] [-1.14340558e-02 -1.45324698e-04 9.99934618e-01 -1.91080520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.45, Y:-96.97, Z:-1.91 [[ 6.35798863e-01 7.71819493e-01 7.38072967e-03 2.07448395e+02] [-7.71770087e-01 6.35841686e-01 -8.73404662e-03 -9.69719913e+01] [-1.14340830e-02 -1.43129466e-04 9.99934618e-01 -1.91358878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.49, Y:-97.02, Z:-1.91 [[ 6.35778234e-01 7.71836509e-01 7.37844109e-03 2.07491263e+02] [-7.71787081e-01 6.35821032e-01 -8.73597956e-03 -9.70172573e+01] [-1.14341160e-02 -1.40439857e-04 9.99934618e-01 -1.90742042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.53, Y:-97.06, Z:-1.92 [[ 6.35248823e-01 7.72272313e-01 7.37616526e-03 2.07531103e+02] [-7.72222892e-01 6.35291629e-01 -8.73790072e-03 -9.70630459e+01] [-1.14340548e-02 -1.45302523e-04 9.99934619e-01 -1.91587182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.57, Y:-97.11, Z:-1.91 [[ 6.34824226e-01 7.72621398e-01 7.37409507e-03 2.07571383e+02] [-7.72571981e-01 6.34867036e-01 -8.73964745e-03 -9.71105028e+01] [-1.14340085e-02 -1.48879307e-04 9.99934619e-01 -1.90812828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:-97.16, Z:-1.92 [[ 6.36075753e-01 7.71591403e-01 7.37178655e-03 2.07609416e+02] [-7.71541894e-01 6.36118457e-01 -8.74159422e-03 -9.71577875e+01] [-1.14342684e-02 -1.27326022e-04 9.99934619e-01 -1.91542599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.65, Y:-97.21, Z:-1.91 [[ 6.36800572e-01 7.70993333e-01 7.36968121e-03 2.07647164e+02] [-7.70943763e-01 6.36843205e-01 -8.74336878e-03 -9.72076010e+01] [-1.14344104e-02 -1.13827522e-04 9.99934619e-01 -1.90680031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.69, Y:-97.25, Z:-1.92 [[ 6.37891706e-01 7.70090835e-01 7.36735439e-03 2.07685239e+02] [-7.70041182e-01 6.37934242e-01 -8.74532898e-03 -9.72549303e+01] [-1.14345853e-02 -9.45934588e-05 9.99934619e-01 -1.91567681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:-97.30, Z:-1.91 [[ 6.39234137e-01 7.68976899e-01 7.36524425e-03 2.07725079e+02] [-7.68927151e-01 6.39276563e-01 -8.74710576e-03 -9.73024951e+01] [-1.14347503e-02 -7.18876731e-05 9.99934619e-01 -1.91231540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.77, Y:-97.35, Z:-1.92 [[ 6.40287631e-01 7.68099953e-01 7.36293265e-03 2.07765834e+02] [-7.68050125e-01 6.40329962e-01 -8.74905113e-03 -9.73472149e+01] [-1.14348521e-02 -5.31921275e-05 9.99934619e-01 -1.92230941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.81, Y:-97.39, Z:-1.92 [[ 6.42761376e-01 7.66031088e-01 7.36114203e-03 2.07806253e+02] [-7.65981107e-01 6.42803525e-01 -8.75055744e-03 -9.73939576e+01] [-1.14349671e-02 -1.39753801e-05 9.99934619e-01 -1.92388440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.85, Y:-97.44, Z:-1.92 [[ 6.47830472e-01 7.61748992e-01 7.35886681e-03 2.07845660e+02] [-7.61698710e-01 6.47872263e-01 -8.75247038e-03 -9.74433933e+01] [-1.14347912e-02 6.48776624e-05 9.99934619e-01 -1.92077827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.89, Y:-97.49, Z:-1.92 [[ 6.52272851e-01 7.57948554e-01 7.35646318e-03 2.07886585e+02] [-7.57898006e-01 6.52314320e-01 -8.75449017e-03 -9.74909755e+01] [-1.14341794e-02 1.34867487e-04 9.99934619e-01 -1.91850008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.93, Y:-97.54, Z:-1.92 [[ 6.53694302e-01 7.56722987e-01 7.35396334e-03 2.07929319e+02] [-7.56672338e-01 6.53735647e-01 -8.75658959e-03 -9.75378235e+01] [-1.14338606e-02 1.59592087e-04 9.99934619e-01 -1.92065057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.97, Y:-97.59, Z:-1.92 [[ 6.53592051e-01 7.56811328e-01 7.35150045e-03 2.07969667e+02] [-7.56760662e-01 6.53633374e-01 -8.75865679e-03 -9.75862812e+01] [-1.14338367e-02 1.61262107e-04 9.99934619e-01 -1.92345511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.01, Y:-97.63, Z:-1.93 [[ 6.50725804e-01 7.59277235e-01 7.34906198e-03 2.08009573e+02] [-7.59226701e-01 6.50767290e-01 -8.76070235e-03 -9.76335562e+01] [-1.14343310e-02 1.21210992e-04 9.99934619e-01 -1.92851340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.05, Y:-97.68, Z:-1.93 [[ 6.47107259e-01 7.62363573e-01 7.34694938e-03 2.08050610e+02] [-7.62313218e-01 6.47148961e-01 -8.76247367e-03 -9.76806508e+01] [-1.14347614e-02 6.95836925e-05 9.99934619e-01 -1.93301869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.09, Y:-97.73, Z:-1.94 [[ 6.42836939e-01 7.65967834e-01 7.34486920e-03 2.08089318e+02] [-7.65917693e-01 6.42878897e-01 -8.76421697e-03 -9.77283171e+01] [-1.14349697e-02 8.39713363e-06 9.99934619e-01 -1.93507953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.837628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:208.13, Y:-97.78, Z:-1.93 [[ 6.41638593e-01 7.66971966e-01 7.34296472e-03 2.08127432e+02] [-7.66921872e-01 6.41680608e-01 -8.76581232e-03 -9.77770694e+01] [-1.14349704e-02 -6.99676133e-06 9.99934619e-01 -1.93463915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:-97.83, Z:-1.93 [[ 6.41522531e-01 7.67069067e-01 7.34093716e-03 2.08165818e+02] [-7.67018960e-01 6.41564530e-01 -8.76750997e-03 -9.78256087e+01] [-1.14349706e-02 -6.08280167e-06 9.99934619e-01 -1.93227918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.20, Y:-97.87, Z:-1.93 [[ 6.41739521e-01 7.66887558e-01 7.33893614e-03 2.08204792e+02] [-7.66837420e-01 6.41781484e-01 -8.76918462e-03 -9.78739582e+01] [-1.14349719e-02 -2.38512459e-07 9.99934619e-01 -1.93177807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.24, Y:-97.92, Z:-1.93 [[ 6.42140780e-01 7.66551621e-01 7.33695449e-03 2.08243277e+02] [-7.66501442e-01 6.42182693e-01 -8.77084231e-03 -9.79223928e+01] [-1.14349686e-02 8.32932630e-06 9.99934619e-01 -1.93175919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.28, Y:-97.97, Z:-1.93 [[ 6.40959727e-01 7.67539464e-01 7.33485473e-03 2.08284668e+02] [-7.67489329e-01 6.41001694e-01 -8.77259793e-03 -9.79697748e+01] [-1.14349694e-02 -6.54075996e-06 9.99934619e-01 -1.93321655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:208.33, Y:-98.02, Z:-1.94 [[ 6.40004178e-01 7.68336439e-01 7.33266129e-03 2.08325046e+02] [-7.68286336e-01 6.40046182e-01 -8.77443096e-03 -9.80178374e+01] [-1.14349569e-02 -1.79109931e-05 9.99934619e-01 -1.93648039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.37, Y:-98.06, Z:-1.94 [[ 6.38164082e-01 7.69865488e-01 7.33048861e-03 2.08365385e+02] [-7.69815464e-01 6.38206181e-01 -8.77624573e-03 -9.80649389e+01] [-1.14348918e-02 -4.24386945e-05 9.99934619e-01 -1.93806322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.40, Y:-98.11, Z:-1.94 [[ 6.37581896e-01 7.70347725e-01 7.32855542e-03 2.08404019e+02] [-7.70297715e-01 6.37624011e-01 -8.77785973e-03 -9.81118912e+01] [-1.14348672e-02 -4.85650400e-05 9.99934619e-01 -1.94152157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.44, Y:-98.16, Z:-1.94 [[ 6.38106007e-01 7.69913659e-01 7.32678469e-03 2.08444613e+02] [-7.69863603e-01 6.38148068e-01 -8.77933749e-03 -9.81595052e+01] [-1.14349053e-02 -3.84768758e-05 9.99934619e-01 -1.93958973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.377628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:208.48, Y:-98.21, Z:-1.94 [[ 6.39565211e-01 7.68701955e-01 7.32425772e-03 2.08484733e+02] [-7.68651796e-01 6.39607148e-01 -8.78144513e-03 -9.82084794e+01] [-1.14349616e-02 -1.34970387e-05 9.99934619e-01 -1.94097210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.52, Y:-98.26, Z:-1.94 [[ 6.41434289e-01 7.67143041e-01 7.32176164e-03 2.08524225e+02] [-7.67092755e-01 6.41476075e-01 -8.78352581e-03 -9.82564322e+01] [-1.14349556e-02 1.75843208e-05 9.99934619e-01 -1.93824725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.56, Y:-98.30, Z:-1.94 [[ 6.44359078e-01 7.64688042e-01 7.31960331e-03 2.08563670e+02] [-7.64637577e-01 6.44400647e-01 -8.78532406e-03 -9.83026171e+01] [-1.14347894e-02 6.40595671e-05 9.99934619e-01 -1.93668076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.60, Y:-98.35, Z:-1.94 [[ 6.45933976e-01 7.63358207e-01 7.31762989e-03 2.08604452e+02] [-7.63307637e-01 6.45975418e-01 -8.78696748e-03 -9.83511184e+01] [-1.14346128e-02 9.01980552e-05 9.99934619e-01 -1.93584330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.65, Y:-98.40, Z:-1.94 [[ 6.46710940e-01 7.62700104e-01 7.31517227e-03 2.08646466e+02] [-7.62649469e-01 6.46752302e-01 -8.78901298e-03 -9.83970485e+01] [-1.14344856e-02 1.05038592e-04 9.99934619e-01 -1.93822083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.677628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:208.69, Y:-98.44, Z:-1.94 [[ 6.46652883e-01 7.62749350e-01 7.31289963e-03 2.08687820e+02] [-7.62698697e-01 6.46694223e-01 -8.79090353e-03 -9.84430253e+01] [-1.14344659e-02 1.07124100e-04 9.99934619e-01 -1.94339547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.737628 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:208.73, Y:-98.49, Z:-1.95 [[ 6.46473923e-01 7.62901055e-01 7.31073076e-03 2.08727780e+02] [-7.62850392e-01 6.46515250e-01 -8.79270684e-03 -9.84894496e+01] [-1.14344643e-02 1.07261866e-04 9.99934619e-01 -1.94607916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.797628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:208.77, Y:-98.54, Z:-1.95 [[ 6.46137767e-01 7.63185794e-01 7.30950847e-03 2.08768025e+02] [-7.63135137e-01 6.46179103e-01 -8.79372283e-03 -9.85369449e+01] [-1.14344960e-02 1.03813687e-04 9.99934619e-01 -1.94635254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.857628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:208.81, Y:-98.59, Z:-1.95 [[ 6.46010484e-01 7.63293560e-01 7.30732716e-03 2.08808073e+02] [-7.63242889e-01 6.46051802e-01 -8.79553506e-03 -9.85851175e+01] [-1.14344871e-02 1.04742368e-04 9.99934619e-01 -1.94648361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.85, Y:-98.63, Z:-1.94 [[ 6.45902757e-01 7.63384745e-01 7.30483199e-03 2.08846276e+02] [-7.63334056e-01 6.45944054e-01 -8.79760685e-03 -9.86339038e+01] [-1.14344716e-02 1.06371483e-04 9.99934619e-01 -1.94311241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.88, Y:-98.68, Z:-1.94 [[ 6.45073032e-01 7.64086026e-01 7.30268030e-03 2.08884043e+02] [-7.64035362e-01 6.45114359e-01 -8.79939255e-03 -9.86833311e+01] [-1.14345568e-02 9.67448426e-05 9.99934619e-01 -1.94150081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.92, Y:-98.73, Z:-1.94 [[ 6.44048058e-01 7.64950195e-01 7.30054997e-03 2.08923580e+02] [-7.64899567e-01 6.44089428e-01 -8.80115966e-03 -9.87322268e+01] [-1.14346559e-02 8.41822754e-05 9.99934619e-01 -1.94191959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.097628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:208.96, Y:-98.78, Z:-1.95 [[ 6.42321759e-01 7.66400350e-01 7.29807061e-03 2.08963092e+02] [-7.66349792e-01 6.42363215e-01 -8.80321511e-03 -9.87798617e+01] [-1.14347992e-02 6.16217211e-05 9.99934619e-01 -1.94744752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.157628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:209.00, Y:-98.83, Z:-1.95 [[ 6.40541981e-01 7.67888495e-01 7.29588548e-03 2.09001891e+02] [-7.67838012e-01 6.40583529e-01 -8.80502572e-03 -9.88279539e+01] [-1.14349020e-02 3.79304171e-05 9.99934619e-01 -1.95038083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:-98.87, Z:-1.95 [[ 6.37491390e-01 7.70422955e-01 7.29371068e-03 2.09042759e+02] [-7.70372618e-01 6.37533113e-01 -8.80682686e-03 -9.88746069e+01] [-1.14349637e-02 -4.59869468e-06 9.99934619e-01 -1.95146614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.08, Y:-98.92, Z:-1.95 [[ 6.36543978e-01 7.71205937e-01 7.29155817e-03 2.09084037e+02] [-7.71155630e-01 6.36585738e-01 -8.80860866e-03 -9.89217194e+01] [-1.14349532e-02 -1.58593426e-05 9.99934619e-01 -1.95164385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.12, Y:-98.97, Z:-1.95 [[ 6.36289885e-01 7.71415615e-01 7.28912579e-03 2.09123763e+02] [-7.71365299e-01 6.36331634e-01 -8.81062100e-03 -9.89677855e+01] [-1.14349519e-02 -1.64696797e-05 9.99934619e-01 -1.95135619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.16, Y:-99.02, Z:-1.95 [[ 6.36415525e-01 7.71311984e-01 7.28718183e-03 2.09163555e+02] [-7.71261643e-01 6.36457244e-01 -8.81222854e-03 -9.90167726e+01] [-1.14349571e-02 -1.20847770e-05 9.99934619e-01 -1.95124222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:-99.07, Z:-1.95 [[ 6.36705671e-01 7.71072513e-01 7.28479255e-03 2.09201557e+02] [-7.71022133e-01 6.36747344e-01 -8.81420324e-03 -9.90653251e+01] [-1.14349621e-02 -4.68310293e-06 9.99934619e-01 -1.95209221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.24, Y:-99.12, Z:-1.95 [[ 6.36303792e-01 7.71404205e-01 7.28271802e-03 2.09240364e+02] [-7.71353827e-01 6.36345467e-01 -8.81591698e-03 -9.91151149e+01] [-1.14349600e-02 -7.95101137e-06 9.99934619e-01 -1.95059277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.28, Y:-99.16, Z:-1.96 [[ 6.39281255e-01 7.68938538e-01 7.28021214e-03 2.09283517e+02] [-7.68887976e-01 6.39322706e-01 -8.81798585e-03 -9.91598370e+01] [-1.14348941e-02 3.95054795e-05 9.99934619e-01 -1.95553099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.32, Y:-99.21, Z:-1.95 [[ 6.33237905e-01 7.73922985e-01 7.27790346e-03 2.09317266e+02] [-7.73872728e-01 6.33279725e-01 -8.81989091e-03 -9.92109774e+01] [-1.14348650e-02 -4.70817642e-05 9.99934619e-01 -1.95218050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.36, Y:-99.26, Z:-1.95 [[ 6.31297867e-01 7.75506327e-01 7.27596676e-03 2.09356687e+02] [-7.75456156e-01 6.31339791e-01 -8.82148830e-03 -9.92594531e+01] [-1.14347273e-02 -7.32064690e-05 9.99934619e-01 -1.95363589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.40, Y:-99.31, Z:-1.96 [[ 6.28832054e-01 7.77507132e-01 7.27378644e-03 2.09397500e+02] [-7.77457074e-01 6.28874112e-01 -8.82328572e-03 -9.93050635e+01] [-1.14344636e-02 -1.06691839e-04 9.99934619e-01 -1.95566410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:-99.35, Z:-1.95 [[ 6.27829118e-01 7.78317236e-01 7.27179051e-03 2.09438364e+02] [-7.78267213e-01 6.27871218e-01 -8.82493038e-03 -9.93519120e+01] [-1.14343434e-02 -1.18847879e-04 9.99934619e-01 -1.95484278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.48, Y:-99.40, Z:-1.95 [[ 6.27580786e-01 7.78517508e-01 7.26961277e-03 2.09477695e+02] [-7.78467477e-01 6.27622877e-01 -8.82672395e-03 -9.94001267e+01] [-1.14343344e-02 -1.19674756e-04 9.99934619e-01 -1.95215340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.52, Y:-99.45, Z:-1.95 [[ 6.27918980e-01 7.78244781e-01 7.26743751e-03 2.09517308e+02] [-7.78194712e-01 6.27961024e-01 -8.82851458e-03 -9.94479755e+01] [-1.14344129e-02 -1.11889570e-04 9.99934619e-01 -1.95164711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.55, Y:-99.50, Z:-1.95 [[ 6.28742018e-01 7.77580023e-01 7.26523215e-03 2.09554922e+02] [-7.77529888e-01 6.28783984e-01 -8.83032905e-03 -9.94958879e+01] [-1.14345491e-02 -9.69362315e-05 9.99934619e-01 -1.95370843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.59, Y:-99.55, Z:-1.96 [[ 6.28364346e-01 7.77885271e-01 7.26321857e-03 2.09592209e+02] [-7.77835137e-01 6.28406314e-01 -8.83198498e-03 -9.95450304e+01] [-1.14345234e-02 -9.98821460e-05 9.99934619e-01 -1.95591215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:-99.59, Z:-1.96 [[ 6.26064388e-01 7.79737558e-01 7.26101334e-03 2.09631931e+02] [-7.79687528e-01 6.26106479e-01 -8.83379758e-03 -9.95921957e+01] [-1.14342113e-02 -1.30795458e-04 9.99934619e-01 -1.95967081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.67, Y:-99.64, Z:-1.96 [[ 6.23205985e-01 7.82024046e-01 7.25881466e-03 2.09671703e+02] [-7.81974149e-01 6.23248235e-01 -8.83560389e-03 -9.96386833e+01] [-1.14336981e-02 -1.69804189e-04 9.99934619e-01 -1.96323152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.237628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:209.71, Y:-99.69, Z:-1.96 [[ 6.23220043e-01 7.82012863e-01 7.25680484e-03 2.09711128e+02] [-7.81962945e-01 6.23262268e-01 -8.83725427e-03 -9.96862104e+01] [-1.14337392e-02 -1.66998507e-04 9.99934619e-01 -1.96268790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.75, Y:-99.74, Z:-1.96 [[ 6.23688661e-01 7.81639191e-01 7.25457553e-03 2.09750937e+02] [-7.81589227e-01 6.23730832e-01 -8.83908395e-03 -9.97353626e+01] [-1.14338769e-02 -1.57261641e-04 9.99934619e-01 -1.96141505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.79, Y:-99.78, Z:-1.96 [[ 6.26069687e-01 7.79733387e-01 7.25205372e-03 2.09788501e+02] [-7.79683271e-01 6.26111676e-01 -8.84115249e-03 -9.97842009e+01] [-1.14343373e-02 -1.19127393e-04 9.99934619e-01 -1.95605329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.83, Y:-99.83, Z:-1.95 [[ 6.30740967e-01 7.75959571e-01 7.25098832e-03 2.09825814e+02] [-7.75909193e-01 6.30782643e-01 -8.84202619e-03 -9.98327203e+01] [-1.14348524e-02 -4.90803459e-05 9.99934619e-01 -1.95281416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:-99.88, Z:-1.95 [[ 6.34020715e-01 7.73282087e-01 7.24893676e-03 2.09863921e+02] [-7.73231514e-01 6.34062153e-01 -8.84370780e-03 -9.98805671e+01] [-1.14349573e-02 1.98759485e-06 9.99934619e-01 -1.95406399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.90, Y:-99.93, Z:-1.96 [[ 6.38528053e-01 7.69564420e-01 7.24773519e-03 2.09902200e+02] [-7.69513595e-01 6.38569181e-01 -8.84469241e-03 -9.99291078e+01] [-1.14347409e-02 7.03534661e-05 9.99934619e-01 -1.95623150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.95, Y:-99.97, Z:-1.96 [[ 6.43535356e-01 7.65382092e-01 7.24557102e-03 2.09947835e+02] [-7.65330980e-01 6.43576127e-01 -8.84646495e-03 -9.99723530e+01] [-1.14340024e-02 1.47752997e-04 9.99934619e-01 -1.96105753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.98, Y:-100.02, Z:-1.96 [[ 6.39650778e-01 7.68631523e-01 7.24321734e-03 2.09983325e+02] [-7.68580596e-01 6.39691780e-01 -8.84839165e-03 -1.00022784e+02] [-1.14345793e-02 9.28843047e-05 9.99934619e-01 -1.95937480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.717628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:210.02, Y:-100.07, Z:-1.96 [[ 6.41566120e-01 7.67033560e-01 7.24092256e-03 2.10022995e+02] [-7.66982510e-01 6.41606968e-01 -8.85026914e-03 -1.00068803e+02] [-1.14342798e-02 1.24371870e-04 9.99934619e-01 -1.96289930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.06, Y:-100.12, Z:-1.96 [[ 6.42032636e-01 7.66643132e-01 7.23890485e-03 2.10062721e+02] [-7.66592039e-01 6.42073430e-01 -8.85191918e-03 -1.00116406e+02] [-1.14341715e-02 1.33934177e-04 9.99934619e-01 -1.96073164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.10, Y:-100.16, Z:-1.96 [[ 6.42063888e-01 7.66616980e-01 7.23672290e-03 2.10102183e+02] [-7.66565864e-01 6.42104655e-01 -8.85370263e-03 -1.00164347e+02] [-1.14341322e-02 1.37217993e-04 9.99934619e-01 -1.95850397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:-100.21, Z:-1.96 [[ 6.40240490e-01 7.68140467e-01 7.23454051e-03 2.10142338e+02] [-7.68089428e-01 6.40281353e-01 -8.85548555e-03 -1.00211624e+02] [-1.14343982e-02 1.12866327e-04 9.99934619e-01 -1.95837644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:-100.26, Z:-1.96 [[ 6.34290738e-01 7.73060769e-01 7.23236984e-03 2.10182462e+02] [-7.73010028e-01 6.34331969e-01 -8.85725800e-03 -1.00257646e+02] [-1.14349221e-02 2.73823033e-05 9.99934619e-01 -1.96088151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.22, Y:-100.31, Z:-1.96 [[ 6.30452071e-01 7.76194504e-01 7.23038470e-03 2.10222120e+02] [-7.76143948e-01 6.30493530e-01 -8.85887822e-03 -1.00305476e+02] [-1.14349234e-02 -2.67212065e-05 9.99934619e-01 -1.96025453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.26, Y:-100.35, Z:-1.96 [[ 6.25886559e-01 7.79880612e-01 7.22822428e-03 2.10262250e+02] [-7.79830280e-01 6.25928289e-01 -8.86064062e-03 -1.00353451e+02] [-1.14345919e-02 -9.10322998e-05 9.99934619e-01 -1.96225917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:-100.40, Z:-1.96 [[ 6.24987822e-01 7.80601057e-01 7.22578718e-03 2.10301056e+02] [-7.80550751e-01 6.25029583e-01 -8.86262761e-03 -1.00402486e+02] [-1.14345072e-02 -1.01059283e-04 9.99934619e-01 -1.96430551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:-100.45, Z:-1.97 [[ 6.26515865e-01 7.79375193e-01 7.22358731e-03 2.10338173e+02] [-7.79324784e-01 6.26557502e-01 -8.86442029e-03 -1.00452241e+02] [-1.14347021e-02 -7.58206795e-05 9.99934619e-01 -1.96544662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.37, Y:-100.50, Z:-1.96 [[ 6.30316248e-01 7.76304888e-01 7.22136896e-03 2.10373160e+02] [-7.76254256e-01 6.30357613e-01 -8.86622709e-03 -1.00504133e+02] [-1.14349403e-02 -1.70913948e-05 9.99934619e-01 -1.96444399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:-100.55, Z:-1.96 [[ 6.33037478e-01 7.74087485e-01 7.21915820e-03 2.10409257e+02] [-7.74036688e-01 6.33078640e-01 -8.86802679e-03 -1.00554302e+02] [-1.14349234e-02 2.59000187e-05 9.99934619e-01 -1.96362497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.45, Y:-100.60, Z:-1.96 [[ 6.34232665e-01 7.73108558e-01 7.21696440e-03 2.10447507e+02] [-7.73057676e-01 6.34273723e-01 -8.86981178e-03 -1.00603072e+02] [-1.14348583e-02 4.63946343e-05 9.99934619e-01 -1.96242472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.437628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:-100.65, Z:-1.96 [[ 6.35095586e-01 7.72399860e-01 7.21478098e-03 2.10487165e+02] [-7.72348912e-01 6.35136562e-01 -8.87158744e-03 -1.00651535e+02] [-1.14347841e-02 6.19777830e-05 9.99934619e-01 -1.96488148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:-100.70, Z:-1.96 [[ 6.35337790e-01 7.72200672e-01 7.21221914e-03 2.10528101e+02] [-7.72149687e-01 6.35378720e-01 -8.87366962e-03 -1.00699211e+02] [-1.14347442e-02 6.88648899e-05 9.99934619e-01 -1.96407160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.57, Y:-100.75, Z:-1.97 [[ 6.37696940e-01 7.70253616e-01 7.20970028e-03 2.10569138e+02] [-7.70202484e-01 6.37737685e-01 -8.87571568e-03 -1.00745905e+02] [-1.14344497e-02 1.07087661e-04 9.99934619e-01 -1.96634687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:-100.79, Z:-1.97 [[ 6.39427386e-01 7.68817709e-01 7.20751540e-03 2.10610072e+02] [-7.68766465e-01 6.39467991e-01 -8.87748955e-03 -1.00793065e+02] [-1.14341466e-02 1.35613799e-04 9.99934619e-01 -1.96852941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.677628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:-100.84, Z:-1.97 [[ 6.42324684e-01 7.66398776e-01 7.20536429e-03 2.10650392e+02] [-7.66347359e-01 6.42365071e-01 -8.87923515e-03 -1.00840896e+02] [-1.14335093e-02 1.81540018e-04 9.99934619e-01 -1.96961933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:-100.89, Z:-1.97 [[ 6.46462096e-01 7.62912103e-01 7.20283700e-03 2.10689433e+02] [-7.62860446e-01 6.46502175e-01 -8.88128481e-03 -1.00887309e+02] [-1.14322895e-02 2.46654554e-04 9.99934619e-01 -1.96746829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.797628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:-100.94, Z:-1.97 [[ 6.48858749e-01 7.60874799e-01 7.20175021e-03 2.10729732e+02] [-7.60823006e-01 6.48898652e-01 -8.88216599e-03 -1.00935133e+02] [-1.14314223e-02 2.84013868e-04 9.99934619e-01 -1.96615582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.77, Y:-100.98, Z:-1.96 [[ 6.48667155e-01 7.61038165e-01 7.19957495e-03 2.10770519e+02] [-7.60986363e-01 6.48707046e-01 -8.88392883e-03 -1.00982441e+02] [-1.14314239e-02 2.83934486e-04 9.99934619e-01 -1.96349830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.81, Y:-101.03, Z:-1.96 [[ 6.47444081e-01 7.62078974e-01 7.19718314e-03 2.10812055e+02] [-7.62027215e-01 6.47484027e-01 -8.88586610e-03 -1.01029530e+02] [-1.14317928e-02 2.68651989e-04 9.99934619e-01 -1.96225530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:-101.08, Z:-1.96 [[ 6.44998310e-01 7.64150127e-01 7.19465334e-03 2.10852985e+02] [-7.64098474e-01 6.45038392e-01 -8.88791394e-03 -1.01077775e+02] [-1.14325282e-02 2.35265839e-04 9.99934619e-01 -1.96268602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.89, Y:-101.13, Z:-1.96 [[ 6.39669236e-01 7.68616641e-01 7.19213135e-03 2.10894860e+02] [-7.68565245e-01 6.39709648e-01 -8.88995427e-03 -1.01125146e+02] [-1.14338426e-02 1.59008067e-04 9.99934619e-01 -1.96370153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.94, Y:-101.17, Z:-1.97 [[ 6.32119803e-01 7.74837314e-01 7.18964644e-03 2.10936759e+02] [-7.74786292e-01 6.32160687e-01 -8.89196347e-03 -1.01171814e+02] [-1.14348369e-02 5.03466926e-05 9.99934619e-01 -1.96512721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.98, Y:-101.22, Z:-1.97 [[ 6.30056766e-01 7.76515819e-01 7.18715431e-03 2.10980947e+02] [-7.76464883e-01 6.30097756e-01 -8.89397734e-03 -1.01217399e+02] [-1.14349239e-02 2.31376642e-05 9.99934619e-01 -1.96737701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.02, Y:-101.27, Z:-1.97 [[ 6.24994457e-01 7.80596125e-01 7.18452807e-03 2.11016476e+02] [-7.80545433e-01 6.25035749e-01 -8.89609830e-03 -1.01268032e+02] [-1.14348467e-02 -4.78384416e-05 9.99934619e-01 -1.96647280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:-101.32, Z:-1.97 [[ 6.22221945e-01 7.82807938e-01 7.18211268e-03 2.11054527e+02] [-7.82757370e-01 6.22263388e-01 -8.89804789e-03 -1.01317944e+02] [-1.14346283e-02 -8.52909728e-05 9.99934619e-01 -1.96739795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.09, Y:-101.37, Z:-1.97 [[ 6.22294427e-01 7.82750343e-01 7.17958159e-03 2.11091879e+02] [-7.82699748e-01 6.22335837e-01 -8.90008969e-03 -1.01368265e+02] [-1.14346592e-02 -8.09804922e-05 9.99934619e-01 -1.96799800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.13, Y:-101.42, Z:-1.97 [[ 6.23686443e-01 7.81641677e-01 7.17700442e-03 2.11127591e+02] [-7.81590984e-01 6.23727734e-01 -8.90216743e-03 -1.01419029e+02] [-1.14348018e-02 -5.73208020e-05 9.99934619e-01 -1.96939941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:-101.47, Z:-1.97 [[ 6.24806953e-01 7.80746307e-01 7.17462951e-03 2.11163544e+02] [-7.80695533e-01 6.24848144e-01 -8.90408106e-03 -1.01470817e+02] [-1.14348823e-02 -3.78694463e-05 9.99934619e-01 -1.97095765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:-101.52, Z:-1.97 [[ 6.24753327e-01 7.80789243e-01 7.17208225e-03 2.11199978e+02] [-7.80738447e-01 6.24794492e-01 -8.90613235e-03 -1.01520469e+02] [-1.14348898e-02 -3.53845431e-05 9.99934619e-01 -1.97296872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.24, Y:-101.57, Z:-1.98 [[ 6.24353037e-01 7.81109381e-01 7.17083806e-03 2.11236441e+02] [-7.81058595e-01 6.24394214e-01 -8.90713401e-03 -1.01571053e+02] [-1.14348757e-02 -3.96485298e-05 9.99934619e-01 -1.97685841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.27, Y:-101.62, Z:-1.98 [[ 6.24424121e-01 7.81052577e-01 7.16862813e-03 2.11272522e+02] [-7.81001768e-01 6.24465268e-01 -8.90891225e-03 -1.01621867e+02] [-1.14348882e-02 -3.57715473e-05 9.99934619e-01 -1.97929097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:-101.67, Z:-1.98 [[ 6.23221075e-01 7.82012874e-01 7.16643460e-03 2.11311704e+02] [-7.81962107e-01 6.23262275e-01 -8.91067640e-03 -1.01670803e+02] [-1.14348320e-02 -5.05589774e-05 9.99934619e-01 -1.97955530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.35, Y:-101.72, Z:-1.98 [[ 6.23781130e-01 7.81566235e-01 7.16391826e-03 2.11350245e+02] [-7.81515416e-01 6.23822265e-01 -8.91269901e-03 -1.01719076e+02] [-1.14348763e-02 -3.91391036e-05 9.99934619e-01 -1.97709802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.39, Y:-101.77, Z:-1.98 [[ 6.24994049e-01 7.80596662e-01 7.16170795e-03 2.11388847e+02] [-7.80545758e-01 6.25035080e-01 -8.91447473e-03 -1.01767096e+02] [-1.14349279e-02 -1.85471066e-05 9.99934619e-01 -1.97647314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.43, Y:-101.82, Z:-1.98 [[ 6.27655406e-01 7.78458368e-01 7.15964521e-03 2.11427568e+02] [-7.78407306e-01 6.27696239e-01 -8.91613110e-03 -1.01815397e+02] [-1.14349192e-02 2.31377413e-05 9.99934619e-01 -1.97888817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:-101.87, Z:-1.98 [[ 6.30135785e-01 7.76451965e-01 7.15807777e-03 2.11466597e+02] [-7.76400759e-01 6.30176437e-01 -8.91738931e-03 -1.01865008e+02] [-1.14347764e-02 6.16291024e-05 9.99934619e-01 -1.97935319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.51, Y:-101.91, Z:-1.98 [[ 6.33170145e-01 7.73979564e-01 7.15553617e-03 2.11506335e+02] [-7.73928176e-01 6.33210567e-01 -8.91942828e-03 -1.01913603e+02] [-1.14344163e-02 1.09644641e-04 9.99934619e-01 -1.98064034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.057628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:211.55, Y:-101.96, Z:-1.98 [[ 6.34334349e-01 7.73025723e-01 7.15302566e-03 2.11545835e+02] [-7.72974251e-01 6.34374665e-01 -8.92144116e-03 -1.01963088e+02] [-1.14342018e-02 1.30071920e-04 9.99934619e-01 -1.98214994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.117628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:211.59, Y:-102.01, Z:-1.98 [[ 6.34548441e-01 7.72850015e-01 7.15052376e-03 2.11585511e+02] [-7.72798510e-01 6.34588714e-01 -8.92344597e-03 -1.02011483e+02] [-1.14341270e-02 1.36444623e-04 9.99934619e-01 -1.97890957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.177628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:211.63, Y:-102.06, Z:-1.98 [[ 6.33416312e-01 7.73778184e-01 7.14828861e-03 2.11625528e+02] [-7.73726717e-01 6.33456634e-01 -8.92523612e-03 -1.02059247e+02] [-1.14342838e-02 1.22568273e-04 9.99934619e-01 -1.98062321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.67, Y:-102.11, Z:-1.98 [[ 6.29627893e-01 7.76863985e-01 7.14592680e-03 2.11667708e+02] [-7.76812695e-01 6.29668439e-01 -8.92712669e-03 -1.02106105e+02] [-1.14347278e-02 6.97213168e-05 9.99934619e-01 -1.98142181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.71, Y:-102.16, Z:-1.98 [[ 6.25389646e-01 7.80279926e-01 7.14341597e-03 2.11707157e+02] [-7.80228834e-01 6.25430442e-01 -8.92913538e-03 -1.02155182e+02] [-1.14349349e-02 1.06897003e-05 9.99934619e-01 -1.98161567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.75, Y:-102.20, Z:-1.98 [[ 6.23280567e-01 7.81965691e-01 7.14094261e-03 2.11746258e+02] [-7.81914687e-01 6.23321472e-01 -8.93111298e-03 -1.02204080e+02] [-1.14349268e-02 -1.70187500e-05 9.99934619e-01 -1.98178500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:-102.25, Z:-1.98 [[ 6.22005902e-01 7.82980013e-01 7.13848673e-03 2.11784604e+02] [-7.82929053e-01 6.22046862e-01 -8.93307549e-03 -1.02253627e+02] [-1.14348928e-02 -3.25029797e-05 9.99934619e-01 -1.98198455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:-102.30, Z:-1.98 [[ 6.22280023e-01 7.82762193e-01 7.13594159e-03 2.11822122e+02] [-7.82711196e-01 6.22320936e-01 -8.93510814e-03 -1.02302802e+02] [-1.14349107e-02 -2.52420781e-05 9.99934619e-01 -1.98413289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:-102.35, Z:-1.98 [[ 6.23871230e-01 7.81494587e-01 7.13437502e-03 2.11857385e+02] [-7.81443491e-01 6.23912022e-01 -8.93635882e-03 -1.02354765e+02] [-1.14349384e-02 2.62438232e-08 9.99934619e-01 -1.98430806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:-102.40, Z:-1.99 [[ 6.23662542e-01 7.81661161e-01 7.13181216e-03 2.11894252e+02] [-7.81610054e-01 6.23703318e-01 -8.93840369e-03 -1.02404848e+02] [-1.14349379e-02 2.51484581e-07 9.99934619e-01 -1.98534551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.94, Y:-102.45, Z:-1.98 [[ 6.22074907e-01 7.82925272e-01 7.12944742e-03 2.11935735e+02] [-7.82874225e-01 6.22115760e-01 -8.94028945e-03 -1.02451104e+02] [-1.14349201e-02 -1.99308942e-05 9.99934619e-01 -1.98477386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.97, Y:-102.50, Z:-1.99 [[ 6.20531804e-01 7.84148892e-01 7.12708989e-03 2.11973714e+02] [-7.84097904e-01 6.20572731e-01 -8.94216845e-03 -1.02499854e+02] [-1.14348691e-02 -3.94363264e-05 9.99934619e-01 -1.98540232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.01, Y:-102.55, Z:-1.99 [[ 6.19469297e-01 7.84988553e-01 7.12469395e-03 2.12010624e+02] [-7.84937599e-01 6.19510265e-01 -8.94407702e-03 -1.02548144e+02] [-1.14348191e-02 -5.18590578e-05 9.99934619e-01 -1.98923812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.05, Y:-102.60, Z:-1.99 [[ 6.20996804e-01 7.83780735e-01 7.12249950e-03 2.12050703e+02] [-7.83729681e-01 6.21037647e-01 -8.94582420e-03 -1.02597154e+02] [-1.14349050e-02 -2.67860253e-05 9.99934619e-01 -1.98916419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.09, Y:-102.65, Z:-1.99 [[ 6.26014421e-01 7.79778976e-01 7.11995891e-03 2.12088697e+02] [-7.79727638e-01 6.26054907e-01 -8.94784579e-03 -1.02645713e+02] [-1.14348272e-02 4.98517561e-05 9.99934619e-01 -1.98740288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.957628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:212.13, Y:-102.70, Z:-1.99 [[ 6.31357066e-01 7.75459601e-01 7.11774587e-03 2.12127945e+02] [-7.75407967e-01 6.31397172e-01 -8.94960585e-03 -1.02695028e+02] [-1.14341824e-02 1.31240029e-04 9.99934619e-01 -1.99064469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.17, Y:-102.75, Z:-1.99 [[ 6.37174350e-01 7.70686850e-01 7.11523424e-03 2.12166153e+02] [-7.70634893e-01 6.37214038e-01 -8.95160224e-03 -1.02745303e+02] [-1.14328093e-02 2.20483567e-04 9.99934619e-01 -1.98907895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.077628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:212.20, Y:-102.79, Z:-1.99 [[ 6.40109217e-01 7.68251000e-01 7.11269763e-03 2.12204420e+02] [-7.68198870e-01 6.40148677e-01 -8.95361730e-03 -1.02792679e+02] [-1.14318094e-02 2.67326686e-04 9.99934619e-01 -1.99326013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:212.24, Y:-102.84, Z:-2.00 [[ 6.40783112e-01 7.67689019e-01 7.11146738e-03 2.12244086e+02] [-7.67636843e-01 6.40822512e-01 -8.95459433e-03 -1.02840098e+02] [-1.14315321e-02 2.78928454e-04 9.99934619e-01 -1.99515436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19762799999998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:212.28, Y:-102.89, Z:-2.00 [[ 6.39934589e-01 7.68396499e-01 7.10930235e-03 2.12282598e+02] [-7.68344348e-01 6.39974021e-01 -8.95631288e-03 -1.02886966e+02] [-1.14317683e-02 2.69062121e-04 9.99934619e-01 -1.99552145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.32, Y:-102.93, Z:-1.99 [[ 6.36648491e-01 7.71121375e-01 7.10809268e-03 2.12323834e+02] [-7.71069381e-01 6.36688131e-01 -8.95727282e-03 -1.02933859e+02] [-1.14327828e-02 2.21801599e-04 9.99934619e-01 -1.99092847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.36, Y:-102.98, Z:-1.99 [[ 6.31148752e-01 7.75629268e-01 7.10580899e-03 2.12364921e+02] [-7.75577537e-01 6.31188735e-01 -8.95908410e-03 -1.02979846e+02] [-1.14340344e-02 1.43408905e-04 9.99934619e-01 -1.99086276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.41, Y:-103.03, Z:-1.99 [[ 6.26862450e-01 7.79097559e-01 7.10372175e-03 2.12405596e+02] [-7.79046031e-01 6.26902693e-01 -8.96073879e-03 -1.03028492e+02] [-1.14346320e-02 8.30244369e-05 9.99934619e-01 -1.99166518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.44, Y:-103.08, Z:-1.99 [[ 6.23250546e-01 7.81989981e-01 7.10117064e-03 2.12442762e+02] [-7.81938617e-01 6.23290998e-01 -8.96276002e-03 -1.03077416e+02] [-1.14348843e-02 3.33655270e-05 9.99934619e-01 -1.99231729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.48, Y:-103.13, Z:-1.99 [[ 6.19595048e-01 7.84889536e-01 7.09881478e-03 2.12479094e+02] [-7.84838340e-01 6.19635713e-01 -8.96462556e-03 -1.03128695e+02] [-1.14349199e-02 -1.69844025e-05 9.99934619e-01 -1.99233206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.52, Y:-103.18, Z:-2.00 [[ 6.16569953e-01 7.87268148e-01 7.09623515e-03 2.12516087e+02] [-7.87217085e-01 6.16610785e-01 -8.96666708e-03 -1.03178077e+02] [-1.14347865e-02 -5.77000525e-05 9.99934619e-01 -1.99607194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.55, Y:-103.23, Z:-2.00 [[ 6.15029463e-01 7.88472216e-01 7.09397786e-03 2.12551671e+02] [-7.88421212e-01 6.15070369e-01 -8.96845258e-03 -1.03229303e+02] [-1.14346713e-02 -7.71800535e-05 9.99934619e-01 -1.99865022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.59, Y:-103.28, Z:-2.00 [[ 6.12222027e-01 7.90654094e-01 7.09171183e-03 2.12587546e+02] [-7.90603216e-01 6.12263089e-01 -8.97024406e-03 -1.03280567e+02] [-1.14343536e-02 -1.14949178e-04 9.99934619e-01 -1.99938063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.63, Y:-103.33, Z:-2.00 [[ 6.08551925e-01 7.93482387e-01 7.08915263e-03 2.12626429e+02] [-7.93431676e-01 6.08593192e-01 -8.97226613e-03 -1.03328403e+02] [-1.14337452e-02 -1.64668430e-04 9.99934619e-01 -1.99839198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.67, Y:-103.38, Z:-2.00 [[ 6.07354948e-01 7.94398982e-01 7.08694350e-03 2.12666746e+02] [-7.94348313e-01 6.07396267e-01 -8.97401072e-03 -1.03376878e+02] [-1.14335280e-02 -1.79091802e-04 9.99934619e-01 -1.99756706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.71, Y:-103.43, Z:-2.00 [[ 6.08369305e-01 7.93622454e-01 7.08443505e-03 2.12706112e+02] [-7.93571709e-01 6.08410531e-01 -8.97599055e-03 -1.03425604e+02] [-1.14337925e-02 -1.61290096e-04 9.99934619e-01 -1.99795138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.74, Y:-103.48, Z:-2.00 [[ 6.12170950e-01 7.90693730e-01 7.08192459e-03 2.12743643e+02] [-7.90642765e-01 6.12211903e-01 -8.97797083e-03 -1.03475690e+02] [-1.14344638e-02 -1.03219512e-04 9.99934619e-01 -2.00245498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.78, Y:-103.52, Z:-2.01 [[ 6.15547601e-01 7.88067900e-01 7.08070647e-03 2.12782314e+02] [-7.88016749e-01 6.15588322e-01 -8.97893143e-03 -1.03524489e+02] [-1.14348079e-02 -5.27555963e-05 9.99934619e-01 -2.00604743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03762799999998 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:212.82, Y:-103.57, Z:-2.01 [[ 6.17867831e-01 7.86250112e-01 7.07848975e-03 2.12821605e+02] [-7.86198821e-01 6.17908376e-01 -8.98067863e-03 -1.03572521e+02] [-1.14349177e-02 -1.62278715e-05 9.99934619e-01 -2.00919886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:-103.62, Z:-2.01 [[ 6.21243229e-01 7.83585846e-01 7.07626711e-03 2.12860104e+02] [-7.83534361e-01 6.21283527e-01 -8.98242960e-03 -1.03621453e+02] [-1.14348729e-02 3.57751389e-05 9.99934619e-01 -2.00643587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.90, Y:-103.67, Z:-2.00 [[ 6.31419184e-01 7.75409423e-01 7.07402842e-03 2.12901314e+02] [-7.75357396e-01 6.31458781e-01 -8.98419232e-03 -1.03667389e+02] [-1.14333847e-02 1.87891126e-04 9.99934619e-01 -2.00457120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.217628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:212.94, Y:-103.72, Z:-2.01 [[ 6.34566638e-01 7.72835798e-01 7.07187289e-03 2.12937638e+02] [-7.72783592e-01 6.34605999e-01 -8.98588871e-03 -1.03716963e+02] [-1.14324694e-02 2.37117856e-04 9.99934619e-01 -2.00620943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.98, Y:-103.76, Z:-2.00 [[ 6.37273232e-01 7.70605509e-01 7.06943710e-03 2.12976399e+02] [-7.70553145e-01 6.37312380e-01 -8.98780461e-03 -1.03763728e+02] [-1.14314915e-02 2.80310298e-04 9.99934619e-01 -2.00448523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.337628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:-103.81, Z:-2.00 [[ 6.40548667e-01 7.67885047e-01 7.06824195e-03 2.13014726e+02] [-7.67832505e-01 6.40587579e-01 -8.98874441e-03 -1.03813746e+02] [-1.14301504e-02 3.30502329e-04 9.99934619e-01 -2.00494106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:-103.86, Z:-2.00 [[ 6.39804670e-01 7.68505082e-01 7.06567811e-03 2.13053844e+02] [-7.68452556e-01 6.39843602e-01 -8.99075928e-03 -1.03861605e+02] [-1.14303731e-02 3.22691374e-04 9.99934619e-01 -2.00293568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.457628 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:-103.91, Z:-2.01 [[ 6.35047850e-01 7.72440508e-01 7.06331600e-03 2.13096436e+02] [-7.72388203e-01 6.35087078e-01 -8.99261462e-03 -1.03906765e+02] [-1.14320805e-02 2.55118631e-04 9.99934619e-01 -2.01140015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:-103.95, Z:-2.01 [[ 6.29932606e-01 7.76617701e-01 7.06111271e-03 2.13136696e+02] [-7.76565637e-01 6.29972153e-01 -8.99434434e-03 -1.03954260e+02] [-1.14334714e-02 1.82413279e-04 9.99934619e-01 -2.01205613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:-104.00, Z:-2.01 [[ 6.28262747e-01 7.77969211e-01 7.05888418e-03 2.13174345e+02] [-7.77917212e-01 6.28302380e-01 -8.99609298e-03 -1.04003594e+02] [-1.14337971e-02 1.60682589e-04 9.99934619e-01 -2.01191462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:-104.05, Z:-2.01 [[ 6.26430194e-01 7.79445583e-01 7.05661324e-03 2.13213441e+02] [-7.79393658e-01 6.26469923e-01 -8.99787397e-03 -1.04051587e+02] [-1.14341091e-02 1.36660327e-04 9.99934619e-01 -2.01219355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:-104.10, Z:-2.01 [[ 6.23614752e-01 7.81699992e-01 7.05436916e-03 2.13249965e+02] [-7.81648190e-01 6.23654643e-01 -8.99963299e-03 -1.04101182e+02] [-1.14345031e-02 9.82690025e-05 9.99934619e-01 -2.01270898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.29, Y:-104.15, Z:-2.01 [[ 6.21973357e-01 7.83006649e-01 7.05199408e-03 2.13286443e+02] [-7.82954910e-01 6.22013330e-01 -9.00149369e-03 -1.04151929e+02] [-1.14346637e-02 7.72958659e-05 9.99934619e-01 -2.01283916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:-104.20, Z:-2.01 [[ 6.20120615e-01 7.84474810e-01 7.04948197e-03 2.13322796e+02] [-7.84423144e-01 6.20160680e-01 -9.00346061e-03 -1.04202533e+02] [-1.14347996e-02 5.34547236e-05 9.99934619e-01 -2.01346484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.36, Y:-104.25, Z:-2.02 [[ 6.18162289e-01 7.86018907e-01 7.04716002e-03 2.13360103e+02] [-7.85967320e-01 6.18202456e-01 -9.00527767e-03 -1.04252674e+02] [-1.14348901e-02 2.78855797e-05 9.99934619e-01 -2.01741840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.40, Y:-104.30, Z:-2.02 [[ 6.18048463e-01 7.86108431e-01 7.04500267e-03 2.13396028e+02] [-7.86056831e-01 6.18088613e-01 -9.00696510e-03 -1.04302995e+02] [-1.14348871e-02 2.89684641e-05 9.99934619e-01 -2.02020039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.43, Y:-104.35, Z:-2.02 [[ 6.18227975e-01 7.85967282e-01 7.04287093e-03 2.13432854e+02] [-7.85915653e-01 6.18268089e-01 -9.00863167e-03 -1.04352607e+02] [-1.14348721e-02 3.42856132e-05 9.99934619e-01 -2.02120671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.47, Y:-104.40, Z:-2.03 [[ 6.19652343e-01 7.84844827e-01 7.04065384e-03 2.13467853e+02] [-7.84793106e-01 6.19692338e-01 -9.01036409e-03 -1.04402452e+02] [-1.14347769e-02 5.78366249e-05 9.99934619e-01 -2.02519753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.51, Y:-104.45, Z:-2.02 [[ 6.16956496e-01 7.86965774e-01 7.03940201e-03 2.13506988e+02] [-7.86914179e-01 6.16996654e-01 -9.01134199e-03 -1.04451206e+02] [-1.14349052e-02 2.02007231e-05 9.99934619e-01 -2.02430698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:-104.50, Z:-2.02 [[ 6.14612737e-01 7.88797608e-01 7.03687644e-03 2.13546252e+02] [-7.88746110e-01 6.14653019e-01 -9.01331375e-03 -1.04498228e+02] [-1.14349177e-02 -1.06114942e-05 9.99934619e-01 -2.02288909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:-104.55, Z:-2.02 [[ 6.13979863e-01 7.89290338e-01 7.03485675e-03 2.13585291e+02] [-7.89238855e-01 6.14020164e-01 -9.01488983e-03 -1.04547175e+02] [-1.14349093e-02 -1.72214670e-05 9.99934619e-01 -2.02336290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.297628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:-104.60, Z:-2.03 [[ 6.16863022e-01 7.87039108e-01 7.03236026e-03 2.13622619e+02] [-7.86987455e-01 6.16903106e-01 -9.01683688e-03 -1.04597031e+02] [-1.14348881e-02 2.77739442e-05 9.99934619e-01 -2.02513637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:-104.65, Z:-2.02 [[ 6.18462325e-01 7.85782998e-01 7.03082061e-03 2.13659684e+02] [-7.85731250e-01 6.18502286e-01 -9.01803726e-03 -1.04647310e+02] [-1.14347990e-02 5.29808245e-05 9.99934619e-01 -2.02105119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:-104.70, Z:-2.02 [[ 6.23038969e-01 7.82159217e-01 7.02869903e-03 2.13698650e+02] [-7.82107218e-01 6.23078602e-01 -9.01969052e-03 -1.04696208e+02] [-1.14342660e-02 1.22422443e-04 9.99934619e-01 -2.01969192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:-104.75, Z:-2.02 [[ 6.27951917e-01 7.78220421e-01 7.02612415e-03 2.13736913e+02] [-7.78168151e-01 6.27991193e-01 -9.02169585e-03 -1.04745379e+02] [-1.14332120e-02 1.97685173e-04 9.99934619e-01 -2.01991500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.78, Y:-104.79, Z:-2.02 [[ 6.35921733e-01 7.71721593e-01 7.02374907e-03 2.13776112e+02] [-7.71668902e-01 6.35960441e-01 -9.02354456e-03 -1.04794512e+02] [-1.14304907e-02 3.18259368e-04 9.99934619e-01 -2.02048951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.82, Y:-104.84, Z:-2.02 [[ 6.41034468e-01 7.67479975e-01 7.02123355e-03 2.13815884e+02] [-7.67427007e-01 6.41072796e-01 -9.02550147e-03 -1.04843766e+02] [-1.14280135e-02 3.97373293e-04 9.99934619e-01 -2.02074659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:-104.89, Z:-2.02 [[ 6.42506188e-01 7.66248351e-01 7.01871932e-03 2.13857898e+02] [-7.66195288e-01 6.42544384e-01 -9.02745625e-03 -1.04890915e+02] [-1.14271121e-02 4.22486829e-04 9.99934619e-01 -2.02223001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:-104.94, Z:-2.02 [[ 6.41629704e-01 7.66982462e-01 7.01616813e-03 2.13898250e+02] [-7.66929420e-01 6.41667931e-01 -9.02943860e-03 -1.04939588e+02] [-1.14274711e-02 4.12650260e-04 9.99934619e-01 -2.02345771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.94, Y:-104.99, Z:-2.02 [[ 6.36056606e-01 7.71610526e-01 7.01362854e-03 2.13939088e+02] [-7.71557741e-01 6.36095186e-01 -9.03141080e-03 -1.04987326e+02] [-1.14300670e-02 3.33069103e-04 9.99934619e-01 -2.02401324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:-105.03, Z:-2.03 [[ 6.28510528e-01 7.77769478e-01 7.01107279e-03 2.13980694e+02] [-7.77717050e-01 6.28549591e-01 -9.03339439e-03 -1.05033872e+02] [-1.14327054e-02 2.24952634e-04 9.99934619e-01 -2.02619084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:-105.08, Z:-2.03 [[ 6.24923866e-01 7.80654237e-01 7.00883206e-03 2.14020478e+02] [-7.80601970e-01 6.24963144e-01 -9.03513260e-03 -1.05081615e+02] [-1.14335763e-02 1.75161883e-04 9.99934619e-01 -2.02713001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:-105.13, Z:-2.03 [[ 6.21497409e-01 7.83384887e-01 7.00646463e-03 2.14061371e+02] [-7.83332771e-01 6.21536888e-01 -9.03696809e-03 -1.05129900e+02] [-1.14342004e-02 1.28058899e-04 9.99934619e-01 -2.02614973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:-105.18, Z:-2.03 [[ 6.20399114e-01 7.84254987e-01 7.00394050e-03 2.14101223e+02] [-7.84202904e-01 6.20438637e-01 -9.03892395e-03 -1.05179070e+02] [-1.14343365e-02 1.15229936e-04 9.99934619e-01 -2.02501593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:-105.23, Z:-2.03 [[ 6.19346469e-01 7.85086576e-01 7.00141244e-03 2.14140792e+02] [-7.85034525e-01 6.19386033e-01 -9.04088172e-03 -1.05226120e+02] [-1.14344520e-02 1.03087674e-04 9.99934619e-01 -2.02526989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.18, Y:-105.27, Z:-2.03 [[ 6.17557900e-01 7.86494279e-01 6.99923156e-03 2.14181438e+02] [-7.86442299e-01 6.17597557e-01 -9.04256979e-03 -1.05274670e+02] [-1.14346377e-02 7.98186508e-05 9.99934619e-01 -2.02728079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:-105.32, Z:-2.03 [[ 6.15607978e-01 7.88021486e-01 6.99678678e-03 2.14221279e+02] [-7.87969583e-01 6.15647735e-01 -9.04446107e-03 -1.05323099e+02] [-1.14347856e-02 5.45872306e-05 9.99934619e-01 -2.02956595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.26, Y:-105.37, Z:-2.03 [[ 6.14915905e-01 7.88561672e-01 6.99418777e-03 2.14257993e+02] [-7.88509781e-01 6.14955679e-01 -9.04647047e-03 -1.05373799e+02] [-1.14348154e-02 4.78331152e-05 9.99934619e-01 -2.03366628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:-105.42, Z:-2.04 [[ 6.18867009e-01 7.85464655e-01 6.99296484e-03 2.14293460e+02] [-7.85412554e-01 6.18906507e-01 -9.04741570e-03 -1.05424600e+02] [-1.14344167e-02 1.06784722e-04 9.99934619e-01 -2.03774028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.377628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:-105.48, Z:-2.04 [[ 6.23139199e-01 7.82079707e-01 6.99072871e-03 2.14328939e+02] [-7.82027372e-01 6.23178387e-01 -9.04914318e-03 -1.05475753e+02] [-1.14336223e-02 1.71934629e-04 9.99934619e-01 -2.04044399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.437628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:-105.53, Z:-2.04 [[ 6.29412359e-01 7.77040053e-01 6.98847185e-03 2.14362679e+02] [-7.76987385e-01 6.29451098e-01 -9.05088577e-03 -1.05528942e+02] [-1.14318020e-02 2.66784891e-04 9.99934619e-01 -2.03787342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.40, Y:-105.58, Z:-2.04 [[ 6.32756322e-01 7.74319465e-01 6.98592344e-03 2.14398870e+02] [-7.74266609e-01 6.32794805e-01 -9.05285233e-03 -1.05579739e+02] [-1.14304558e-02 3.19282297e-04 9.99934619e-01 -2.03514047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.44, Y:-105.63, Z:-2.03 [[ 6.33767136e-01 7.73492369e-01 6.98367128e-03 2.14436130e+02] [-7.73439444e-01 6.33805523e-01 -9.05458939e-03 -1.05628843e+02] [-1.14299452e-02 3.37054351e-04 9.99934619e-01 -2.03386288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.47, Y:-105.68, Z:-2.03 [[ 6.32385240e-01 7.74622588e-01 6.98245010e-03 2.14473376e+02] [-7.74569720e-01 6.32423707e-01 -9.05553101e-03 -1.05679007e+02] [-1.14304858e-02 3.18189728e-04 9.99934619e-01 -2.03349542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.51, Y:-105.73, Z:-2.04 [[ 6.25630689e-01 7.80088150e-01 6.97992964e-03 2.14512699e+02] [-7.80035597e-01 6.25669585e-01 -9.05747334e-03 -1.05727513e+02] [-1.14327573e-02 2.22039703e-04 9.99934619e-01 -2.03501327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.56, Y:-105.77, Z:-2.04 [[ 6.22480422e-01 7.82604268e-01 6.97732492e-03 2.14556113e+02] [-7.82551851e-01 6.22519499e-01 -9.05947941e-03 -1.05772526e+02] [-1.14335081e-02 1.79230038e-04 9.99934619e-01 -2.04314594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.797628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:-105.82, Z:-2.04 [[ 6.08239716e-01 7.93722733e-01 6.97644980e-03 2.14589080e+02] [-7.93671022e-01 6.08279723e-01 -9.06015326e-03 -1.05824436e+02] [-1.14348826e-02 -2.62610024e-05 9.99934619e-01 -2.04213119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.63, Y:-105.88, Z:-2.04 [[ 6.04949333e-01 7.96233424e-01 6.97417723e-03 2.14626274e+02] [-7.96181858e-01 6.04989529e-01 -9.06190227e-03 -1.05875603e+02] [-1.14346937e-02 -7.07216534e-05 9.99934619e-01 -2.04168056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.66, Y:-105.93, Z:-2.04 [[ 6.05365954e-01 7.95916741e-01 6.97158548e-03 2.14662924e+02] [-7.95865132e-01 6.05406093e-01 -9.06389574e-03 -1.05926225e+02] [-1.14347467e-02 -6.14679028e-05 9.99934619e-01 -2.04107358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.70, Y:-105.98, Z:-2.04 [[ 6.07927772e-01 7.93961744e-01 6.96935081e-03 2.14696443e+02] [-7.93909987e-01 6.07967719e-01 -9.06561369e-03 -1.05978579e+02] [-1.14348908e-02 -2.17988704e-05 9.99934619e-01 -2.03568293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:-106.03, Z:-2.04 [[ 6.09800281e-01 7.92524496e-01 6.96709598e-03 2.14734014e+02] [-7.92472624e-01 6.09840080e-01 -9.06734623e-03 -1.06029543e+02] [-1.14349084e-02 8.03744649e-06 9.99934619e-01 -2.03533777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:-106.08, Z:-2.04 [[ 6.13081525e-01 7.89988949e-01 6.96450108e-03 2.14770785e+02] [-7.89936890e-01 6.13121078e-01 -9.06933890e-03 -1.06079714e+02] [-1.14347599e-02 5.87277984e-05 9.99934619e-01 -2.03596601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.81, Y:-106.13, Z:-2.04 [[ 6.15127641e-01 7.88396793e-01 6.96290242e-03 2.14807651e+02] [-7.88344618e-01 6.15167041e-01 -9.07056609e-03 -1.06130211e+02] [-1.14345533e-02 9.03892801e-05 9.99934619e-01 -2.03548409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.85, Y:-106.18, Z:-2.04 [[ 6.15105570e-01 7.88414036e-01 6.96037503e-03 2.14846364e+02] [-7.88361839e-01 6.15144942e-01 -9.07250509e-03 -1.06180039e+02] [-1.14345298e-02 9.32543512e-05 9.99934619e-01 -2.03713212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.88, Y:-106.23, Z:-2.04 [[ 6.13310617e-01 7.89811164e-01 6.95785320e-03 2.14884761e+02] [-7.89759036e-01 6.13350079e-01 -9.07443872e-03 -1.06229235e+02] [-1.14346928e-02 7.04221774e-05 9.99934619e-01 -2.04044808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.337628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:214.92, Y:-106.28, Z:-2.05 [[ 6.09904658e-01 7.92444274e-01 6.95563875e-03 2.14922813e+02] [-7.92392296e-01 6.09944319e-01 -9.07613579e-03 -1.06278301e+02] [-1.14348842e-02 2.39829341e-05 9.99934619e-01 -2.04604998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.96, Y:-106.33, Z:-2.05 [[ 6.07433777e-01 7.94339888e-01 6.95334762e-03 2.14959695e+02] [-7.94288014e-01 6.07473574e-01 -9.07789071e-03 -1.06326446e+02] [-1.14349056e-02 -8.74322620e-06 9.99934619e-01 -2.04888689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:-106.38, Z:-2.05 [[ 6.07397276e-01 7.94367810e-01 6.95205380e-03 2.14995562e+02] [-7.94315927e-01 6.07437060e-01 -9.07888145e-03 -1.06377710e+02] [-1.14349063e-02 -7.63919333e-06 9.99934619e-01 -2.04947428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.03, Y:-106.43, Z:-2.05 [[ 6.07786170e-01 7.94070319e-01 6.94980737e-03 2.15031666e+02] [-7.94018397e-01 6.07825903e-01 -9.08060075e-03 -1.06427793e+02] [-1.14349085e-02 7.88648485e-07 9.99934619e-01 -2.04562453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.07, Y:-106.48, Z:-2.04 [[ 6.08626701e-01 7.93426284e-01 6.94769959e-03 2.15068126e+02] [-7.93374301e-01 6.08666355e-01 -9.08221315e-03 -1.06478138e+02] [-1.14348976e-02 1.55511245e-05 9.99934619e-01 -2.04239829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.11, Y:-106.53, Z:-2.04 [[ 6.08767183e-01 7.93318522e-01 6.94544319e-03 2.15106722e+02] [-7.93266512e-01 6.08806802e-01 -9.08393836e-03 -1.06526968e+02] [-1.14348896e-02 2.04160714e-05 9.99934619e-01 -2.04172018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.15, Y:-106.58, Z:-2.04 [[ 6.07608710e-01 7.94206175e-01 6.94322002e-03 2.15146290e+02] [-7.94154204e-01 6.07648379e-01 -9.08563730e-03 -1.06575839e+02] [-1.14349056e-02 6.52499119e-06 9.99934619e-01 -2.04194352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:-106.62, Z:-2.05 [[ 6.07508315e-01 7.94282994e-01 6.94062503e-03 2.15184787e+02] [-7.94231005e-01 6.07547962e-01 -9.08761921e-03 -1.06623384e+02] [-1.14349040e-02 8.34464844e-06 9.99934619e-01 -2.04569242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.22, Y:-106.67, Z:-2.05 [[ 6.08241697e-01 7.93721547e-01 6.93855323e-03 2.15222419e+02] [-7.93669504e-01 6.08281272e-01 -9.08920079e-03 -1.06673448e+02] [-1.14348865e-02 2.15128134e-05 9.99934619e-01 -2.04862902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.26, Y:-106.72, Z:-2.05 [[ 6.10353210e-01 7.92099000e-01 6.93776274e-03 2.15258469e+02] [-7.92046845e-01 6.10392637e-01 -9.08980413e-03 -1.06724323e+02] [-1.14347841e-02 5.29580363e-05 9.99934619e-01 -2.05302692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:-106.77, Z:-2.06 [[ 6.10861040e-01 7.91707451e-01 6.93557467e-03 2.15297385e+02] [-7.91655251e-01 6.10900408e-01 -9.09147333e-03 -1.06772565e+02] [-1.14347326e-02 6.30427520e-05 9.99934619e-01 -2.05691551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.34, Y:-106.82, Z:-2.06 [[ 6.11243203e-01 7.91412456e-01 6.93336490e-03 2.15335720e+02] [-7.91360218e-01 6.11282521e-01 -9.09315824e-03 -1.06822641e+02] [-1.14346835e-02 7.13420144e-05 9.99934619e-01 -2.05555151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.37, Y:-106.87, Z:-2.05 [[ 6.12852657e-01 7.90166808e-01 6.93079567e-03 2.15373404e+02] [-7.90114468e-01 6.12891839e-01 -9.09511608e-03 -1.06871091e+02] [-1.14344869e-02 9.78441263e-05 9.99934619e-01 -2.05335158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.41, Y:-106.92, Z:-2.05 [[ 6.12946034e-01 7.90094394e-01 6.92874373e-03 2.15411775e+02] [-7.90042032e-01 6.12985186e-01 -9.09667900e-03 -1.06919937e+02] [-1.14344523e-02 1.01774541e-04 9.99934619e-01 -2.05101346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.177628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:-106.97, Z:-2.05 [[ 6.12055539e-01 7.90784446e-01 6.92655591e-03 2.15450846e+02] [-7.90732109e-01 6.12094724e-01 -9.09834458e-03 -1.06969154e+02] [-1.14345377e-02 9.16420283e-05 9.99934619e-01 -2.05472277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.49, Y:-107.02, Z:-2.05 [[ 6.09842105e-01 7.92492691e-01 6.92400256e-03 2.15489494e+02] [-7.92440442e-01 6.09881407e-01 -9.10028732e-03 -1.07018232e+02] [-1.14347316e-02 6.28787229e-05 9.99934619e-01 -2.05364399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:-107.07, Z:-2.06 [[ 6.07696856e-01 7.94138921e-01 6.92140981e-03 2.15528852e+02] [-7.94086756e-01 6.07736269e-01 -9.10225886e-03 -1.07067053e+02] [-1.14348498e-02 3.52142254e-05 9.99934619e-01 -2.05596413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.57, Y:-107.12, Z:-2.06 [[ 6.06340419e-01 7.95175091e-01 6.91882260e-03 2.15565625e+02] [-7.95122971e-01 6.06379892e-01 -9.10422503e-03 -1.07115856e+02] [-1.14348879e-02 1.89448448e-05 9.99934619e-01 -2.06079695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.60, Y:-107.17, Z:-2.07 [[ 6.07232005e-01 7.94494463e-01 6.91675723e-03 2.15600487e+02] [-7.94442280e-01 6.07271395e-01 -9.10579388e-03 -1.07166151e+02] [-1.14348516e-02 3.43650865e-05 9.99934619e-01 -2.06601758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.64, Y:-107.22, Z:-2.06 [[ 6.06661871e-01 7.94929910e-01 6.91472403e-03 2.15635514e+02] [-7.94877738e-01 6.06701276e-01 -9.10733758e-03 -1.07216830e+02] [-1.14348669e-02 2.87142570e-05 9.99934619e-01 -2.06301040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:-107.27, Z:-2.06 [[ 6.04653304e-01 7.96458786e-01 6.91263699e-03 2.15671193e+02] [-7.96406696e-01 6.04692817e-01 -9.10892141e-03 -1.07267184e+02] [-1.14349024e-02 2.46903979e-06 9.99934619e-01 -2.05971478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:-107.32, Z:-2.06 [[ 5.99886616e-01 8.00055181e-01 6.91056823e-03 2.15710756e+02] [-8.00003310e-01 5.99926415e-01 -9.11049062e-03 -1.07315250e+02] [-1.14347277e-02 -6.32160681e-05 9.99934619e-01 -2.05875135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.75, Y:-107.36, Z:-2.06 [[ 5.97134078e-01 8.02111692e-01 6.90835677e-03 2.15749214e+02] [-8.02059939e-01 5.97174031e-01 -9.11216723e-03 -1.07364649e+02] [-1.14344671e-02 -9.97306306e-05 9.99934619e-01 -2.05874184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:-107.42, Z:-2.06 [[ 5.98005372e-01 8.01462342e-01 6.90576833e-03 2.15786337e+02] [-8.01410523e-01 5.98045238e-01 -9.11412850e-03 -1.07415514e+02] [-1.14345926e-02 -8.40576077e-05 9.99934619e-01 -2.05924543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.82, Y:-107.47, Z:-2.06 [[ 6.00422679e-01 7.99653020e-01 6.90313848e-03 2.15823529e+02] [-7.99601058e-01 6.00462359e-01 -9.11611993e-03 -1.07465565e+02] [-1.14348077e-02 -4.62316802e-05 9.99934619e-01 -2.06212865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.86, Y:-107.52, Z:-2.06 [[ 6.00892051e-01 7.99300395e-01 6.90087161e-03 2.15861056e+02] [-7.99248389e-01 6.00931674e-01 -9.11783562e-03 -1.07516643e+02] [-1.14348419e-02 -3.66755774e-05 9.99934619e-01 -2.06242709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.897628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:215.90, Y:-107.57, Z:-2.07 [[ 6.02797339e-01 7.97864514e-01 6.89824661e-03 2.15897466e+02] [-7.97812391e-01 6.02836809e-01 -9.11982118e-03 -1.07565530e+02] [-1.14348987e-02 -6.10267408e-06 9.99934619e-01 -2.06708206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.957628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:-107.61, Z:-2.07 [[ 6.02370026e-01 7.98187193e-01 6.89615302e-03 2.15937768e+02] [-7.98135073e-01 6.02409500e-01 -9.12140402e-03 -1.07613357e+02] [-1.14348960e-02 -9.60120856e-06 9.99934619e-01 -2.06882569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.017628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:215.98, Y:-107.66, Z:-2.07 [[ 6.00444611e-01 7.99636632e-01 6.89390919e-03 2.15977659e+02] [-7.99584588e-01 6.00484184e-01 -9.12309958e-03 -1.07661860e+02] [-1.14348481e-02 -3.43475700e-05 9.99934619e-01 -2.06955575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.01, Y:-107.71, Z:-2.07 [[ 5.98841848e-01 8.00837656e-01 6.89130705e-03 2.16014370e+02] [-8.00785668e-01 5.98881496e-01 -9.12506473e-03 -1.07711791e+02] [-1.14347717e-02 -5.39892986e-05 9.99934619e-01 -2.06751636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:-107.76, Z:-2.06 [[ 5.99383910e-01 8.00432052e-01 6.88906484e-03 2.16050488e+02] [-8.00380018e-01 5.99423497e-01 -9.12675720e-03 -1.07762103e+02] [-1.14348163e-02 -4.34384289e-05 9.99934619e-01 -2.06480594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:-107.81, Z:-2.07 [[ 6.00954096e-01 7.99253869e-01 6.88679789e-03 2.16087987e+02] [-7.99201738e-01 6.00993555e-01 -9.12846745e-03 -1.07809772e+02] [-1.14348841e-02 -1.81509421e-05 9.99934619e-01 -2.06566895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:-107.86, Z:-2.07 [[ 6.04158063e-01 7.96834760e-01 6.88472788e-03 2.16124071e+02] [-7.96782454e-01 6.04197289e-01 -9.13002840e-03 -1.07861738e+02] [-1.14348579e-02 3.03498987e-05 9.99934619e-01 -2.06536422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:-107.91, Z:-2.07 [[ 6.07653600e-01 7.94172361e-01 6.88215467e-03 2.16160156e+02] [-7.94119861e-01 6.07692565e-01 -9.13196766e-03 -1.07913655e+02] [-1.14345905e-02 8.38173128e-05 9.99934619e-01 -2.06546788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:-107.96, Z:-2.07 [[ 6.09190130e-01 7.92994361e-01 6.87961294e-03 2.16198127e+02] [-7.92941763e-01 6.09228965e-01 -9.13388208e-03 -1.07963696e+02] [-1.14343765e-02 1.09138398e-04 9.99934619e-01 -2.06718133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.24, Y:-108.01, Z:-2.07 [[ 6.09159382e-01 7.93018003e-01 6.87703644e-03 2.16237457e+02] [-7.92965386e-01 6.09198189e-01 -9.13582155e-03 -1.08011196e+02] [-1.14343491e-02 1.11919557e-04 9.99934619e-01 -2.07143749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.28, Y:-108.06, Z:-2.07 [[ 6.07491185e-01 7.94296669e-01 6.87475125e-03 2.16276179e+02] [-7.94244114e-01 6.07530076e-01 -9.13754085e-03 -1.08060402e+02] [-1.14345364e-02 9.07448052e-05 9.99934619e-01 -2.07407406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.557628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:216.31, Y:-108.11, Z:-2.08 [[ 6.05530379e-01 7.95792504e-01 6.87394476e-03 2.16313950e+02] [-7.95740037e-01 6.05569391e-01 -9.13814751e-03 -1.08109046e+02] [-1.14347198e-02 6.35528601e-05 9.99934619e-01 -2.07704585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.35, Y:-108.16, Z:-2.08 [[ 6.02204277e-01 7.98312464e-01 6.87156252e-03 2.16353865e+02] [-7.98260141e-01 6.02243480e-01 -9.13993852e-03 -1.08158157e+02] [-1.14348806e-02 1.88156065e-05 9.99934619e-01 -2.07758247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.39, Y:-108.21, Z:-2.08 [[ 6.00224163e-01 7.99802333e-01 6.86900156e-03 2.16391403e+02] [-7.99750085e-01 6.00263466e-01 -9.14186277e-03 -1.08208662e+02] [-1.14348939e-02 -6.31765289e-06 9.99934619e-01 -2.07790911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.43, Y:-108.26, Z:-2.08 [[ 6.00648698e-01 7.99483580e-01 6.86645494e-03 2.16427298e+02] [-7.99431289e-01 6.00687944e-01 -9.14377514e-03 -1.08258538e+02] [-1.14348948e-02 2.93770726e-06 9.99934619e-01 -2.07797491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.46, Y:-108.31, Z:-2.08 [[ 6.02524730e-01 7.98070692e-01 6.86442168e-03 2.16462393e+02] [-7.98018292e-01 6.02563830e-01 -9.14530129e-03 -1.08310245e+02] [-1.14348492e-02 3.23361224e-05 9.99934619e-01 -2.07532379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.50, Y:-108.36, Z:-2.08 [[ 6.03246019e-01 7.97525642e-01 6.86225768e-03 2.16499209e+02] [-7.97473188e-01 6.03285047e-01 -9.14692478e-03 -1.08361443e+02] [-1.14348045e-02 4.53794476e-05 9.99934619e-01 -2.07535665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.54, Y:-108.41, Z:-2.08 [[ 6.04030310e-01 7.96931821e-01 6.85980313e-03 2.16536600e+02] [-7.96879308e-01 6.04069258e-01 -9.14876522e-03 -1.08411496e+02] [-1.14347383e-02 5.96963222e-05 9.99934619e-01 -2.07833484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.57, Y:-108.46, Z:-2.08 [[ 6.02158368e-01 7.98347216e-01 6.85724187e-03 2.16573257e+02] [-7.98294773e-01 6.02197410e-01 -9.15068455e-03 -1.08461642e+02] [-1.14348368e-02 3.60609395e-05 9.99934619e-01 -2.08054789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03762799999998 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:216.61, Y:-108.51, Z:-2.09 [[ 6.00286958e-01 7.99755324e-01 6.85497104e-03 2.16612125e+02] [-7.99702952e-01 6.00326096e-01 -9.15238536e-03 -1.08509636e+02] [-1.14348869e-02 1.21169835e-05 9.99934619e-01 -2.08502496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.65, Y:-108.56, Z:-2.08 [[ 5.97676786e-01 8.01707865e-01 6.85268379e-03 2.16652165e+02] [-8.01655601e-01 5.97716069e-01 -9.15409758e-03 -1.08556486e+02] [-1.14348712e-02 -2.23007231e-05 9.99934619e-01 -2.08378029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.69, Y:-108.61, Z:-2.08 [[ 5.96426145e-01 8.02638725e-01 6.85059448e-03 2.16689950e+02] [-8.02586505e-01 5.96465486e-01 -9.15566087e-03 -1.08606510e+02] [-1.14348311e-02 -3.75191626e-05 9.99934619e-01 -2.08309487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.73, Y:-108.66, Z:-2.08 [[ 5.97425651e-01 8.01895065e-01 6.84806904e-03 2.16726279e+02] [-8.01842774e-01 5.97464898e-01 -9.15754941e-03 -1.08657307e+02] [-1.14348746e-02 -2.01197566e-05 9.99934619e-01 -2.08332330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.76, Y:-108.71, Z:-2.08 [[ 6.01222657e-01 7.99052223e-01 6.84553429e-03 2.16761954e+02] [-7.98999726e-01 6.01261626e-01 -9.15944382e-03 -1.08709085e+02] [-1.14348310e-02 3.72851301e-05 9.99934619e-01 -2.08314622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.337628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:216.80, Y:-108.76, Z:-2.08 [[ 6.04403907e-01 7.96648663e-01 6.84291954e-03 2.16798798e+02] [-7.96595988e-01 6.04442636e-01 -9.16139686e-03 -1.08759559e+02] [-1.14345669e-02 8.61417992e-05 9.99934619e-01 -2.08478952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.397628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:216.84, Y:-108.81, Z:-2.09 [[ 6.08732177e-01 7.93346297e-01 6.84033748e-03 2.16835697e+02] [-7.93293390e-01 6.08770590e-01 -9.16332433e-03 -1.08810681e+02] [-1.14338857e-02 1.51615859e-04 9.99934619e-01 -2.08728516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.87, Y:-108.86, Z:-2.09 [[ 6.10689762e-01 7.91840426e-01 6.83776182e-03 2.16872176e+02] [-7.91787403e-01 6.10728014e-01 -9.16524591e-03 -1.08861575e+02] [-1.14334249e-02 1.83068171e-04 9.99934620e-01 -2.08916811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.91, Y:-108.91, Z:-2.09 [[ 6.09624361e-01 7.92660958e-01 6.83695256e-03 2.16911023e+02] [-7.92607980e-01 6.09662675e-01 -9.16584956e-03 -1.08911593e+02] [-1.14336459e-02 1.68702025e-04 9.99934620e-01 -2.08938878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:-108.96, Z:-2.09 [[ 6.07805788e-01 7.94056305e-01 6.83434019e-03 2.16950239e+02] [-7.94003394e-01 6.07844193e-01 -9.16779700e-03 -1.08959114e+02] [-1.14339610e-02 1.45750775e-04 9.99934620e-01 -2.08969521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.637628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:216.99, Y:-109.01, Z:-2.09 [[ 6.06470794e-01 7.95076412e-01 6.83192990e-03 2.16988807e+02] [-7.95023544e-01 6.06509260e-01 -9.16959282e-03 -1.09009308e+02] [-1.14341557e-02 1.29545114e-04 9.99934620e-01 -2.08963338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.03, Y:-109.06, Z:-2.09 [[ 6.04273969e-01 7.96747344e-01 6.82930868e-03 2.17026370e+02] [-7.96694561e-01 6.04312551e-01 -9.17154464e-03 -1.09059797e+02] [-1.14344408e-02 1.01252603e-04 9.99934620e-01 -2.08750972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.07, Y:-109.11, Z:-2.09 [[ 6.01833822e-01 7.98592165e-01 6.82669629e-03 2.17065002e+02] [-7.98539478e-01 6.01872535e-01 -9.17348872e-03 -1.09109642e+02] [-1.14346772e-02 6.95292824e-05 9.99934620e-01 -2.08852171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.10, Y:-109.16, Z:-2.09 [[ 5.97254741e-01 8.02022572e-01 6.82409942e-03 2.17101945e+02] [-8.01970085e-01 5.97293725e-01 -9.17542011e-03 -1.09159324e+02] [-1.14348858e-02 7.33957313e-06 9.99934620e-01 -2.08908008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.14, Y:-109.21, Z:-2.09 [[ 5.92990497e-01 8.05180559e-01 6.82182604e-03 2.17140083e+02] [-8.05128261e-01 5.93029733e-01 -9.17711003e-03 -1.09208503e+02] [-1.14347763e-02 -5.05059003e-05 9.99934620e-01 -2.09152008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:-109.26, Z:-2.09 [[ 5.91086062e-01 8.06579668e-01 6.81956801e-03 2.17175434e+02] [-8.06527443e-01 5.91125396e-01 -9.17878767e-03 -1.09259231e+02] [-1.14346434e-02 -7.47152904e-05 9.99934620e-01 -2.09230407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.21, Y:-109.31, Z:-2.09 [[ 5.89723170e-01 8.07576689e-01 6.81718207e-03 2.17210771e+02] [-8.07524510e-01 5.89762565e-01 -9.18055940e-03 -1.09311616e+02] [-1.14345245e-02 -9.10530157e-05 9.99934620e-01 -2.09213053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:-109.36, Z:-2.09 [[ 5.89466192e-01 8.07764303e-01 6.81461660e-03 2.17246525e+02] [-8.07712115e-01 5.89505574e-01 -9.18246332e-03 -1.09363666e+02] [-1.14345206e-02 -9.14967000e-05 9.99934620e-01 -2.09214475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.28, Y:-109.42, Z:-2.09 [[ 5.88856447e-01 8.08208934e-01 6.81205958e-03 2.17282100e+02] [-8.08156753e-01 5.88895839e-01 -9.18435986e-03 -1.09415326e+02] [-1.14344752e-02 -9.69424420e-05 9.99934620e-01 -2.09203057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:-108.95, Z:-1.18 [[ 6.63373862e-01 7.48257142e-01 6.80944999e-03 2.17979595e+02] [-7.48201418e-01 6.63408057e-01 -9.18629425e-03 -1.08949316e+02] [-1.13911543e-02 9.99107355e-04 9.99934620e-01 -1.17544025e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 245.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.02, Y:-109.00, Z:-1.18 [[ 6.62330052e-01 7.49173340e-01 7.62954138e-03 2.18020600e+02] [-7.49125745e-01 6.62373982e-01 -8.44543976e-03 -1.08997257e+02] [-1.13807080e-02 -1.21817318e-04 9.99935230e-01 -1.17506273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.06, Y:-109.04, Z:-1.18 [[ 6.60365912e-01 7.50905246e-01 7.62716277e-03 2.18062921e+02] [-7.50857742e-01 6.60409941e-01 -8.44758736e-03 -1.09042262e+02] [-1.13803918e-02 -1.48415479e-04 9.99935230e-01 -1.17650667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.10, Y:-109.09, Z:-1.18 [[ 6.60549257e-01 7.50743989e-01 7.62505731e-03 2.18104971e+02] [-7.50696453e-01 6.60593250e-01 -8.44948738e-03 -1.09087348e+02] [-1.13804633e-02 -1.42800863e-04 9.99935230e-01 -1.17672882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.15, Y:-109.13, Z:-1.18 [[ 6.61882992e-01 7.49568406e-01 7.62293259e-03 2.18147146e+02] [-7.49520770e-01 6.61926876e-01 -8.45140382e-03 -1.09133937e+02] [-1.13807293e-02 -1.19705857e-04 9.99935230e-01 -1.17708490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:-109.18, Z:-1.18 [[ 6.65920124e-01 7.45984126e-01 7.62051326e-03 2.18189054e+02] [-7.45936228e-01 6.65963723e-01 -8.45358473e-03 -1.09181257e+02] [-1.13812254e-02 -5.50047271e-05 9.99935230e-01 -1.17736438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.23, Y:-109.23, Z:-1.18 [[ 6.74140462e-01 7.38563878e-01 7.61809000e-03 2.18230424e+02] [-7.38515476e-01 6.74183500e-01 -8.45576793e-03 -1.09227139e+02] [-1.13811153e-02 7.42979454e-05 9.99935230e-01 -1.17877881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.27, Y:-109.27, Z:-1.18 [[ 6.81528802e-01 7.31751659e-01 7.61585537e-03 2.18270748e+02] [-7.31702804e-01 6.81571326e-01 -8.45778012e-03 -1.09274878e+02] [-1.13797433e-02 1.91678021e-04 9.99935230e-01 -1.17795281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.31, Y:-109.32, Z:-1.17 [[ 6.91707155e-01 7.22137969e-01 7.61349864e-03 2.18311630e+02] [-7.22088500e-01 6.91748963e-01 -8.45990106e-03 -1.09321959e+02] [-1.13758456e-02 3.54154281e-04 9.99935230e-01 -1.17480152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.35, Y:-109.37, Z:-1.17 [[ 6.95317425e-01 7.18662470e-01 7.61140010e-03 2.18353089e+02] [-7.18612771e-01 6.95358960e-01 -8.46178870e-03 -1.09366939e+02] [-1.13738252e-02 4.13979813e-04 9.99935230e-01 -1.17466733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.40, Y:-109.41, Z:-1.18 [[ 6.92793909e-01 7.21095483e-01 7.60948591e-03 2.18400070e+02] [-7.21045911e-01 6.92835596e-01 -8.46350973e-03 -1.09408496e+02] [-1.13751213e-02 3.76679289e-04 9.99935230e-01 -1.17766463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.44, Y:-109.45, Z:-1.18 [[ 6.88561786e-01 7.25137775e-01 7.60744137e-03 2.18443920e+02] [-7.25088428e-01 6.88603739e-01 -8.46534708e-03 -1.09452498e+02] [-1.13770555e-02 3.12846801e-04 9.99935230e-01 -1.18026404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.897628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:218.49, Y:-109.50, Z:-1.18 [[ 6.83705267e-01 7.29718611e-01 7.60629279e-03 2.18487132e+02] [-7.29669534e-01 6.83747535e-01 -8.46637898e-03 -1.09497337e+02] [-1.13788583e-02 2.38427789e-04 9.99935230e-01 -1.17980423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:-109.54, Z:-1.18 [[ 6.76458004e-01 7.36441950e-01 7.60413020e-03 2.18532539e+02] [-7.36393271e-01 6.76500730e-01 -8.46832088e-03 -1.09539781e+02] [-1.13806264e-02 1.28833131e-04 9.99935230e-01 -1.17678596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.58, Y:-109.58, Z:-1.18 [[ 6.72306614e-01 7.40233765e-01 7.60202292e-03 2.18577490e+02] [-7.40185306e-01 6.72349588e-01 -8.47021216e-03 -1.09584503e+02] [-1.13811540e-02 6.76739969e-05 9.99935230e-01 -1.17780967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.62, Y:-109.63, Z:-1.18 [[ 6.68965451e-01 7.43254647e-01 7.59963235e-03 2.18619857e+02] [-7.43206358e-01 6.69008617e-01 -8.47235648e-03 -1.09629624e+02] [-1.13813379e-02 1.96186957e-05 9.99935230e-01 -1.18030973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.66, Y:-109.68, Z:-1.18 [[ 6.69216806e-01 7.43028360e-01 7.59756570e-03 2.18661621e+02] [-7.42980035e-01 6.69259931e-01 -8.47420934e-03 -1.09676550e+02] [-1.13813242e-02 2.62436744e-05 9.99935230e-01 -1.17973550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.70, Y:-109.72, Z:-1.18 [[ 6.69429615e-01 7.42836660e-01 7.59522139e-03 2.18703170e+02] [-7.42788298e-01 6.69472700e-01 -8.47630996e-03 -1.09722723e+02] [-1.13813072e-02 3.26513390e-05 9.99935230e-01 -1.17896587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.74, Y:-109.77, Z:-1.18 [[ 6.67922429e-01 7.44192161e-01 7.59316834e-03 2.18744543e+02] [-7.44143866e-01 6.67965588e-01 -8.47814870e-03 -1.09768899e+02] [-1.13813470e-02 1.23360240e-05 9.99935230e-01 -1.17764578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.79, Y:-109.81, Z:-1.18 [[ 6.65118615e-01 7.46699138e-01 7.59108502e-03 2.18785697e+02] [-7.46650985e-01 6.65161932e-01 -8.48001364e-03 -1.09814955e+02] [-1.13813197e-02 -2.76761747e-05 9.99935230e-01 -1.18066612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:-109.86, Z:-1.18 [[ 6.63258939e-01 7.48351513e-01 7.58899610e-03 2.18826629e+02] [-7.48303446e-01 6.63302352e-01 -8.48188266e-03 -1.09861645e+02] [-1.13812287e-02 -5.31874425e-05 9.99935230e-01 -1.18323553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:-109.91, Z:-1.18 [[ 6.62142127e-01 7.49339873e-01 7.58677794e-03 2.18866633e+02] [-7.49291848e-01 6.62185586e-01 -8.48386627e-03 -1.09909608e+02] [-1.13811543e-02 -6.71856029e-05 9.99935230e-01 -1.18422020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:-109.96, Z:-1.19 [[ 6.62719261e-01 7.48829522e-01 7.58470110e-03 2.18906380e+02] [-7.48781443e-01 6.62762660e-01 -8.48572259e-03 -1.09957078e+02] [-1.13812163e-02 -5.56316286e-05 9.99935230e-01 -1.18612872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:-110.01, Z:-1.19 [[ 6.64994900e-01 7.46809405e-01 7.58258422e-03 2.18944664e+02] [-7.46761172e-01 6.65038129e-01 -8.48761375e-03 -1.10006007e+02] [-1.13813374e-02 -1.81596187e-05 9.99935230e-01 -1.18845623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.98, Y:-110.05, Z:-1.19 [[ 6.65894719e-01 7.46007213e-01 7.58034825e-03 2.18984797e+02] [-7.45958905e-01 6.65937864e-01 -8.48961024e-03 -1.10054169e+02] [-1.13813514e-02 -1.44165910e-06 9.99935230e-01 -1.18883118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.02, Y:-110.10, Z:-1.19 [[ 6.68927567e-01 7.43288964e-01 7.57797059e-03 2.19021436e+02] [-7.43240457e-01 6.68970488e-01 -8.49173205e-03 -1.10103472e+02] [-1.13812494e-02 4.80993444e-05 9.99935230e-01 -1.19096681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.06, Y:-110.15, Z:-1.19 [[ 6.69637872e-01 7.42649125e-01 7.57607062e-03 2.19059441e+02] [-7.42600558e-01 6.69680725e-01 -8.49342681e-03 -1.10153256e+02] [-1.13811845e-02 6.15259921e-05 9.99935230e-01 -1.19237612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.10, Y:-110.20, Z:-1.19 [[ 6.68114268e-01 7.44020133e-01 7.57405516e-03 2.19098851e+02] [-7.43971633e-01 6.68157197e-01 -8.49522372e-03 -1.10202317e+02] [-1.13812770e-02 4.08979893e-05 9.99935230e-01 -1.19211805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.14, Y:-110.25, Z:-1.19 [[ 6.65225509e-01 7.46604106e-01 7.57176661e-03 2.19138002e+02] [-7.46555750e-01 6.65268599e-01 -8.49726301e-03 -1.10250058e+02] [-1.13813500e-02 -1.49793666e-07 9.99935230e-01 -1.18916128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:-110.30, Z:-1.19 [[ 6.63655353e-01 7.48000182e-01 7.56966497e-03 2.19179690e+02] [-7.47951895e-01 6.63698521e-01 -8.49913482e-03 -1.10296857e+02] [-1.13813298e-02 -2.12489405e-05 9.99935230e-01 -1.18992020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.22, Y:-110.35, Z:-1.19 [[ 6.62614558e-01 7.48922348e-01 7.56726325e-03 2.19218126e+02] [-7.48874097e-01 6.62657766e-01 -8.50127267e-03 -1.10345949e+02] [-1.13812989e-02 -3.38603930e-05 9.99935230e-01 -1.18775475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.26, Y:-110.39, Z:-1.19 [[ 6.61335203e-01 7.50052343e-01 7.56517331e-03 2.19259483e+02] [-7.50004144e-01 6.61378470e-01 -8.50313207e-03 -1.10393444e+02] [-1.13812369e-02 -5.04907600e-05 9.99935230e-01 -1.18720993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.30, Y:-110.44, Z:-1.19 [[ 6.60024323e-01 7.51206162e-01 7.56274791e-03 2.19302347e+02] [-7.51158014e-01 6.60067646e-01 -8.50528869e-03 -1.10439209e+02] [-1.13811505e-02 -6.71212938e-05 9.99935230e-01 -1.18843860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.35, Y:-110.48, Z:-1.19 [[ 6.58332273e-01 7.52689484e-01 7.56031527e-03 2.19346253e+02] [-7.52641409e-01 6.58375677e-01 -8.50745050e-03 -1.10484568e+02] [-1.13809962e-02 -8.94771109e-05 9.99935230e-01 -1.19079124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.39, Y:-110.53, Z:-1.19 [[ 6.58791556e-01 7.52287554e-01 7.55787201e-03 2.19387483e+02] [-7.52239428e-01 6.58834903e-01 -8.50962050e-03 -1.10530415e+02] [-1.13810715e-02 -7.92631844e-05 9.99935230e-01 -1.19344447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.43, Y:-110.58, Z:-1.20 [[ 6.60540995e-01 7.50751960e-01 7.55575158e-03 2.19429136e+02] [-7.50703711e-01 6.60584206e-01 -8.51150283e-03 -1.10577025e+02] [-1.13812376e-02 -4.99341990e-05 9.99935230e-01 -1.19540392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.47, Y:-110.62, Z:-1.20 [[ 6.65569162e-01 7.46297955e-01 7.55334021e-03 2.19470665e+02] [-7.46249393e-01 6.65612020e-01 -8.51364221e-03 -1.10624568e+02] [-1.13813078e-02 2.97421557e-05 9.99935230e-01 -1.19605021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.51, Y:-110.67, Z:-1.20 [[ 6.69580118e-01 7.42701454e-01 7.55089791e-03 2.19512661e+02] [-7.42652638e-01 6.69622685e-01 -8.51580778e-03 -1.10671719e+02] [-1.13809554e-02 9.43213294e-05 9.99935230e-01 -1.19643040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.55, Y:-110.72, Z:-1.20 [[ 6.75544261e-01 7.37280796e-01 7.54845743e-03 2.19553838e+02] [-7.37231614e-01 6.75586406e-01 -8.51797049e-03 -1.10718100e+02] [-1.13797713e-02 1.89304623e-04 9.99935230e-01 -1.19581719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.60, Y:-110.77, Z:-1.20 [[ 6.78398863e-01 7.34655047e-01 7.54621053e-03 2.19595552e+02] [-7.34605679e-01 6.78440791e-01 -8.51996058e-03 -1.10765033e+02] [-1.13788891e-02 2.36442462e-04 9.99935230e-01 -1.19567125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.64, Y:-110.81, Z:-1.20 [[ 6.80970742e-01 7.32271765e-01 7.54383216e-03 2.19637239e+02] [-7.32222228e-01 6.81012469e-01 -8.52206594e-03 -1.10812082e+02] [-1.13779120e-02 2.79515983e-04 9.99935230e-01 -1.19694732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.68, Y:-110.86, Z:-1.20 [[ 6.81264256e-01 7.31998729e-01 7.54141513e-03 2.19679687e+02] [-7.31949152e-01 6.81305935e-01 -8.52420430e-03 -1.10857909e+02] [-1.13777176e-02 2.87303297e-04 9.99935230e-01 -1.20069526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.72, Y:-110.90, Z:-1.20 [[ 6.79859472e-01 7.33303660e-01 7.53930779e-03 2.19721893e+02] [-7.33254141e-01 6.79901221e-01 -8.52606775e-03 -1.10903839e+02] [-1.13781813e-02 2.68299262e-04 9.99935230e-01 -1.20250889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.77, Y:-110.95, Z:-1.20 [[ 6.76497889e-01 7.36406000e-01 7.53722896e-03 2.19766023e+02] [-7.36356652e-01 6.76539840e-01 -8.52790509e-03 -1.10949363e+02] [-1.13792361e-02 2.19021106e-04 9.99935230e-01 -1.20255962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.81, Y:-110.99, Z:-1.20 [[ 6.74937595e-01 7.37836343e-01 7.53484142e-03 2.19809684e+02] [-7.37787061e-01 6.74979623e-01 -8.53001408e-03 -1.10994440e+02] [-1.13796188e-02 1.98118680e-04 9.99935230e-01 -1.20245061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.877628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:219.85, Y:-111.04, Z:-1.20 [[ 6.75587617e-01 7.37241232e-01 7.53242928e-03 2.19852148e+02] [-7.37191889e-01 6.75629574e-01 -8.53214359e-03 -1.11041107e+02] [-1.13793800e-02 2.11364788e-04 9.99935230e-01 -1.20488116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.89, Y:-111.09, Z:-1.20 [[ 6.77136675e-01 7.35818743e-01 7.53001593e-03 2.19892596e+02] [-7.35769288e-01 6.77178500e-01 -8.53427295e-03 -1.11087615e+02] [-1.13788429e-02 2.38514746e-04 9.99935230e-01 -1.20157655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.93, Y:-111.13, Z:-1.20 [[ 6.77955397e-01 7.35064492e-01 7.52806541e-03 2.19933468e+02] [-7.35014972e-01 6.77997145e-01 -8.53599315e-03 -1.11134132e+02] [-1.13785123e-02 2.53781841e-04 9.99935230e-01 -1.20123797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.057628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:219.98, Y:-111.18, Z:-1.20 [[ 6.76955327e-01 7.35985630e-01 7.52584788e-03 2.19975338e+02] [-7.35936145e-01 6.76997116e-01 -8.53794782e-03 -1.11181561e+02] [-1.13787842e-02 2.41265787e-04 9.99935230e-01 -1.20300642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.02, Y:-111.22, Z:-1.21 [[ 6.79701121e-01 7.33450600e-01 7.52351896e-03 2.20022489e+02] [-7.33400937e-01 6.79742697e-01 -8.53999953e-03 -1.11223282e+02] [-1.13777249e-02 2.86891399e-04 9.99935230e-01 -1.20710309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.06, Y:-111.27, Z:-1.21 [[ 6.78939076e-01 7.34156091e-01 7.52096478e-03 2.20064870e+02] [-7.34106445e-01 6.78980675e-01 -8.54224834e-03 -1.11269618e+02] [-1.13779334e-02 2.78477477e-04 9.99935230e-01 -1.21319917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.10, Y:-111.32, Z:-1.21 [[ 6.75192451e-01 7.37603300e-01 7.51844526e-03 2.20098131e+02] [-7.37553842e-01 6.75234272e-01 -8.54446533e-03 -1.11321778e+02] [-1.13791377e-02 2.23900300e-04 9.99935230e-01 -1.21145651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.297628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:220.14, Y:-111.37, Z:-1.21 [[ 6.80719368e-01 7.32505731e-01 7.51643573e-03 2.20137460e+02] [-7.32455940e-01 6.80760793e-01 -8.54623271e-03 -1.11369836e+02] [-1.13770592e-02 3.12128123e-04 9.99935230e-01 -1.21466015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.18, Y:-111.41, Z:-1.21 [[ 6.91442203e-01 7.22392701e-01 7.51430955e-03 2.20181887e+02] [-7.22342286e-01 6.91482865e-01 -8.54810175e-03 -1.11413021e+02] [-1.13711026e-02 4.82614763e-04 9.99935230e-01 -1.21483026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.21, Y:-111.47, Z:-1.21 [[ 6.89450867e-01 7.24293497e-01 7.51211386e-03 2.20214729e+02] [-7.24243173e-01 6.89491642e-01 -8.55003090e-03 -1.11465103e+02] [-1.13722715e-02 4.54229044e-04 9.99935230e-01 -1.20905223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.26, Y:-111.51, Z:-1.21 [[ 6.94545176e-01 7.19409894e-01 7.51012103e-03 2.20261951e+02] [-7.19359265e-01 6.94585571e-01 -8.55178099e-03 -1.11505516e+02] [-1.13686576e-02 5.37123096e-04 9.99935230e-01 -1.21416743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.30, Y:-111.56, Z:-1.21 [[ 6.88730270e-01 7.24978788e-01 7.50808072e-03 2.20296792e+02] [-7.24928466e-01 6.88771047e-01 -8.55357192e-03 -1.11555723e+02] [-1.13725068e-02 4.48282463e-04 9.99935230e-01 -1.20985613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.34, Y:-111.60, Z:-1.21 [[ 6.82551851e-01 7.30798625e-01 7.50607140e-03 2.20339763e+02] [-7.30748631e-01 6.82593030e-01 -8.55533481e-03 -1.11600400e+02] [-1.13758189e-02 3.54408207e-04 9.99935230e-01 -1.21000478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.657628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:220.38, Y:-111.65, Z:-1.21 [[ 6.77603823e-01 7.35388844e-01 7.50387550e-03 2.20383874e+02] [-7.35339108e-01 6.77645313e-01 -8.55726040e-03 -1.11645433e+02] [-1.13778799e-02 2.80539245e-04 9.99935230e-01 -1.21185900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.43, Y:-111.69, Z:-1.21 [[ 6.70605891e-01 7.41775887e-01 7.50156782e-03 2.20427678e+02] [-7.41726523e-01 6.70647824e-01 -8.55928291e-03 -1.11690474e+02] [-1.13799798e-02 1.75793719e-04 9.99935230e-01 -1.20944292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.47, Y:-111.74, Z:-1.21 [[ 6.66614077e-01 7.45365303e-01 7.49916245e-03 2.20470774e+02] [-7.45316142e-01 6.66656246e-01 -8.56138984e-03 -1.11735988e+02] [-1.13807264e-02 1.17896155e-04 9.99935230e-01 -1.21050778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.51, Y:-111.78, Z:-1.21 [[ 6.62169311e-01 7.49316757e-01 7.49672647e-03 2.20513168e+02] [-7.49267824e-01 6.62211744e-01 -8.56352236e-03 -1.11782748e+02] [-1.13812111e-02 5.34457733e-05 9.99935230e-01 -1.21070678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.56, Y:-111.83, Z:-1.21 [[ 6.60430816e-01 7.50849500e-01 7.49430958e-03 2.20555283e+02] [-7.50800641e-01 6.60473336e-01 -8.56563695e-03 -1.11830036e+02] [-1.13812959e-02 3.02781666e-05 9.99935230e-01 -1.21002086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.60, Y:-111.88, Z:-1.21 [[ 6.60753808e-01 7.50565305e-01 7.49189654e-03 2.20596774e+02] [-7.50516403e-01 6.60796279e-01 -8.56774699e-03 -1.11877530e+02] [-1.13812710e-02 3.83802008e-05 9.99935231e-01 -1.20967802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.64, Y:-111.92, Z:-1.21 [[ 6.62742402e-01 7.48810000e-01 7.48946267e-03 2.20638530e+02] [-7.48760962e-01 6.62784715e-01 -8.56987402e-03 -1.11924894e+02] [-1.13811087e-02 7.18016163e-05 9.99935231e-01 -1.20885173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.68, Y:-111.97, Z:-1.21 [[ 6.64224496e-01 7.47495660e-01 7.48705109e-03 2.20677821e+02] [-7.47446515e-01 6.64266684e-01 -8.57198038e-03 -1.11972233e+02] [-1.13809167e-02 9.75491026e-05 9.99935231e-01 -1.20753550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.72, Y:-112.02, Z:-1.21 [[ 6.65073857e-01 7.46740069e-01 7.48556410e-03 2.20719911e+02] [-7.46690861e-01 6.65115972e-01 -8.57327871e-03 -1.12019549e+02] [-1.13807790e-02 1.12461235e-04 9.99935231e-01 -1.21058706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.76, Y:-112.07, Z:-1.21 [[ 6.68533177e-01 7.43644669e-01 7.48317085e-03 2.20760776e+02] [-7.43595243e-01 6.68575035e-01 -8.57536714e-03 -1.12067340e+02] [-1.13800873e-02 1.68467187e-04 9.99935231e-01 -1.21396554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.80, Y:-112.12, Z:-1.21 [[ 6.71773261e-01 7.40719058e-01 7.48078656e-03 2.20800790e+02] [-7.40669427e-01 6.71814876e-01 -8.57744659e-03 -1.12115033e+02] [-1.13791819e-02 2.21309375e-04 9.99935231e-01 -1.21472116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.84, Y:-112.16, Z:-1.22 [[ 6.78588363e-01 7.34480704e-01 7.47858886e-03 2.20840987e+02] [-7.34430669e-01 6.78629491e-01 -8.57936232e-03 -1.12162813e+02] [-1.13765670e-02 3.29350404e-04 9.99935231e-01 -1.21529956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.88, Y:-112.21, Z:-1.22 [[ 6.86327657e-01 7.27254049e-01 7.47627656e-03 2.20882201e+02] [-7.27203560e-01 6.86368227e-01 -8.58137684e-03 -1.12210652e+02] [-1.13723197e-02 4.52861330e-04 9.99935231e-01 -1.21552925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.92, Y:-112.26, Z:-1.21 [[ 6.92184189e-01 7.21682194e-01 7.47387407e-03 2.20922766e+02] [-7.21631356e-01 6.92224321e-01 -8.58346876e-03 -1.12258679e+02] [-1.13681340e-02 5.47959485e-04 9.99935231e-01 -1.21321373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.97, Y:-112.30, Z:-1.21 [[ 6.92900491e-01 7.20994513e-01 7.47143573e-03 2.20965941e+02] [-7.20943612e-01 6.92940543e-01 -8.58559067e-03 -1.12304243e+02] [-1.13674245e-02 5.62476132e-04 9.99935231e-01 -1.21281843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.01, Y:-112.35, Z:-1.21 [[ 6.89890132e-01 7.23875555e-01 7.46901707e-03 2.21010642e+02] [-7.23824799e-01 6.89930367e-01 -8.58769426e-03 -1.12348597e+02] [-1.13695236e-02 5.18305746e-04 9.99935231e-01 -1.21303066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:-112.39, Z:-1.21 [[ 6.80350980e-01 7.32848412e-01 7.46660167e-03 2.21057420e+02] [-7.32798164e-01 6.80391848e-01 -8.58979383e-03 -1.12391823e+02] [-1.13752317e-02 3.72562657e-04 9.99935231e-01 -1.21357868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.10, Y:-112.44, Z:-1.22 [[ 6.72453119e-01 7.40102080e-01 7.46414152e-03 2.21101818e+02] [-7.40052249e-01 6.72494496e-01 -8.59193106e-03 -1.12435207e+02] [-1.13785001e-02 2.53816125e-04 9.99935231e-01 -1.21502118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.15, Y:-112.48, Z:-1.22 [[ 6.61828017e-01 7.49618567e-01 7.46186733e-03 2.21147882e+02] [-7.49569310e-01 6.61870074e-01 -8.59390568e-03 -1.12478917e+02] [-1.13809379e-02 9.45008159e-05 9.99935231e-01 -1.21644762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.20, Y:-112.52, Z:-1.22 [[ 6.57122181e-01 7.53747169e-01 7.45944839e-03 2.21196818e+02] [-7.53698152e-01 6.57164518e-01 -8.59600479e-03 -1.12519933e+02] [-1.13812991e-02 2.64529472e-05 9.99935231e-01 -1.22244539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.23, Y:-112.57, Z:-1.22 [[ 6.50020300e-01 7.59880255e-01 7.45697354e-03 2.21233926e+02] [-7.59831613e-01 6.50063067e-01 -8.59815117e-03 -1.12569742e+02] [-1.13810684e-02 -7.70714320e-05 9.99935231e-01 -1.21979744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.27, Y:-112.62, Z:-1.22 [[ 6.48478396e-01 7.61196556e-01 7.45469518e-03 2.21273890e+02] [-7.61147978e-01 6.48521236e-01 -8.60012608e-03 -1.12618956e+02] [-1.13809145e-02 -9.71301951e-05 9.99935231e-01 -1.22189525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.31, Y:-112.67, Z:-1.22 [[ 6.49832338e-01 7.60041049e-01 7.45224213e-03 2.21312479e+02] [-7.59992370e-01 6.49875063e-01 -8.60225119e-03 -1.12669263e+02] [-1.13810903e-02 -7.36261551e-05 9.99935231e-01 -1.22365553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.35, Y:-112.72, Z:-1.23 [[ 6.54014332e-01 7.56445474e-01 7.44979303e-03 2.21348463e+02] [-7.56396536e-01 6.54056760e-01 -8.60437166e-03 -1.12720467e+02] [-1.13813255e-02 -7.61526529e-06 9.99935231e-01 -1.22516324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.38, Y:-112.77, Z:-1.23 [[ 6.59798081e-01 7.51406033e-01 7.44753382e-03 2.21384800e+02] [-7.51356749e-01 6.59840107e-01 -8.60632667e-03 -1.12772075e+02] [-1.13810273e-02 8.26830257e-05 9.99935231e-01 -1.22642903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.42, Y:-112.82, Z:-1.23 [[ 6.64423988e-01 7.47318764e-01 7.44507169e-03 2.21421551e+02] [-7.47269197e-01 6.64465681e-01 -8.60845607e-03 -1.12821671e+02] [-1.13802554e-02 1.56191969e-04 9.99935231e-01 -1.22849027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.46, Y:-112.87, Z:-1.23 [[ 6.72248289e-01 7.40288349e-01 7.44296248e-03 2.21456313e+02] [-7.40238327e-01 6.72289434e-01 -8.61027932e-03 -1.12873309e+02] [-1.13779145e-02 2.78679447e-04 9.99935231e-01 -1.23008177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.49, Y:-112.92, Z:-1.23 [[ 6.78505088e-01 7.34558017e-01 7.44086916e-03 2.21493098e+02] [-7.34507627e-01 6.78545781e-01 -8.61208796e-03 -1.12924565e+02] [-1.13750486e-02 3.77970340e-04 9.99935231e-01 -1.23113504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.53, Y:-112.97, Z:-1.23 [[ 6.80503674e-01 7.32706912e-01 7.43845280e-03 2.21531605e+02] [-7.32656390e-01 6.80544202e-01 -8.61417452e-03 -1.12974535e+02] [-1.13738611e-02 4.12147439e-04 9.99935231e-01 -1.23190235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.57, Y:-113.02, Z:-1.23 [[ 6.79321420e-01 7.33803185e-01 7.43602342e-03 2.21571895e+02] [-7.33752704e-01 6.79362001e-01 -8.61627112e-03 -1.13022105e+02] [-1.13743989e-02 3.97015237e-04 9.99935231e-01 -1.23154819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.457628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:-113.07, Z:-1.23 [[ 6.78952273e-01 7.34144774e-01 7.43387740e-03 2.21612358e+02] [-7.34094294e-01 6.78992854e-01 -8.61812225e-03 -1.13069184e+02] [-1.13744990e-02 3.94126713e-04 9.99935231e-01 -1.23428077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.65, Y:-113.12, Z:-1.23 [[ 6.77481489e-01 7.35502280e-01 7.43160852e-03 2.21654270e+02] [-7.35451859e-01 6.77522145e-01 -8.62007832e-03 -1.13116235e+02] [-1.13751666e-02 3.74353192e-04 9.99935231e-01 -1.23334805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.70, Y:-113.16, Z:-1.23 [[ 6.77558048e-01 7.35431777e-01 7.42921872e-03 2.21696527e+02] [-7.35381330e-01 6.77598670e-01 -8.62213747e-03 -1.13163081e+02] [-1.13750226e-02 3.78689885e-04 9.99935231e-01 -1.23237138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.637628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:-113.21, Z:-1.23 [[ 6.78324056e-01 7.34725335e-01 7.42679629e-03 2.21739278e+02] [-7.34674823e-01 6.78364597e-01 -8.62422356e-03 -1.13209150e+02] [-1.13745112e-02 3.93738048e-04 9.99935231e-01 -1.23411051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.78, Y:-113.25, Z:-1.23 [[ 6.78151712e-01 7.34884436e-01 7.42434095e-03 2.21782892e+02] [-7.34833911e-01 6.78192237e-01 -8.62633678e-03 -1.13254441e+02] [-1.13744910e-02 3.94307566e-04 9.99935231e-01 -1.23147790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.83, Y:-113.30, Z:-1.23 [[ 6.75267168e-01 7.37535875e-01 7.42189828e-03 2.21825970e+02] [-7.37485486e-01 6.75307862e-01 -8.62843788e-03 -1.13300069e+02] [-1.13758487e-02 3.52958558e-04 9.99935231e-01 -1.23081287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.87, Y:-113.34, Z:-1.23 [[ 6.75470594e-01 7.37349597e-01 7.41943229e-03 2.21872739e+02] [-7.37299174e-01 6.75511245e-01 -8.63055782e-03 -1.13342054e+02] [-1.13756483e-02 3.59346721e-04 9.99935231e-01 -1.23497732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.92, Y:-113.39, Z:-1.23 [[ 6.68798813e-01 7.43406439e-01 7.41719293e-03 2.21916113e+02] [-7.43356362e-01 6.68839891e-01 -8.63248192e-03 -1.13386473e+02] [-1.13783571e-02 2.59776105e-04 9.99935231e-01 -1.23475422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.95, Y:-113.44, Z:-1.24 [[ 6.60124783e-01 7.51119358e-01 7.41492903e-03 2.21953605e+02] [-7.51069740e-01 6.60166413e-01 -8.63442607e-03 -1.13435466e+02] [-1.13805717e-02 1.30669822e-04 9.99935231e-01 -1.23532741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.99, Y:-113.48, Z:-1.24 [[ 6.55820845e-01 7.54880171e-01 7.41253102e-03 2.21993252e+02] [-7.54830768e-01 6.55862731e-01 -8.63648424e-03 -1.13484603e+02] [-1.13811135e-02 6.87799071e-05 9.99935231e-01 -1.23736802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.04, Y:-113.53, Z:-1.24 [[ 6.57172006e-01 7.53704216e-01 7.41008939e-03 2.22036518e+02] [-7.53654715e-01 6.57213775e-01 -8.63857865e-03 -1.13528703e+02] [-1.13809460e-02 9.23832505e-05 9.99935231e-01 -1.24467269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.07, Y:-113.58, Z:-1.24 [[ 6.52693614e-01 7.57585751e-01 7.40789760e-03 2.22067874e+02] [-7.57536476e-01 6.52735651e-01 -8.64045777e-03 -1.13581954e+02] [-1.13812866e-02 2.78189608e-05 9.99935231e-01 -1.24016488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.10, Y:-113.63, Z:-1.24 [[ 6.51978765e-01 7.58201056e-01 7.40590283e-03 2.22104721e+02] [-7.58151802e-01 6.52020826e-01 -8.64216719e-03 -1.13633157e+02] [-1.13813032e-02 1.97109169e-05 9.99935231e-01 -1.24126890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.14, Y:-113.68, Z:-1.24 [[ 6.51672698e-01 7.58464161e-01 7.40346289e-03 2.22141614e+02] [-7.58414900e-01 6.51714750e-01 -8.64425691e-03 -1.13683946e+02] [-1.13813050e-02 1.83296542e-05 9.99935231e-01 -1.24397634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.18, Y:-113.73, Z:-1.25 [[ 6.52619282e-01 7.57649851e-01 7.40104398e-03 2.22179927e+02] [-7.57600515e-01 6.52661245e-01 -8.64632743e-03 -1.13733674e+02] [-1.13812633e-02 3.57252732e-05 9.99935231e-01 -1.24507299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.357628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:222.22, Y:-113.78, Z:-1.25 [[ 6.53761586e-01 7.56664422e-01 7.39865697e-03 2.22221313e+02] [-7.56614999e-01 6.53803448e-01 -8.64836951e-03 -1.13781439e+02] [-1.13811810e-02 5.60369338e-05 9.99935231e-01 -1.24619963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.26, Y:-113.83, Z:-1.25 [[ 6.55180348e-01 7.55436303e-01 7.39620414e-03 2.22262830e+02] [-7.55386778e-01 6.55222088e-01 -8.65046670e-03 -1.13828367e+02] [-1.13810329e-02 8.06209592e-05 9.99935231e-01 -1.24649685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.30, Y:-113.88, Z:-1.25 [[ 6.58011856e-01 7.52971268e-01 7.39375283e-03 2.22303186e+02] [-7.52921562e-01 6.58053383e-01 -8.65256139e-03 -1.13875795e+02] [-1.13806142e-02 1.26572049e-04 9.99935231e-01 -1.24657531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.35, Y:-113.92, Z:-1.25 [[ 6.64953497e-01 7.46848186e-01 7.39149110e-03 2.22345216e+02] [-7.46798077e-01 6.64994535e-01 -8.65449304e-03 -1.13922203e+02] [-1.13788936e-02 2.34884065e-04 9.99935231e-01 -1.24686729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.597628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:222.39, Y:-113.97, Z:-1.25 [[ 6.73125090e-01 7.39491727e-01 7.38914098e-03 2.22386731e+02] [-7.39441147e-01 6.73165548e-01 -8.65649910e-03 -1.13968912e+02] [-1.13755246e-02 3.63071850e-04 9.99935231e-01 -1.25241364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.43, Y:-114.01, Z:-1.25 [[ 6.79072490e-01 7.34034052e-01 7.38679639e-03 2.22431843e+02] [-7.33983126e-01 6.79112510e-01 -8.65849933e-03 -1.14013225e+02] [-1.13720992e-02 4.57964792e-04 9.99935231e-01 -1.25038609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.47, Y:-114.06, Z:-1.25 [[ 6.79101228e-01 7.34007490e-01 7.38423375e-03 2.22473458e+02] [-7.33956539e-01 6.79141216e-01 -8.66068428e-03 -1.14058748e+02] [-1.13719446e-02 4.61774675e-04 9.99935231e-01 -1.25151989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.51, Y:-114.11, Z:-1.25 [[ 6.72910165e-01 7.39687371e-01 7.38266702e-03 2.22513322e+02] [-7.39636743e-01 6.72950562e-01 -8.66201961e-03 -1.14106167e+02] [-1.13753564e-02 3.68269260e-04 9.99935231e-01 -1.25020984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.56, Y:-114.15, Z:-1.25 [[ 6.63622944e-01 7.48030826e-01 7.38046390e-03 2.22559492e+02] [-7.47980686e-01 6.63663944e-01 -8.66389636e-03 -1.14150062e+02] [-1.13790093e-02 2.29115961e-04 9.99935231e-01 -1.24839474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.60, Y:-114.20, Z:-1.25 [[ 6.53673979e-01 7.56740308e-01 7.37806080e-03 2.22603252e+02] [-7.56690691e-01 6.53715611e-01 -8.66594233e-03 -1.14195400e+02] [-1.13810214e-02 8.17910820e-05 9.99935231e-01 -1.24734558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.65, Y:-114.24, Z:-1.25 [[ 6.48273851e-01 7.61371535e-01 7.37565192e-03 2.22645015e+02] [-7.61322192e-01 6.48315807e-01 -8.66799206e-03 -1.14243001e+02] [-1.13813141e-02 3.98510212e-06 9.99935231e-01 -1.24786664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.69, Y:-114.29, Z:-1.25 [[ 6.43988414e-01 7.64999711e-01 7.37317678e-03 2.22686473e+02] [-7.64950581e-01 6.44030619e-01 -8.67009696e-03 -1.14289160e+02] [-1.13811733e-02 -5.66738627e-05 9.99935231e-01 -1.25013291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.73, Y:-114.34, Z:-1.25 [[ 6.42447009e-01 7.66294663e-01 7.37088916e-03 2.22726149e+02] [-7.66245596e-01 6.42489286e-01 -8.67204135e-03 -1.14337461e+02] [-1.13810563e-02 -7.65843293e-05 9.99935231e-01 -1.25393363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.76, Y:-114.39, Z:-1.26 [[ 6.42919059e-01 7.65898681e-01 7.36847099e-03 2.22764407e+02] [-7.65849564e-01 6.42961279e-01 -8.67409553e-03 -1.14387353e+02] [-1.13811199e-02 -6.63989580e-05 9.99935231e-01 -1.25564308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.80, Y:-114.44, Z:-1.26 [[ 6.46259717e-01 7.63081988e-01 7.36600083e-03 2.22800283e+02] [-7.63032663e-01 6.46301694e-01 -8.67619267e-03 -1.14437855e+02] [-1.13813052e-02 -1.34254144e-05 9.99935231e-01 -1.25828194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.84, Y:-114.49, Z:-1.26 [[ 6.50957823e-01 7.59078182e-01 7.36387125e-03 2.22836861e+02] [-7.59028578e-01 6.50999470e-01 -8.67799976e-03 -1.14489481e+02] [-1.13811566e-02 5.96231116e-05 9.99935231e-01 -1.25907020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.88, Y:-114.54, Z:-1.26 [[ 6.52539000e-01 7.57719382e-01 7.36146541e-03 2.22875906e+02] [-7.57669669e-01 6.52580516e-01 -8.68004014e-03 -1.14538421e+02] [-1.13809835e-02 8.65056541e-05 9.99935231e-01 -1.25968013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.91, Y:-114.59, Z:-1.26 [[ 6.61086483e-01 7.50273621e-01 7.35903265e-03 2.22913910e+02] [-7.50223417e-01 6.61127405e-01 -8.68210217e-03 -1.14588174e+02] [-1.13792104e-02 2.18701769e-04 9.99935231e-01 -1.26109671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.95, Y:-114.64, Z:-1.26 [[ 6.60975435e-01 7.50371476e-01 7.35677885e-03 2.22951683e+02] [-7.50321257e-01 6.61016338e-01 -8.68401150e-03 -1.14637821e+02] [-1.13791855e-02 2.19970722e-04 9.99935231e-01 -1.25691596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.99, Y:-114.68, Z:-1.26 [[ 6.63274677e-01 7.48339906e-01 7.35441120e-03 2.22993807e+02] [-7.48289540e-01 6.63315398e-01 -8.68601618e-03 -1.14684714e+02] [-1.13783867e-02 2.57985600e-04 9.99935231e-01 -1.25807857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.04, Y:-114.73, Z:-1.26 [[ 6.63308646e-01 7.48309821e-01 7.35199792e-03 2.23035453e+02] [-7.48259430e-01 6.63349337e-01 -8.68805834e-03 -1.14731341e+02] [-1.13783023e-02 2.61662443e-04 9.99935231e-01 -1.26040281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.08, Y:-114.78, Z:-1.26 [[ 6.62579917e-01 7.48955165e-01 7.34954381e-03 2.23078294e+02] [-7.48904790e-01 6.62620628e-01 -8.69013387e-03 -1.14777390e+02] [-1.13784800e-02 2.53799604e-04 9.99935231e-01 -1.26254164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.12, Y:-114.82, Z:-1.26 [[ 6.61576358e-01 7.49841812e-01 7.34710229e-03 2.23121742e+02] [-7.49791469e-01 6.61617109e-01 -8.69219757e-03 -1.14823284e+02] [-1.13787418e-02 2.41757787e-04 9.99935231e-01 -1.26364327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.17, Y:-114.87, Z:-1.26 [[ 6.58519906e-01 7.52527468e-01 7.34466879e-03 2.23165347e+02] [-7.52477268e-01 6.58560833e-01 -8.69425333e-03 -1.14869263e+02] [-1.13795756e-02 1.98642575e-04 9.99935231e-01 -1.26349095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:-114.91, Z:-1.26 [[ 6.54423310e-01 7.56092734e-01 7.34225001e-03 2.23209087e+02] [-7.56042735e-01 6.54464482e-01 -8.69629549e-03 -1.14914842e+02] [-1.13804477e-02 1.40003703e-04 9.99935231e-01 -1.26218720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:-114.96, Z:-1.26 [[ 6.53139789e-01 7.57201785e-01 7.33979583e-03 2.23251782e+02] [-7.57151832e-01 6.53181017e-01 -8.69836636e-03 -1.14959385e+02] [-1.13806338e-02 1.23909301e-04 9.99935231e-01 -1.26273850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.29, Y:-115.01, Z:-1.26 [[ 6.54902054e-01 7.55678146e-01 7.33752818e-03 2.23291401e+02] [-7.55628076e-01 6.54943140e-01 -8.70027882e-03 -1.15007671e+02] [-1.13802743e-02 1.53388171e-04 9.99935231e-01 -1.26072082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.33, Y:-115.06, Z:-1.26 [[ 6.59492558e-01 7.51675304e-01 7.33512455e-03 2.23330523e+02] [-7.51624962e-01 6.59533310e-01 -8.70230483e-03 -1.15056478e+02] [-1.13790666e-02 2.25842566e-04 9.99935231e-01 -1.26018999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.37, Y:-115.10, Z:-1.27 [[ 6.64573081e-01 7.47187294e-01 7.33268408e-03 2.23372612e+02] [-7.47136654e-01 6.64613462e-01 -8.70436072e-03 -1.15102511e+02] [-1.13771883e-02 3.06166768e-04 9.99935231e-01 -1.26693156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.41, Y:-115.15, Z:-1.27 [[ 6.63809979e-01 7.47865332e-01 7.33189047e-03 2.23410783e+02] [-7.47814726e-01 6.63850403e-01 -8.70502914e-03 -1.15150995e+02] [-1.13774680e-02 2.95589548e-04 9.99935231e-01 -1.26620825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.45, Y:-115.20, Z:-1.27 [[ 6.63122887e-01 7.48474657e-01 7.32964609e-03 2.23449956e+02] [-7.48424068e-01 6.63163332e-01 -8.70691850e-03 -1.15198625e+02] [-1.13776604e-02 2.88073390e-04 9.99935231e-01 -1.26718010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.49, Y:-115.25, Z:-1.27 [[ 6.61253423e-01 7.50126803e-01 7.32733947e-03 2.23489732e+02] [-7.50076293e-01 6.61293967e-01 -8.70885922e-03 -1.15247682e+02] [-1.13782741e-02 2.62699346e-04 9.99935231e-01 -1.26765246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.53, Y:-115.29, Z:-1.27 [[ 6.57587463e-01 7.53342595e-01 7.32556680e-03 2.23531765e+02] [-7.53292267e-01 6.57628232e-01 -8.71035006e-03 -1.15293225e+02] [-1.13793773e-02 2.09524177e-04 9.99935231e-01 -1.26847191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.57, Y:-115.34, Z:-1.27 [[ 6.52158602e-01 7.58047173e-01 7.32395773e-03 2.23572605e+02] [-7.57997124e-01 6.52199713e-01 -8.71170282e-03 -1.15341686e+02] [-1.13805648e-02 1.29873035e-04 9.99935231e-01 -1.26917830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.61, Y:-115.39, Z:-1.27 [[ 6.47660671e-01 7.61893726e-01 7.32156671e-03 2.23612383e+02] [-7.61843898e-01 6.47702050e-01 -8.71371183e-03 -1.15390302e+02] [-1.13811161e-02 6.56375327e-05 9.99935231e-01 -1.27105362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.65, Y:-115.44, Z:-1.27 [[ 6.41358340e-01 7.67206563e-01 7.31908528e-03 2.23652222e+02] [-7.67157055e-01 6.41400100e-01 -8.71579561e-03 -1.15439029e+02] [-1.13812776e-02 -2.49397006e-05 9.99935231e-01 -1.27322281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.69, Y:-115.49, Z:-1.28 [[ 6.36500253e-01 7.71241788e-01 7.31662456e-03 2.23692334e+02] [-7.71192520e-01 6.36542297e-01 -8.71786082e-03 -1.15488173e+02] [-1.13809196e-02 -9.36055132e-05 9.99935231e-01 -1.27594544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.73, Y:-115.54, Z:-1.28 [[ 6.34446824e-01 7.72931892e-01 7.31553876e-03 2.23731060e+02] [-7.72882726e-01 6.34488987e-01 -8.71877187e-03 -1.15538391e+02] [-1.13806456e-02 -1.22456418e-04 9.99935231e-01 -1.27633197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.77, Y:-115.59, Z:-1.28 [[ 6.33375189e-01 7.73810306e-01 7.31307537e-03 2.23769712e+02] [-7.73761174e-01 6.33417392e-01 -8.72083760e-03 -1.15588676e+02] [-1.13805031e-02 -1.35011623e-04 9.99935231e-01 -1.27566380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.81, Y:-115.64, Z:-1.27 [[ 6.34040990e-01 7.73264882e-01 7.31058390e-03 2.23807465e+02] [-7.73215690e-01 6.34083123e-01 -8.72292568e-03 -1.15638615e+02] [-1.13806500e-02 -1.21965744e-04 9.99935231e-01 -1.27477132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:-115.69, Z:-1.27 [[ 6.37678263e-01 7.70268151e-01 7.30805579e-03 2.23846475e+02] [-7.70218737e-01 6.37720135e-01 -8.72504321e-03 -1.15688102e+02] [-1.13811172e-02 -6.50310964e-05 9.99935231e-01 -1.27486258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.89, Y:-115.74, Z:-1.28 [[ 6.40474435e-01 7.67944742e-01 7.30556096e-03 2.23887837e+02] [-7.67895152e-01 6.40516099e-01 -8.72713166e-03 -1.15735483e+02] [-1.13812843e-02 -2.04001226e-05 9.99935231e-01 -1.27719942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.93, Y:-115.78, Z:-1.28 [[ 6.41435229e-01 7.67142433e-01 7.30307170e-03 2.23929734e+02] [-7.67092767e-01 6.41476802e-01 -8.72921423e-03 -1.15782797e+02] [-1.13813017e-02 -2.90795601e-06 9.99935231e-01 -1.28080881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:-115.83, Z:-1.28 [[ 6.40498312e-01 7.67924875e-01 7.30059808e-03 2.23970712e+02] [-7.67875236e-01 6.40539918e-01 -8.73128253e-03 -1.15830492e+02] [-1.13812935e-02 -1.35767562e-05 9.99935231e-01 -1.28432163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.01, Y:-115.88, Z:-1.29 [[ 6.39351132e-01 7.68880269e-01 7.29812783e-03 2.24009290e+02] [-7.68830668e-01 6.39392784e-01 -8.73334682e-03 -1.15878507e+02] [-1.13812683e-02 -2.73493219e-05 9.99935231e-01 -1.28721847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.05, Y:-115.93, Z:-1.29 [[ 6.39791604e-01 7.68513807e-01 7.29598518e-03 2.24049492e+02] [-7.68464163e-01 6.39833203e-01 -8.73513646e-03 -1.15926814e+02] [-1.13812865e-02 -1.80361700e-05 9.99935231e-01 -1.28816228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.117628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:224.09, Y:-115.97, Z:-1.29 [[ 6.41768849e-01 7.66863449e-01 7.29348809e-03 2.24090950e+02] [-7.66813674e-01 6.41810291e-01 -8.73722094e-03 -1.15972375e+02] [-1.13812911e-02 1.45298280e-05 9.99935231e-01 -1.29322504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.13, Y:-116.02, Z:-1.29 [[ 6.42589677e-01 7.66175793e-01 7.29118222e-03 2.24130303e+02] [-7.66125952e-01 6.42631040e-01 -8.73914475e-03 -1.16020192e+02] [-1.13812612e-02 2.97202840e-05 9.99935231e-01 -1.28515466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.17, Y:-116.07, Z:-1.29 [[ 6.42778519e-01 7.66017392e-01 7.28901885e-03 2.24170730e+02] [-7.65967521e-01 6.42819845e-01 -8.74094877e-03 -1.16067083e+02] [-1.13812448e-02 3.53424138e-05 9.99935231e-01 -1.28847955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:-116.12, Z:-1.29 [[ 6.41218962e-01 7.67323363e-01 7.28687625e-03 2.24210850e+02] [-7.67273555e-01 6.41260365e-01 -8.74273458e-03 -1.16115902e+02] [-1.13812894e-02 1.49797494e-05 9.99935231e-01 -1.28739488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.25, Y:-116.16, Z:-1.29 [[ 6.39188813e-01 7.69015343e-01 7.28444867e-03 2.24251552e+02] [-7.68965622e-01 6.39230319e-01 -8.74475678e-03 -1.16163589e+02] [-1.13812926e-02 -1.19399008e-05 9.99935231e-01 -1.28922480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.29, Y:-116.21, Z:-1.29 [[ 6.37231191e-01 7.70638295e-01 7.28198641e-03 2.24289276e+02] [-7.70588656e-01 6.37272796e-01 -8.74680668e-03 -1.16212104e+02] [-1.13812360e-02 -3.76780862e-05 9.99935231e-01 -1.29258504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.33, Y:-116.26, Z:-1.29 [[ 6.35097774e-01 7.72397452e-01 7.27971165e-03 2.24327050e+02] [-7.72347906e-01 6.35139491e-01 -8.74869949e-03 -1.16262381e+02] [-1.13811055e-02 -6.61904823e-05 9.99935231e-01 -1.29336777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.37, Y:-116.31, Z:-1.29 [[ 6.32860153e-01 7.74231921e-01 7.27730791e-03 2.24367703e+02] [-7.74182473e-01 6.32901986e-01 -8.75069850e-03 -1.16310489e+02] [-1.13808927e-02 -9.59958412e-05 9.99935231e-01 -1.29438609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.41, Y:-116.36, Z:-1.30 [[ 6.30376326e-01 7.76255605e-01 7.27484818e-03 2.24409278e+02] [-7.76206268e-01 6.30418289e-01 -8.75274291e-03 -1.16357239e+02] [-1.13805631e-02 -1.29260832e-04 9.99935231e-01 -1.29673094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.45, Y:-116.41, Z:-1.30 [[ 6.30332198e-01 7.76291462e-01 7.27235502e-03 2.24449656e+02] [-7.76242103e-01 6.30374136e-01 -8.75481390e-03 -1.16405406e+02] [-1.13805918e-02 -1.26667063e-04 9.99935231e-01 -1.29700763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.49, Y:-116.45, Z:-1.30 [[ 6.33216077e-01 7.73940921e-01 7.26986651e-03 2.24488933e+02] [-7.73891383e-01 6.33257803e-01 -8.75687983e-03 -1.16454108e+02] [-1.13810073e-02 -8.10899496e-05 9.99935231e-01 -1.29614387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.53, Y:-116.50, Z:-1.30 [[ 6.35549403e-01 7.72025998e-01 7.26738841e-03 2.24528812e+02] [-7.71976311e-01 6.35590951e-01 -8.75893594e-03 -1.16503319e+02] [-1.13812126e-02 -4.35151792e-05 9.99935231e-01 -1.29775885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.57, Y:-116.55, Z:-1.30 [[ 6.36976727e-01 7.70848799e-01 7.26492034e-03 2.24567772e+02] [-7.70799011e-01 6.37018154e-01 -8.76098255e-03 -1.16551089e+02] [-1.13812790e-02 -1.92514256e-05 9.99935231e-01 -1.30218571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.61, Y:-116.60, Z:-1.31 [[ 6.34717337e-01 7.72710266e-01 7.26273532e-03 2.24608210e+02] [-7.72660579e-01 6.34758886e-01 -8.76279353e-03 -1.16596855e+02] [-1.13811863e-02 -4.97323058e-05 9.99935231e-01 -1.30661262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.65, Y:-116.64, Z:-1.31 [[ 6.32183155e-01 7.74784964e-01 7.26075348e-03 2.24650131e+02] [-7.74735395e-01 6.32224844e-01 -8.76443535e-03 -1.16642389e+02] [-1.13809815e-02 -8.44343204e-05 9.99935231e-01 -1.31000704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.69, Y:-116.69, Z:-1.31 [[ 6.31561264e-01 7.75291999e-01 7.25857305e-03 2.24691103e+02] [-7.75242443e-01 6.31602967e-01 -8.76624078e-03 -1.16689497e+02] [-1.13809326e-02 -9.07357934e-05 9.99935231e-01 -1.31237652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.077628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:224.73, Y:-116.74, Z:-1.31 [[ 6.33347249e-01 7.73833707e-01 7.25636164e-03 2.24731392e+02] [-7.73784034e-01 6.33388814e-01 -8.76807092e-03 -1.16736948e+02] [-1.13811271e-02 -6.16231870e-05 9.99935231e-01 -1.31499885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.77, Y:-116.78, Z:-1.31 [[ 6.38054087e-01 7.69957376e-01 7.25402042e-03 2.24770420e+02] [-7.69907428e-01 6.38095321e-01 -8.77000743e-03 -1.16784672e+02] [-1.13812884e-02 1.08148813e-05 9.99935231e-01 -1.31374594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.81, Y:-116.83, Z:-1.31 [[ 6.42186577e-01 7.66514063e-01 7.25200396e-03 2.24808915e+02] [-7.66463875e-01 6.42227519e-01 -8.77167455e-03 -1.16833959e+02] [-1.13810484e-02 7.46525944e-05 9.99935231e-01 -1.31143989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.85, Y:-116.88, Z:-1.31 [[ 6.46504391e-01 7.62875818e-01 7.24981876e-03 2.24851768e+02] [-7.62825379e-01 6.46545023e-01 -8.77348025e-03 -1.16878832e+02] [-1.13804102e-02 1.41747757e-04 9.99935231e-01 -1.31092271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.89, Y:-116.93, Z:-1.31 [[ 6.42787097e-01 7.66010588e-01 7.24752010e-03 2.24885334e+02] [-7.65960327e-01 6.42827948e-01 -8.77537870e-03 -1.16929733e+02] [-1.13809415e-02 8.93873338e-05 9.99935231e-01 -1.31289368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.92, Y:-116.98, Z:-1.31 [[ 6.40898351e-01 7.67591563e-01 7.24542647e-03 2.24924383e+02] [-7.67541383e-01 6.40939302e-01 -8.77710698e-03 -1.16979279e+02] [-1.13811118e-02 6.40687434e-05 9.99935231e-01 -1.31357051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.96, Y:-117.03, Z:-1.31 [[ 6.35352328e-01 7.72188422e-01 7.24296052e-03 2.24963373e+02] [-7.72138514e-01 6.35393611e-01 -8.77914143e-03 -1.17028798e+02] [-1.13812822e-02 -1.47208306e-05 9.99935231e-01 -1.31422179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.00, Y:-117.08, Z:-1.31 [[ 6.30143001e-01 7.76445345e-01 7.24049731e-03 2.25003966e+02] [-7.76395693e-01 6.30184591e-01 -8.78117246e-03 -1.17076753e+02] [-1.13809503e-02 -8.80965565e-05 9.99935231e-01 -1.31495301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.04, Y:-117.12, Z:-1.31 [[ 6.23178364e-01 7.82046251e-01 7.23800684e-03 2.25042740e+02] [-7.81996949e-01 6.23220368e-01 -8.78322479e-03 -1.17124890e+02] [-1.13797613e-02 -1.86583611e-04 9.99935231e-01 -1.31379182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.08, Y:-117.17, Z:-1.31 [[ 6.20849208e-01 7.83896616e-01 7.23583011e-03 2.25080652e+02] [-7.83847418e-01 6.20891334e-01 -8.78501767e-03 -1.17174453e+02] [-1.13792098e-02 -2.17615487e-04 9.99935231e-01 -1.30559560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.12, Y:-117.22, Z:-1.31 [[ 6.26227940e-01 7.79606467e-01 7.23353117e-03 2.25118308e+02] [-7.79556959e-01 6.26269701e-01 -8.78691020e-03 -1.17222120e+02] [-1.13804734e-02 -1.36340890e-04 9.99935231e-01 -1.31497346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.16, Y:-117.27, Z:-1.32 [[ 6.33326031e-01 7.73851306e-01 7.23143524e-03 2.25157099e+02] [-7.73801399e-01 6.33367314e-01 -8.78863476e-03 -1.17271789e+02] [-1.13812512e-02 -2.96235270e-05 9.99935231e-01 -1.31596148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.20, Y:-117.32, Z:-1.32 [[ 6.36665834e-01 7.71105930e-01 7.22906824e-03 2.25197802e+02] [-7.71055823e-01 6.36706874e-01 -8.79058129e-03 -1.17319855e+02] [-1.13812668e-02 2.26476109e-05 9.99935231e-01 -1.31669745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.24, Y:-117.37, Z:-1.32 [[ 6.39330435e-01 7.68898153e-01 7.22668232e-03 2.25239211e+02] [-7.68847882e-01 6.39371274e-01 -8.79254231e-03 -1.17367704e+02] [-1.13811026e-02 6.51205068e-05 9.99935231e-01 -1.31635198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.28, Y:-117.41, Z:-1.32 [[ 6.43410266e-01 7.65487453e-01 7.22417567e-03 2.25281107e+02] [-7.65436943e-01 6.43450808e-01 -8.79460136e-03 -1.17411914e+02] [-1.13805587e-02 1.28885857e-04 9.99935231e-01 -1.31841117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.32, Y:-117.46, Z:-1.32 [[ 6.47986177e-01 7.61617846e-01 7.22294905e-03 2.25322331e+02] [-7.61567082e-01 6.48026402e-01 -8.79560865e-03 -1.17459058e+02] [-1.13795542e-02 1.98672602e-04 9.99935231e-01 -1.31764970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:-117.51, Z:-1.32 [[ 6.50200004e-01 7.59728781e-01 7.22045234e-03 2.25362925e+02] [-7.59677877e-01 6.50240051e-01 -8.79765776e-03 -1.17507029e+02] [-1.13788611e-02 2.35019200e-04 9.99935231e-01 -1.31572579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.40, Y:-117.55, Z:-1.32 [[ 6.51602980e-01 7.58525846e-01 7.21789711e-03 2.25404767e+02] [-7.58474845e-01 6.51642904e-01 -8.79975366e-03 -1.17553318e+02] [-1.13783320e-02 2.59352315e-04 9.99935231e-01 -1.31591518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.45, Y:-117.60, Z:-1.32 [[ 6.50959194e-01 7.59078431e-01 7.21554046e-03 2.25446532e+02] [-7.59027443e-01 6.50999133e-01 -8.80168562e-03 -1.17600090e+02] [-1.13784803e-02 2.52744948e-04 9.99935231e-01 -1.31535957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.49, Y:-117.65, Z:-1.32 [[ 6.49619980e-01 7.60224871e-01 7.21301338e-03 2.25486219e+02] [-7.60173930e-01 6.49659981e-01 -8.80375609e-03 -1.17646366e+02] [-1.13788405e-02 2.35951130e-04 9.99935231e-01 -1.31548659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.53, Y:-117.69, Z:-1.32 [[ 6.47490457e-01 7.62039433e-01 7.21181101e-03 2.25527223e+02] [-7.61988593e-01 6.47530586e-01 -8.80474093e-03 -1.17694555e+02] [-1.13794280e-02 2.05668006e-04 9.99935231e-01 -1.31520139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.337628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:225.57, Y:-117.74, Z:-1.32 [[ 6.45969910e-01 7.63328829e-01 7.20932853e-03 2.25569282e+02] [-7.63278047e-01 6.46010111e-01 -8.80677311e-03 -1.17741949e+02] [-1.13797629e-02 1.86188231e-04 9.99935231e-01 -1.31766994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.61, Y:-117.79, Z:-1.32 [[ 6.42136169e-01 7.66556718e-01 7.20686357e-03 2.25611244e+02] [-7.66506115e-01 6.42176596e-01 -8.80878981e-03 -1.17788839e+02] [-1.13805161e-02 1.32337538e-04 9.99935231e-01 -1.31786002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.65, Y:-117.84, Z:-1.32 [[ 6.39683321e-01 7.68604804e-01 7.20442531e-03 2.25651031e+02] [-7.68554308e-01 6.39723882e-01 -8.81078353e-03 -1.17837277e+02] [-1.13808535e-02 9.91191620e-05 9.99935231e-01 -1.31821567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.69, Y:-117.88, Z:-1.32 [[ 6.36378488e-01 7.71343342e-01 7.20200769e-03 2.25692607e+02] [-7.71292998e-01 6.36419238e-01 -8.81275927e-03 -1.17884353e+02] [-1.13811594e-02 5.33923102e-05 9.99935231e-01 -1.31968391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.73, Y:-117.93, Z:-1.32 [[ 6.35139781e-01 7.72363660e-01 7.19962502e-03 2.25733785e+02] [-7.72313360e-01 6.35180584e-01 -8.81470538e-03 -1.17930582e+02] [-1.13812201e-02 3.82034561e-05 9.99935231e-01 -1.32213239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.77, Y:-117.98, Z:-1.32 [[ 6.35058922e-01 7.72430167e-01 7.19742302e-03 2.25773925e+02] [-7.72379851e-01 6.35099705e-01 -8.81650300e-03 -1.17978424e+02] [-1.13812141e-02 3.98543697e-05 9.99935231e-01 -1.32315869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.81, Y:-118.03, Z:-1.33 [[ 6.35499659e-01 7.72067622e-01 7.19523607e-03 2.25812549e+02] [-7.72017262e-01 6.35540388e-01 -8.81828743e-03 -1.18025857e+02] [-1.13811773e-02 4.91722035e-05 9.99935231e-01 -1.32557749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.85, Y:-118.08, Z:-1.33 [[ 6.36000896e-01 7.71654784e-01 7.19401146e-03 2.25851160e+02] [-7.71604387e-01 6.36041579e-01 -8.81928636e-03 -1.18075177e+02] [-1.13811349e-02 5.81432307e-05 9.99935231e-01 -1.32548618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.89, Y:-118.12, Z:-1.33 [[ 6.34573427e-01 7.72829119e-01 7.19154689e-03 2.25890423e+02] [-7.72778774e-01 6.34614175e-01 -8.82129559e-03 -1.18124506e+02] [-1.13812117e-02 4.02849841e-05 9.99935231e-01 -1.32591931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:225.93, Y:-118.17, Z:-1.33 [[ 6.33082225e-01 7.74051171e-01 7.18900308e-03 2.25926590e+02] [-7.74000881e-01 6.33123041e-01 -8.82336821e-03 -1.18173320e+02] [-1.13812620e-02 2.16228606e-05 9.99935231e-01 -1.33057631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.96, Y:-118.22, Z:-1.33 [[ 6.33033259e-01 7.74091235e-01 7.18697161e-03 2.25964708e+02] [-7.74040929e-01 6.33074055e-01 -8.82502261e-03 -1.18222159e+02] [-1.13812579e-02 2.35226357e-05 9.99935231e-01 -1.32887768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:-118.27, Z:-1.33 [[ 6.31194556e-01 7.75591266e-01 7.18468398e-03 2.26000148e+02] [-7.75541036e-01 6.31235445e-01 -8.82688464e-03 -1.18271514e+02] [-1.13812818e-02 -5.35719928e-07 9.99935231e-01 -1.32919628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.04, Y:-118.32, Z:-1.33 [[ 6.30184685e-01 7.76412052e-01 7.18259317e-03 2.26037641e+02] [-7.76361855e-01 6.30225615e-01 -8.82858564e-03 -1.18321801e+02] [-1.13812745e-02 -1.26519015e-05 9.99935231e-01 -1.33005749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.07, Y:-118.37, Z:-1.33 [[ 6.30035696e-01 7.76532979e-01 7.18005140e-03 2.26074312e+02] [-7.76482767e-01 6.30076608e-01 -8.83065231e-03 -1.18373373e+02] [-1.13812752e-02 -1.15600008e-05 9.99935231e-01 -1.32716827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.11, Y:-118.42, Z:-1.33 [[ 6.31440223e-01 7.75391340e-01 7.17743111e-03 2.26111021e+02] [-7.75341029e-01 6.31481013e-01 -8.83278153e-03 -1.18424288e+02] [-1.13812738e-02 1.24167129e-05 9.99935231e-01 -1.32700683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.15, Y:-118.47, Z:-1.33 [[ 6.34521039e-01 7.72872288e-01 7.17480511e-03 2.26146774e+02] [-7.72821792e-01 6.34561599e-01 -8.83491410e-03 -1.18473809e+02] [-1.13811161e-02 6.10931344e-05 9.99935231e-01 -1.33055579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.297628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:226.18, Y:-118.53, Z:-1.33 [[ 6.36968833e-01 7.70856185e-01 7.17270903e-03 2.26181066e+02] [-7.70805541e-01 6.37009209e-01 -8.83661549e-03 -1.18525324e+02] [-1.13808414e-02 9.98847955e-05 9.99935231e-01 -1.33176719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.22, Y:-118.57, Z:-1.33 [[ 6.36236993e-01 7.71460351e-01 7.17047013e-03 2.26219404e+02] [-7.71409725e-01 6.36277391e-01 -8.83843188e-03 -1.18574289e+02] [-1.13809078e-02 9.19669265e-05 9.99935231e-01 -1.33134816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.26, Y:-118.62, Z:-1.33 [[ 6.34317097e-01 7.73039740e-01 7.16810579e-03 2.26260781e+02] [-7.72989193e-01 6.34357593e-01 -8.84034898e-03 -1.18621941e+02] [-1.13810834e-02 6.67161911e-05 9.99935231e-01 -1.33289432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.30, Y:-118.67, Z:-1.33 [[ 6.32128494e-01 7.74830448e-01 7.16555297e-03 2.26300647e+02] [-7.74779992e-01 6.32169104e-01 -8.84241768e-03 -1.18669580e+02] [-1.13812157e-02 3.78170980e-05 9.99935231e-01 -1.33437149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.34, Y:-118.72, Z:-1.33 [[ 6.31201694e-01 7.75585656e-01 7.16319455e-03 2.26341843e+02] [-7.75535227e-01 6.31242338e-01 -8.84432781e-03 -1.18717663e+02] [-1.13812455e-02 2.72449775e-05 9.99935231e-01 -1.33221341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.38, Y:-118.77, Z:-1.33 [[ 6.28279025e-01 7.77955136e-01 7.16055387e-03 2.26380967e+02] [-7.77904836e-01 6.28319828e-01 -8.84646524e-03 -1.18765644e+02] [-1.13812710e-02 -1.21809339e-05 9.99935231e-01 -1.33454672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.42, Y:-118.81, Z:-1.33 [[ 6.29390588e-01 7.77056143e-01 7.15812730e-03 2.26422937e+02] [-7.77005762e-01 6.29431292e-01 -8.84842827e-03 -1.18812966e+02] [-1.13812749e-02 7.21131051e-06 9.99935231e-01 -1.33454358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.46, Y:-118.86, Z:-1.33 [[ 6.26675191e-01 7.79247717e-01 7.15547854e-03 2.26459321e+02] [-7.79197454e-01 6.26716041e-01 -8.85056973e-03 -1.18862581e+02] [-1.13812394e-02 -2.90981776e-05 9.99935231e-01 -1.33351090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.50, Y:-118.91, Z:-1.34 [[ 6.25433573e-01 7.80244628e-01 7.15304404e-03 2.26497831e+02] [-7.80194408e-01 6.25474475e-01 -8.85253686e-03 -1.18911705e+02] [-1.13811908e-02 -4.40911982e-05 9.99935231e-01 -1.33507884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.54, Y:-118.96, Z:-1.34 [[ 6.23281263e-01 7.81965040e-01 7.15144261e-03 2.26536944e+02] [-7.81914918e-01 6.23322284e-01 -8.85383037e-03 -1.18960564e+02] [-1.13810394e-02 -7.33930927e-05 9.99935231e-01 -1.33997287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.57, Y:-119.01, Z:-1.34 [[ 6.22097256e-01 7.82907324e-01 7.15025665e-03 2.26574161e+02] [-7.82857253e-01 6.22138340e-01 -8.85478804e-03 -1.19009101e+02] [-1.13809272e-02 -8.90909453e-05 9.99935231e-01 -1.34223557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.61, Y:-119.06, Z:-1.34 [[ 6.21658609e-01 7.83255690e-01 7.14825177e-03 2.26613089e+02] [-7.83205624e-01 6.21699699e-01 -8.85640624e-03 -1.19057412e+02] [-1.13808965e-02 -9.28898008e-05 9.99935231e-01 -1.34358910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.65, Y:-119.11, Z:-1.34 [[ 6.26097097e-01 7.79712356e-01 7.14606724e-03 2.26653852e+02] [-7.79662037e-01 6.26137877e-01 -8.85816854e-03 -1.19105686e+02] [-1.13812468e-02 -2.54437284e-05 9.99935231e-01 -1.34307909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.69, Y:-119.16, Z:-1.34 [[ 6.25877836e-01 7.79888392e-01 7.14356387e-03 2.26693583e+02] [-7.79838061e-01 6.25918601e-01 -8.86018689e-03 -1.19155089e+02] [-1.13812464e-02 -2.54284035e-05 9.99935231e-01 -1.34380200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137628 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:226.73, Y:-119.20, Z:-1.35 [[ 6.33970826e-01 7.73323992e-01 7.14107187e-03 2.26732031e+02] [-7.73273216e-01 6.34011036e-01 -8.86219492e-03 -1.19204857e+02] [-1.13808663e-02 9.63734268e-05 9.99935231e-01 -1.34714647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:226.77, Y:-119.25, Z:-1.35 [[ 6.44197418e-01 7.64825946e-01 7.13856245e-03 2.26771984e+02] [-7.64774618e-01 6.44236920e-01 -8.86421581e-03 -1.19253840e+02] [-1.13785077e-02 2.50913567e-04 9.99935231e-01 -1.34515666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:226.81, Y:-119.30, Z:-1.35 [[ 6.49915022e-01 7.59973383e-01 7.13598432e-03 2.26810811e+02] [-7.59921737e-01 6.49954108e-01 -8.86629081e-03 -1.19300999e+02] [-1.13762073e-02 3.39545982e-04 9.99935231e-01 -1.34651149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.85, Y:-119.35, Z:-1.35 [[ 6.52550024e-01 7.57712065e-01 7.13392994e-03 2.26852226e+02] [-7.57660266e-01 6.52588906e-01 -8.86794348e-03 -1.19346796e+02] [-1.13748713e-02 3.81681468e-04 9.99935231e-01 -1.34687620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.89, Y:-119.39, Z:-1.35 [[ 6.54150259e-01 7.56330998e-01 7.13160522e-03 2.26893516e+02] [-7.56279096e-01 6.54189005e-01 -8.86981263e-03 -1.19393203e+02] [-1.13739320e-02 4.08706279e-04 9.99935231e-01 -1.34542195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.94, Y:-119.44, Z:-1.35 [[ 6.48804103e-01 7.60922078e-01 7.12933330e-03 2.26935573e+02] [-7.60870431e-01 6.48843187e-01 -8.87163836e-03 -1.19438895e+02] [-1.13764448e-02 3.31456472e-04 9.99935231e-01 -1.34669558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:-119.48, Z:-1.35 [[ 6.45513953e-01 7.63715227e-01 7.12669438e-03 2.26978620e+02] [-7.63663725e-01 6.45553229e-01 -8.87375774e-03 -1.19484200e+02] [-1.13776845e-02 2.85736449e-04 9.99935231e-01 -1.34711667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.02, Y:-119.53, Z:-1.35 [[ 6.39409092e-01 7.68833700e-01 7.12425250e-03 2.27022237e+02] [-7.68782491e-01 6.39448749e-01 -8.87571776e-03 -1.19529002e+02] [-1.13795453e-02 1.98214046e-04 9.99935231e-01 -1.34700387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.06, Y:-119.57, Z:-1.34 [[ 6.31873199e-01 7.75039057e-01 7.12191649e-03 2.27064859e+02] [-7.74988216e-01 6.31913327e-01 -8.87759178e-03 -1.19574337e+02] [-1.13809143e-02 9.01109562e-05 9.99935231e-01 -1.34272811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.11, Y:-119.62, Z:-1.34 [[ 6.27217902e-01 7.78811285e-01 7.11947294e-03 2.27108545e+02] [-7.78760664e-01 6.27258306e-01 -8.87955098e-03 -1.19618746e+02] [-1.13812430e-02 2.50478642e-05 9.99935231e-01 -1.34327110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.15, Y:-119.66, Z:-1.35 [[ 6.27392697e-01 7.78670502e-01 7.11713323e-03 2.27152190e+02] [-7.78619851e-01 6.27433063e-01 -8.88142591e-03 -1.19664363e+02] [-1.13812291e-02 3.06005413e-05 9.99935231e-01 -1.34758192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.19, Y:-119.71, Z:-1.34 [[ 6.22094342e-01 7.82909965e-01 7.11445334e-03 2.27191563e+02] [-7.82859565e-01 6.22135021e-01 -8.88357212e-03 -1.19712733e+02] [-1.13811877e-02 -4.31978877e-05 9.99935231e-01 -1.34489404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.23, Y:-119.76, Z:-1.35 [[ 6.20810304e-01 7.83928559e-01 7.11199374e-03 2.27233787e+02] [-7.83878203e-01 6.20851037e-01 -8.88554078e-03 -1.19759396e+02] [-1.13811179e-02 -5.87016039e-05 9.99935231e-01 -1.34864247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.28, Y:-119.81, Z:-1.35 [[ 6.22144726e-01 7.82869974e-01 7.10940780e-03 2.27275047e+02] [-7.82819524e-01 6.22185344e-01 -8.88760934e-03 -1.19807158e+02] [-1.13812118e-02 -3.60039507e-05 9.99935231e-01 -1.34899895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.31, Y:-119.86, Z:-1.35 [[ 6.19411226e-01 7.85034539e-01 7.10674210e-03 2.27311448e+02] [-7.84984207e-01 6.19451990e-01 -8.88974037e-03 -1.19857720e+02] [-1.13810388e-02 -7.22753247e-05 9.99935231e-01 -1.34698904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:-119.91, Z:-1.35 [[ 6.21106395e-01 7.83694057e-01 7.10429177e-03 2.27350924e+02] [-7.83643615e-01 6.21147022e-01 -8.89169814e-03 -1.19906086e+02] [-1.13811807e-02 -4.45423059e-05 9.99935231e-01 -1.34619732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.39, Y:-119.95, Z:-1.35 [[ 6.26406119e-01 7.79464520e-01 7.10178356e-03 2.27389558e+02] [-7.79413781e-01 6.26446374e-01 -8.89370100e-03 -1.19954127e+02] [-1.13812109e-02 3.58407483e-05 9.99935231e-01 -1.34773683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.43, Y:-120.00, Z:-1.34 [[ 6.33459715e-01 7.73743101e-01 7.09952395e-03 2.27427782e+02] [-7.73691977e-01 6.33499482e-01 -8.89550439e-03 -1.20001832e+02] [-1.13803799e-02 1.42098955e-04 9.99935231e-01 -1.34328286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.47, Y:-120.05, Z:-1.35 [[ 6.39881101e-01 7.68441148e-01 7.09781756e-03 2.27468214e+02] [-7.68389680e-01 6.39920421e-01 -8.89686573e-03 -1.20048276e+02] [-1.13787561e-02 2.39046473e-04 9.99935231e-01 -1.34664129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.51, Y:-120.10, Z:-1.35 [[ 6.41596948e-01 7.67009131e-01 7.09568044e-03 2.27505101e+02] [-7.66957557e-01 6.41636128e-01 -8.89856986e-03 -1.20098285e+02] [-1.13781293e-02 2.67209533e-04 9.99935231e-01 -1.34942214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.55, Y:-120.14, Z:-1.35 [[ 6.50421817e-01 7.59540089e-01 7.09325036e-03 2.27548057e+02] [-7.59488044e-01 6.50460369e-01 -8.90050651e-03 -1.20143890e+02] [-1.13741698e-02 4.01844771e-04 9.99935231e-01 -1.34995252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.59, Y:-120.19, Z:-1.35 [[ 6.54584676e-01 7.55955436e-01 7.09096205e-03 2.27589291e+02] [-7.55903160e-01 6.54622915e-01 -8.90232922e-03 -1.20190496e+02] [-1.13716704e-02 4.67247657e-04 9.99935231e-01 -1.34769081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.63, Y:-120.24, Z:-1.35 [[ 6.52358517e-01 7.57877376e-01 7.08861398e-03 2.27626048e+02] [-7.57825193e-01 6.52396882e-01 -8.90419851e-03 -1.20239547e+02] [-1.13728803e-02 4.36799481e-04 9.99935231e-01 -1.34773346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517628 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:227.67, Y:-120.29, Z:-1.35 [[ 6.50742984e-01 7.59264999e-01 7.08730962e-03 2.27666847e+02] [-7.59212886e-01 6.50781446e-01 -8.90523660e-03 -1.20287390e+02] [-1.13737241e-02 4.14243442e-04 9.99935231e-01 -1.34701834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.71, Y:-120.33, Z:-1.35 [[ 6.43386550e-01 7.65508689e-01 7.08480832e-03 2.27711383e+02] [-7.65456928e-01 6.43425483e-01 -8.90722614e-03 -1.20332310e+02] [-1.13771052e-02 3.07673882e-04 9.99935231e-01 -1.34521352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.76, Y:-120.38, Z:-1.35 [[ 6.32238843e-01 7.74741174e-01 7.08227526e-03 2.27756123e+02] [-7.74689960e-01 6.32278492e-01 -8.90923976e-03 -1.20377692e+02] [-1.13803252e-02 1.46199902e-04 9.99935231e-01 -1.34594404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.80, Y:-120.42, Z:-1.35 [[ 6.29071478e-01 7.77315221e-01 7.07972145e-03 2.27801606e+02] [-7.77264146e-01 6.29111307e-01 -8.91126867e-03 -1.20420164e+02] [-1.13807976e-02 1.03011311e-04 9.99935231e-01 -1.35297037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.84, Y:-120.47, Z:-1.35 [[ 6.15310253e-01 7.88253259e-01 7.07757434e-03 2.27836585e+02] [-7.88202873e-01 6.15350949e-01 -8.91297364e-03 -1.20470300e+02] [-1.13808726e-02 -9.43203663e-05 9.99935231e-01 -1.34866702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.88, Y:-120.52, Z:-1.35 [[ 6.11367844e-01 7.91314917e-01 7.07546902e-03 2.27876003e+02] [-7.91264715e-01 6.11408767e-01 -8.91464462e-03 -1.20518113e+02] [-1.13802951e-02 -1.48441914e-04 9.99935231e-01 -1.35206139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.91, Y:-120.57, Z:-1.35 [[ 6.09617894e-01 7.92663860e-01 7.07306192e-03 2.27910270e+02] [-7.92613726e-01 6.09658901e-01 -8.91655405e-03 -1.20570836e+02] [-1.13799853e-02 -1.70515062e-04 9.99935231e-01 -1.35119441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.94, Y:-120.62, Z:-1.35 [[ 6.11039511e-01 7.91568521e-01 7.07051711e-03 2.27944974e+02] [-7.91518290e-01 6.11080400e-01 -8.91857154e-03 -1.20623373e+02] [-1.13803149e-02 -1.46844016e-04 9.99935231e-01 -1.35111972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:-120.67, Z:-1.35 [[ 6.11669668e-01 7.91081703e-01 7.06797265e-03 2.27982638e+02] [-7.91031416e-01 6.11710488e-01 -8.92058757e-03 -1.20673401e+02] [-1.13804666e-02 -1.34535571e-04 9.99935231e-01 -1.35336666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.02, Y:-120.73, Z:-1.35 [[ 6.14046709e-01 7.89238046e-01 7.06718572e-03 2.28015940e+02] [-7.89187630e-01 6.14087369e-01 -8.92121096e-03 -1.20726556e+02] [-1.13808286e-02 -9.92953187e-05 9.99935231e-01 -1.35378552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.05, Y:-120.78, Z:-1.35 [[ 6.19066762e-01 7.85306584e-01 7.06496831e-03 2.28048170e+02] [-7.85255890e-01 6.19107074e-01 -8.92296664e-03 -1.20781522e+02] [-1.13812363e-02 -2.38959143e-05 9.99935231e-01 -1.35441854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.08, Y:-120.83, Z:-1.36 [[ 6.23657657e-01 7.81665689e-01 7.06240162e-03 2.28081775e+02] [-7.81614736e-01 6.23697642e-01 -8.92499768e-03 -1.20833909e+02] [-1.13811677e-02 4.60659642e-05 9.99935231e-01 -1.35534525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.11, Y:-120.89, Z:-1.36 [[ 6.30934007e-01 7.75804378e-01 7.06019424e-03 2.28114440e+02] [-7.75753034e-01 6.30973489e-01 -8.92674351e-03 -1.20888673e+02] [-1.13802021e-02 1.55218945e-04 9.99935231e-01 -1.35561695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.15, Y:-120.94, Z:-1.36 [[ 6.35193988e-01 7.72320391e-01 7.05767498e-03 2.28149466e+02] [-7.72268809e-01 6.35233157e-01 -8.92873484e-03 -1.20941596e+02] [-1.13791131e-02 2.21056433e-04 9.99935231e-01 -1.35677816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.18, Y:-121.00, Z:-1.36 [[ 6.41187675e-01 7.67351673e-01 7.05517591e-03 2.28182090e+02] [-7.67299766e-01 6.41226412e-01 -8.93070909e-03 -1.20995793e+02] [-1.13769597e-02 3.12825772e-04 9.99935231e-01 -1.35703329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.22, Y:-121.05, Z:-1.36 [[ 6.44484133e-01 7.64585157e-01 7.05264522e-03 2.28215652e+02] [-7.64533062e-01 6.44522617e-01 -8.93270714e-03 -1.21048274e+02] [-1.13754047e-02 3.65007567e-04 9.99935231e-01 -1.35890292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.26, Y:-121.10, Z:-1.36 [[ 6.50325048e-01 7.59623343e-01 7.05044928e-03 2.28255166e+02] [-7.59570936e-01 6.50363106e-01 -8.93444003e-03 -1.21096247e+02] [-1.13721613e-02 4.54973778e-04 9.99935231e-01 -1.36154826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.29, Y:-121.15, Z:-1.36 [[ 6.44947231e-01 7.64194593e-01 7.04934098e-03 2.28286735e+02] [-7.64142446e-01 6.44985645e-01 -8.93531440e-03 -1.21149587e+02] [-1.13750427e-02 3.76105615e-04 9.99935231e-01 -1.35643377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.597628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:-121.20, Z:-1.36 [[ 6.39424851e-01 7.68821303e-01 7.04723868e-03 2.28324417e+02] [-7.68769416e-01 6.39463616e-01 -8.93697216e-03 -1.21198926e+02] [-1.13773873e-02 2.96820530e-04 9.99935231e-01 -1.35621345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.36, Y:-121.25, Z:-1.35 [[ 6.33962054e-01 7.73332064e-01 7.04504316e-03 2.28362009e+02] [-7.73280434e-01 6.34001160e-01 -8.93870257e-03 -1.21248492e+02] [-1.13791508e-02 2.19004213e-04 9.99935231e-01 -1.35332666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.40, Y:-121.30, Z:-1.35 [[ 6.26158091e-01 7.79664316e-01 7.04271967e-03 2.28402530e+02] [-7.79613061e-01 6.26197687e-01 -8.94053284e-03 -1.21296973e+02] [-1.13807492e-02 1.07590734e-04 9.99935231e-01 -1.35321790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:-121.35, Z:-1.35 [[ 6.20045782e-01 7.84534043e-01 7.04021182e-03 2.28442314e+02] [-7.84483076e-01 6.20085749e-01 -8.94250721e-03 -1.21345937e+02] [-1.13812364e-02 2.18368520e-05 9.99935231e-01 -1.35383121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.48, Y:-121.40, Z:-1.35 [[ 6.17508866e-01 7.86532435e-01 7.03773149e-03 2.28480215e+02] [-7.86481575e-01 6.17548969e-01 -8.94445880e-03 -1.21396620e+02] [-1.13812508e-02 -1.17635386e-05 9.99935231e-01 -1.35377448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.52, Y:-121.45, Z:-1.36 [[ 6.16018455e-01 7.87700304e-01 7.03516982e-03 2.28517317e+02] [-7.87649498e-01 6.16058625e-01 -8.94647320e-03 -1.21447991e+02] [-1.13812167e-02 -3.00553701e-05 9.99935231e-01 -1.35696919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:228.55, Y:-121.50, Z:-1.36 [[ 6.17272272e-01 7.86718173e-01 7.03263312e-03 2.28551948e+02] [-7.86667280e-01 6.17312333e-01 -8.94846680e-03 -1.21499651e+02] [-1.13812526e-02 -8.70192869e-06 9.99935231e-01 -1.36363487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.59, Y:-121.55, Z:-1.36 [[ 6.17736051e-01 7.86354083e-01 7.03043577e-03 2.28585895e+02] [-7.86303146e-01 6.17776056e-01 -8.95019284e-03 -1.21553082e+02] [-1.13812556e-02 8.03018432e-07 9.99935231e-01 -1.36133150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.62, Y:-121.61, Z:-1.36 [[ 6.18485974e-01 7.85764411e-01 7.02787181e-03 2.28616996e+02] [-7.85713413e-01 6.18525901e-01 -8.95220566e-03 -1.21607559e+02] [-1.13812453e-02 1.49204881e-05 9.99935231e-01 -1.36190678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.66, Y:-121.66, Z:-1.36 [[ 6.16304784e-01 7.87476384e-01 7.02550551e-03 2.28655227e+02] [-7.87425476e-01 6.16344826e-01 -8.95406230e-03 -1.21657561e+02] [-1.13812466e-02 -1.36305795e-05 9.99935231e-01 -1.36192476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.70, Y:-121.70, Z:-1.36 [[ 6.16819785e-01 7.87073078e-01 7.02299996e-03 2.28696136e+02] [-7.87022122e-01 6.16859765e-01 -8.95602706e-03 -1.21704291e+02] [-1.13812539e-02 -3.00164513e-06 9.99935231e-01 -1.36373211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.73, Y:-121.75, Z:-1.36 [[ 6.17693014e-01 7.86387978e-01 7.02058856e-03 2.28731707e+02] [-7.86336956e-01 6.17732910e-01 -8.95791694e-03 -1.21754148e+02] [-1.13812468e-02 1.26944811e-05 9.99935231e-01 -1.36255948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.77, Y:-121.80, Z:-1.36 [[ 6.21283636e-01 7.83554328e-01 7.01839073e-03 2.28770829e+02] [-7.83503105e-01 6.21323273e-01 -8.95963859e-03 -1.21803928e+02] [-1.13810531e-02 6.75459153e-05 9.99935231e-01 -1.36289308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.81, Y:-121.85, Z:-1.36 [[ 6.26562582e-01 7.79339533e-01 7.01590086e-03 2.28810523e+02] [-7.79288021e-01 6.26601844e-01 -8.96158786e-03 -1.21852399e+02] [-1.13802961e-02 1.47588139e-04 9.99935231e-01 -1.36417577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.85, Y:-121.90, Z:-1.36 [[ 6.30322858e-01 7.76301428e-01 7.01338711e-03 2.28849724e+02] [-7.76249705e-01 6.30361841e-01 -8.96355471e-03 -1.21901252e+02] [-1.13793919e-02 2.05793749e-04 9.99935231e-01 -1.36002027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.89, Y:-121.95, Z:-1.37 [[ 6.33944183e-01 7.73347009e-01 7.01257028e-03 2.28888687e+02] [-7.73295097e-01 6.33982915e-01 -8.96419371e-03 -1.21948626e+02] [-1.13782821e-02 2.60012243e-04 9.99935231e-01 -1.36736428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.93, Y:-122.00, Z:-1.36 [[ 6.33219430e-01 7.73940563e-01 7.01133945e-03 2.28928368e+02] [-7.73888677e-01 6.33258195e-01 -8.96515629e-03 -1.21996526e+02] [-1.13784863e-02 2.50914941e-04 9.99935231e-01 -1.36129049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.97, Y:-122.04, Z:-1.37 [[ 6.29083008e-01 7.77306532e-01 7.00895596e-03 2.28968603e+02] [-7.77254832e-01 6.29122022e-01 -8.96701932e-03 -1.22042607e+02] [-1.13796112e-02 1.93254596e-04 9.99935231e-01 -1.36542239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.01, Y:-122.09, Z:-1.36 [[ 6.25975316e-01 7.79811393e-01 7.00678573e-03 2.29008404e+02] [-7.79759831e-01 6.26014512e-01 -8.96871481e-03 -1.22090862e+02] [-1.13802555e-02 1.50584035e-04 9.99935231e-01 -1.36336035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.05, Y:-122.14, Z:-1.36 [[ 6.20582626e-01 7.84109775e-01 7.00462821e-03 2.29046517e+02] [-7.84058465e-01 6.20622152e-01 -8.97039953e-03 -1.22139056e+02] [-1.13810054e-02 7.48360611e-05 9.99935231e-01 -1.36144342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.09, Y:-122.19, Z:-1.36 [[ 6.16296409e-01 7.87483142e-01 7.00265236e-03 2.29085514e+02] [-7.87432031e-01 6.16336192e-01 -8.97194169e-03 -1.22188860e+02] [-1.13812409e-02 1.52626748e-05 9.99935231e-01 -1.36061330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.13, Y:-122.24, Z:-1.36 [[ 6.12182197e-01 7.90685750e-01 7.00016776e-03 2.29125185e+02] [-7.90634825e-01 6.12222217e-01 -8.97387982e-03 -1.22237108e+02] [-1.13811771e-02 -4.09269434e-05 9.99935231e-01 -1.36221416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.16, Y:-122.29, Z:-1.36 [[ 6.08818809e-01 7.93278444e-01 6.99764442e-03 2.29164547e+02] [-7.93227667e-01 6.08859017e-01 -8.97584704e-03 -1.22285920e+02] [-1.13809249e-02 -8.60606549e-05 9.99935231e-01 -1.36417393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.20, Y:-122.34, Z:-1.37 [[ 6.08100051e-01 7.93829577e-01 6.99505250e-03 2.29202033e+02] [-7.93778813e-01 6.08140275e-01 -8.97786652e-03 -1.22335888e+02] [-1.13808691e-02 -9.30833815e-05 9.99935231e-01 -1.36771537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.24, Y:-122.39, Z:-1.37 [[ 6.14506770e-01 7.88880555e-01 6.99281393e-03 2.29237248e+02] [-7.88829448e-01 6.14546556e-01 -8.97960980e-03 -1.22387814e+02] [-1.13812493e-02 1.89346477e-06 9.99935231e-01 -1.37064687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.27, Y:-122.44, Z:-1.37 [[ 6.24829426e-01 7.80729979e-01 6.99202031e-03 2.29271082e+02] [-7.80678345e-01 6.24868528e-01 -8.98022771e-03 -1.22440450e+02] [-1.13802264e-02 1.52591683e-04 9.99935231e-01 -1.37153458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.31, Y:-122.49, Z:-1.37 [[ 6.30192264e-01 7.76407659e-01 6.98979277e-03 2.29307329e+02] [-7.76355738e-01 6.30230983e-01 -8.98196119e-03 -1.22492529e+02] [-1.13788474e-02 2.33796733e-04 9.99935231e-01 -1.37200993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.35, Y:-122.54, Z:-1.37 [[ 6.31018221e-01 7.75736542e-01 6.98726992e-03 2.29346911e+02] [-7.75684558e-01 6.31056856e-01 -8.98392334e-03 -1.22541381e+02] [-1.13785222e-02 2.49101939e-04 9.99935231e-01 -1.37200315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.39, Y:-122.59, Z:-1.37 [[ 6.31490149e-01 7.75352439e-01 6.98474467e-03 2.29386292e+02] [-7.75300410e-01 6.31528723e-01 -8.98588623e-03 -1.22590016e+02] [-1.13782957e-02 2.59223225e-04 9.99935231e-01 -1.37342338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:-122.64, Z:-1.37 [[ 6.29685128e-01 7.76819084e-01 6.98217594e-03 2.29426747e+02] [-7.76767123e-01 6.29723793e-01 -8.98788173e-03 -1.22638414e+02] [-1.13788004e-02 2.36010740e-04 9.99935232e-01 -1.37474884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.47, Y:-122.69, Z:-1.38 [[ 6.26002509e-01 7.79789807e-01 6.97964186e-03 2.29468230e+02] [-7.79738008e-01 6.26041390e-01 -8.98984916e-03 -1.22685764e+02] [-1.13797374e-02 1.85376094e-04 9.99935232e-01 -1.37513935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.51, Y:-122.73, Z:-1.38 [[ 6.22286161e-01 7.82758746e-01 6.97709913e-03 2.29508706e+02] [-7.82707110e-01 6.22325259e-01 -8.99182217e-03 -1.22734592e+02] [-1.13804525e-02 1.34461406e-04 9.99935232e-01 -1.37575613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.55, Y:-122.78, Z:-1.38 [[ 6.14570962e-01 7.88830710e-01 6.97454549e-03 2.29549640e+02] [-7.88779437e-01 6.14610536e-01 -8.99380247e-03 -1.22782368e+02] [-1.13812167e-02 2.59517714e-05 9.99935232e-01 -1.37854655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.59, Y:-122.83, Z:-1.38 [[ 6.08130807e-01 7.93806219e-01 6.97201994e-03 2.29588364e+02] [-7.93755248e-01 6.08170768e-01 -8.99575986e-03 -1.22830932e+02] [-1.13810688e-02 -6.34787158e-05 9.99935232e-01 -1.37898550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.63, Y:-122.88, Z:-1.38 [[ 6.05843924e-01 7.95552992e-01 6.96968465e-03 2.29627472e+02] [-7.95502116e-01 6.05884005e-01 -8.99756882e-03 -1.22880318e+02] [-1.13808632e-02 -9.32764862e-05 9.99935232e-01 -1.38017825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:-122.93, Z:-1.38 [[ 6.07480923e-01 7.94303712e-01 6.96709846e-03 2.29663137e+02] [-7.94252730e-01 6.07520871e-01 -8.99957094e-03 -1.22931701e+02] [-1.13810503e-02 -6.65693085e-05 9.99935232e-01 -1.37866460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.70, Y:-122.98, Z:-1.38 [[ 6.13012389e-01 7.90042595e-01 6.96482248e-03 2.29698161e+02] [-7.89991315e-01 6.13051954e-01 -9.00133199e-03 -1.22983129e+02] [-1.13812337e-02 1.57787570e-05 9.99935232e-01 -1.37759646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.74, Y:-123.03, Z:-1.38 [[ 6.16261022e-01 7.87511192e-01 6.96241926e-03 2.29735291e+02] [-7.87459728e-01 6.16300348e-01 -9.00319046e-03 -1.23034532e+02] [-1.13810547e-02 6.56905786e-05 9.99935232e-01 -1.37743239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.77, Y:-123.08, Z:-1.38 [[ 6.20777344e-01 7.83956026e-01 6.95983371e-03 2.29772548e+02] [-7.83904315e-01 6.20816343e-01 -9.00518876e-03 -1.23084860e+02] [-1.13804505e-02 1.34373486e-04 9.99935232e-01 -1.38037807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.81, Y:-123.13, Z:-1.38 [[ 6.23476208e-01 7.81811352e-01 6.95903825e-03 2.29809682e+02] [-7.81759500e-01 6.23515020e-01 -9.00580343e-03 -1.23134314e+02] [-1.13799042e-02 1.74609913e-04 9.99935232e-01 -1.38313957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.85, Y:-123.18, Z:-1.39 [[ 6.28381020e-01 7.77874602e-01 6.95681839e-03 2.29846218e+02] [-7.77822488e-01 6.28419479e-01 -9.00751791e-03 -1.23182836e+02] [-1.13785196e-02 2.48983506e-04 9.99935232e-01 -1.38701483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05762799999997 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:229.88, Y:-123.23, Z:-1.39 [[ 6.35483185e-01 7.72083385e-01 6.95478890e-03 2.29882717e+02] [-7.72030903e-01 6.35521141e-01 -9.00908462e-03 -1.23233615e+02] [-1.13756799e-02 3.55809826e-04 9.99935232e-01 -1.38908006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.92, Y:-123.28, Z:-1.38 [[ 6.42090732e-01 7.66597126e-01 6.95256972e-03 2.29924348e+02] [-7.66544302e-01 6.42128210e-01 -9.01079690e-03 -1.23279946e+02] [-1.13720922e-02 4.56296474e-04 9.99935232e-01 -1.38334800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.96, Y:-123.33, Z:-1.39 [[ 6.44555632e-01 7.64525822e-01 6.95024709e-03 2.29959312e+02] [-7.64472858e-01 6.44592912e-01 -9.01258805e-03 -1.23329339e+02] [-1.13704363e-02 4.95839117e-04 9.99935232e-01 -1.38866095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.00, Y:-123.38, Z:-1.39 [[ 6.46825526e-01 7.62606357e-01 6.94865147e-03 2.29998227e+02] [-7.62553270e-01 6.46862630e-01 -9.01381810e-03 -1.23378150e+02] [-1.13688179e-02 5.31650731e-04 9.99935232e-01 -1.38531238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:-123.43, Z:-1.38 [[ 6.46246884e-01 7.63096790e-01 6.94643658e-03 2.30039412e+02] [-7.63043713e-01 6.46284003e-01 -9.01552466e-03 -1.23425828e+02] [-1.13690888e-02 5.25819960e-04 9.99935232e-01 -1.38469454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.08, Y:-123.47, Z:-1.38 [[ 6.41882897e-01 7.66771237e-01 6.94391844e-03 2.30084736e+02] [-7.66718351e-01 6.41920287e-01 -9.01746376e-03 -1.23470002e+02] [-1.13717740e-02 4.64126060e-04 9.99935232e-01 -1.38418551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.13, Y:-123.51, Z:-1.39 [[ 6.35420823e-01 7.72134830e-01 6.94133316e-03 2.30131031e+02] [-7.72082239e-01 6.35458626e-01 -9.01945338e-03 -1.23513195e+02] [-1.13751641e-02 3.71868447e-04 9.99935232e-01 -1.38581039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.17, Y:-123.56, Z:-1.39 [[ 6.31059987e-01 7.75703002e-01 6.93876185e-03 2.30173401e+02] [-7.75650603e-01 6.31098056e-01 -9.02143108e-03 -1.23559390e+02] [-1.13769903e-02 3.11009364e-04 9.99935232e-01 -1.38685214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:-123.60, Z:-1.39 [[ 6.25645204e-01 7.80076899e-01 6.93621924e-03 2.30218874e+02] [-7.80024744e-01 6.25683608e-01 -9.02338557e-03 -1.23603695e+02] [-1.13788133e-02 2.35015268e-04 9.99935232e-01 -1.38794055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.26, Y:-123.65, Z:-1.39 [[ 6.22894314e-01 7.82275269e-01 6.93368414e-03 2.30261645e+02] [-7.82223229e-01 6.22932873e-01 -9.02533315e-03 -1.23650236e+02] [-1.13795147e-02 1.98139910e-04 9.99935232e-01 -1.38958827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.30, Y:-123.70, Z:-1.39 [[ 6.19167630e-01 7.85228250e-01 6.93118416e-03 2.30303597e+02] [-7.85176372e-01 6.19206406e-01 -9.02725266e-03 -1.23696678e+02] [-1.13802874e-02 1.47180599e-04 9.99935232e-01 -1.39198459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.34, Y:-123.75, Z:-1.39 [[ 6.14716013e-01 7.88718082e-01 6.92897928e-03 2.30343743e+02] [-7.88666405e-01 6.14755057e-01 -9.02894472e-03 -1.23745764e+02] [-1.13809170e-02 8.55837164e-05 9.99935232e-01 -1.39312247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.38, Y:-123.80, Z:-1.39 [[ 6.12596261e-01 7.90365640e-01 6.92649206e-03 2.30382050e+02] [-7.90314046e-01 6.12635416e-01 -9.03085237e-03 -1.23795493e+02] [-1.13810898e-02 5.81624318e-05 9.99935232e-01 -1.39369528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.42, Y:-123.85, Z:-1.39 [[ 6.06873990e-01 7.94767902e-01 6.92402819e-03 2.30421417e+02] [-7.94716571e-01 6.06913488e-01 -9.03274105e-03 -1.23845149e+02] [-1.13812187e-02 -2.09043327e-05 9.99935232e-01 -1.39437260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.46, Y:-123.89, Z:-1.40 [[ 6.03483066e-01 7.97345772e-01 6.92159434e-03 2.30458228e+02] [-7.97294588e-01 6.03522755e-01 -9.03460567e-03 -1.23894774e+02] [-1.13810443e-02 -6.63181835e-05 9.99935232e-01 -1.39595802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.49, Y:-123.94, Z:-1.40 [[ 6.03673607e-01 7.97201541e-01 6.91944821e-03 2.30493813e+02] [-7.97150329e-01 6.03713259e-01 -9.03624905e-03 -1.23944186e+02] [-1.13810743e-02 -6.08953661e-05 9.99935232e-01 -1.39750508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.53, Y:-124.00, Z:-1.40 [[ 6.06587879e-01 7.94986341e-01 6.91825405e-03 2.30530328e+02] [-7.94934974e-01 6.06627330e-01 -9.03716322e-03 -1.23995865e+02] [-1.13812233e-02 -1.77284296e-05 9.99935232e-01 -1.39904998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.56, Y:-124.05, Z:-1.40 [[ 6.11591694e-01 7.91143331e-01 6.91587058e-03 2.30564095e+02] [-7.91091695e-01 6.11630793e-01 -9.03898685e-03 -1.24049510e+02] [-1.13810936e-02 5.70814995e-05 9.99935232e-01 -1.39956958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.60, Y:-124.10, Z:-1.40 [[ 6.15762015e-01 7.87901862e-01 6.91352027e-03 2.30596962e+02] [-7.87850000e-01 6.15800814e-01 -9.04078414e-03 -1.24103739e+02] [-1.13806021e-02 1.20154519e-04 9.99935232e-01 -1.39766933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.63, Y:-124.16, Z:-1.40 [[ 6.17640147e-01 7.86430472e-01 6.91104283e-03 2.30632982e+02] [-7.86378496e-01 6.17678793e-01 -9.04267758e-03 -1.24155822e+02] [-1.13802418e-02 1.50425244e-04 9.99935232e-01 -1.39839653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.67, Y:-124.21, Z:-1.40 [[ 6.19981131e-01 7.84586305e-01 6.90851464e-03 2.30665838e+02] [-7.84534193e-01 6.20019593e-01 -9.04460868e-03 -1.24209619e+02] [-1.13796905e-02 1.87520763e-04 9.99935232e-01 -1.39901603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:-124.26, Z:-1.40 [[ 6.22702582e-01 7.82428145e-01 6.90598162e-03 2.30698307e+02] [-7.82375879e-01 6.22740833e-01 -9.04654234e-03 -1.24263204e+02] [-1.13789061e-02 2.30231829e-04 9.99935232e-01 -1.40098318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:-124.32, Z:-1.40 [[ 6.22829508e-01 7.82327134e-01 6.90364389e-03 2.30731357e+02] [-7.82274841e-01 6.22867723e-01 -9.04832597e-03 -1.24315358e+02] [-1.13788079e-02 2.35017477e-04 9.99935232e-01 -1.39995832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:230.77, Y:-124.37, Z:-1.40 [[ 6.21801118e-01 7.83144777e-01 6.90135444e-03 2.30767345e+02] [-7.83092515e-01 6.21839376e-01 -9.05007185e-03 -1.24365762e+02] [-1.13790504e-02 2.22945787e-04 9.99935232e-01 -1.40141843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:230.80, Y:-124.42, Z:-1.40 [[ 6.18098062e-01 7.86070728e-01 6.89905405e-03 2.30801026e+02] [-7.86018628e-01 6.18136539e-01 -9.05182514e-03 -1.24418329e+02] [-1.13799322e-02 1.72130579e-04 9.99935232e-01 -1.40054828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.84, Y:-124.47, Z:-1.40 [[ 6.15025589e-01 7.88476989e-01 6.89662388e-03 2.30836261e+02] [-7.88425019e-01 6.15064241e-01 -9.05367632e-03 -1.24469051e+02] [-1.13804822e-02 1.30771791e-04 9.99935232e-01 -1.39876174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.87, Y:-124.52, Z:-1.40 [[ 6.08329695e-01 7.93654490e-01 6.89438419e-03 2.30872883e+02] [-7.93602829e-01 6.08368761e-01 -9.05538152e-03 -1.24518458e+02] [-1.13811722e-02 3.72546767e-05 9.99935232e-01 -1.39999154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.91, Y:-124.57, Z:-1.40 [[ 6.00554536e-01 7.99554094e-01 6.89201408e-03 2.30908430e+02] [-7.99502797e-01 6.00594077e-01 -9.05718505e-03 -1.24570604e+02] [-1.13810122e-02 -7.08509671e-05 9.99935232e-01 -1.40209422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.94, Y:-124.62, Z:-1.40 [[ 5.94887627e-01 8.03779351e-01 6.88952683e-03 2.30944860e+02] [-8.03728313e-01 5.94927502e-01 -9.05907663e-03 -1.24622568e+02] [-1.13802677e-02 -1.48175168e-04 9.99935232e-01 -1.40410120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:-124.67, Z:-1.41 [[ 5.93937715e-01 8.04481541e-01 6.88776661e-03 2.30979194e+02] [-8.04430534e-01 5.93977630e-01 -9.06041475e-03 -1.24672720e+02] [-1.13801157e-02 -1.59407734e-04 9.99935232e-01 -1.40703052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.02, Y:-124.72, Z:-1.41 [[ 5.96604405e-01 8.02505932e-01 6.88572605e-03 2.31018989e+02] [-8.02454775e-01 5.96644127e-01 -9.06196527e-03 -1.24719616e+02] [-1.13806089e-02 -1.19075353e-04 9.99935232e-01 -1.41211567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.06, Y:-124.77, Z:-1.41 [[ 5.98160025e-01 8.01347108e-01 6.88453350e-03 2.31059097e+02] [-8.01295864e-01 5.98199635e-01 -9.06287118e-03 -1.24767003e+02] [-1.13808310e-02 -9.55009643e-05 9.99935232e-01 -1.41326345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:-124.81, Z:-1.41 [[ 6.00042031e-01 7.99938870e-01 6.88232091e-03 2.31098283e+02] [-7.99887513e-01 6.00081495e-01 -9.06455111e-03 -1.24814806e+02] [-1.13810402e-02 -6.59709013e-05 9.99935232e-01 -1.41168930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.037628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:231.13, Y:-124.86, Z:-1.41 [[ 6.02723782e-01 7.97920239e-01 6.88006789e-03 2.31133536e+02] [-7.97868730e-01 6.02763048e-01 -9.06626084e-03 -1.24864136e+02] [-1.13812037e-02 -2.49400100e-05 9.99935232e-01 -1.41377520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.17, Y:-124.91, Z:-1.41 [[ 6.05552904e-01 7.95775329e-01 6.87800839e-03 2.31171033e+02] [-7.95723664e-01 6.05591963e-01 -9.06782299e-03 -1.24914677e+02] [-1.13812164e-02 1.80524993e-05 9.99935232e-01 -1.41358634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:-124.97, Z:-1.41 [[ 6.12424611e-01 7.90499098e-01 6.87551555e-03 2.31206128e+02] [-7.90447075e-01 6.12463192e-01 -9.06971275e-03 -1.24966459e+02] [-1.13805999e-02 1.19784142e-04 9.99935232e-01 -1.41389569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.24, Y:-125.02, Z:-1.41 [[ 6.16484863e-01 7.87336758e-01 6.87337081e-03 2.31241908e+02] [-7.87284519e-01 6.16523152e-01 -9.07133782e-03 -1.25016624e+02] [-1.13797899e-02 1.81044022e-04 9.99935232e-01 -1.41120083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:-125.06, Z:-1.41 [[ 6.16484812e-01 7.87336818e-01 6.87110524e-03 2.31281937e+02] [-7.87284560e-01 6.16523075e-01 -9.07305356e-03 -1.25064885e+02] [-1.13797440e-02 1.83884653e-04 9.99935232e-01 -1.41187944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.32, Y:-125.11, Z:-1.42 [[ 6.16408715e-01 7.87396418e-01 6.86852219e-03 2.31321707e+02] [-7.87344142e-01 6.16446953e-01 -9.07500857e-03 -1.25112631e+02] [-1.13797088e-02 1.86023668e-04 9.99935232e-01 -1.41721839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.36, Y:-125.16, Z:-1.42 [[ 6.17386714e-01 7.86629836e-01 6.86626248e-03 2.31359614e+02] [-7.86577494e-01 6.17424861e-01 -9.07671797e-03 -1.25161274e+02] [-1.13794183e-02 2.02997555e-04 9.99935232e-01 -1.42002632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.40, Y:-125.21, Z:-1.42 [[ 6.22412714e-01 7.82659120e-01 6.86401911e-03 2.31399702e+02] [-7.82606516e-01 6.22450499e-01 -9.07841414e-03 -1.25210039e+02] [-1.13778157e-02 2.78694305e-04 9.99935232e-01 -1.41743318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.43, Y:-125.26, Z:-1.42 [[ 6.20054715e-01 7.84528567e-01 6.86136768e-03 2.31433517e+02] [-7.84476054e-01 6.20092627e-01 -9.08041762e-03 -1.25260902e+02] [-1.13785305e-02 2.47777116e-04 9.99935232e-01 -1.41551736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.47, Y:-125.31, Z:-1.41 [[ 6.18036530e-01 7.86119455e-01 6.85926083e-03 2.31471219e+02] [-7.86067023e-01 6.18074553e-01 -9.08200883e-03 -1.25310627e+02] [-1.13790784e-02 2.21174485e-04 9.99935232e-01 -1.41015559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.51, Y:-125.36, Z:-1.41 [[ 6.12502335e-01 7.90439037e-01 6.85699168e-03 2.31509924e+02] [-7.90386854e-01 6.12540699e-01 -9.08372174e-03 -1.25358850e+02] [-1.13803147e-02 1.44124692e-04 9.99935232e-01 -1.40835552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.55, Y:-125.41, Z:-1.41 [[ 6.10129569e-01 7.92271999e-01 6.85475213e-03 2.31547887e+02] [-7.92219912e-01 6.10168064e-01 -9.08541144e-03 -1.25409040e+02] [-1.13806679e-02 1.12807041e-04 9.99935232e-01 -1.40828193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.59, Y:-125.46, Z:-1.41 [[ 6.01371991e-01 7.98939782e-01 6.85218711e-03 2.31585888e+02] [-7.98888100e-01 6.01411028e-01 -9.08734555e-03 -1.25459287e+02] [-1.13812228e-02 -9.25565084e-06 9.99935232e-01 -1.40676682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:231.62, Y:-125.51, Z:-1.41 [[ 5.95613688e-01 8.03241818e-01 6.84960222e-03 2.31623881e+02] [-8.03190395e-01 5.95653065e-01 -9.08929350e-03 -1.25508758e+02] [-1.13808872e-02 -8.78270908e-05 9.99935232e-01 -1.40988822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.66, Y:-125.56, Z:-1.41 [[ 5.89249982e-01 8.07921764e-01 6.84703010e-03 2.31661936e+02] [-8.07870631e-01 5.89289736e-01 -9.09123068e-03 -1.25558555e+02] [-1.13798877e-02 -1.74507008e-04 9.99935232e-01 -1.41432628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.70, Y:-125.61, Z:-1.42 [[ 5.89114178e-01 8.08020816e-01 6.84442932e-03 2.31695245e+02] [-8.07969667e-01 5.89153911e-01 -9.09318828e-03 -1.25609617e+02] [-1.13799077e-02 -1.73165139e-04 9.99935232e-01 -1.42258462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.39, Y:-125.14, Z:-0.50 [[ 6.69972135e-01 7.42354706e-01 6.84314382e-03 2.32388350e+02] [-7.42299692e-01 6.70006316e-01 -9.09415560e-03 -1.25138526e+02] [-1.13360388e-02 1.01316729e-03 9.99935232e-01 -5.04045625e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 266.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.44, Y:-125.18, Z:-0.51 [[ 6.76974470e-01 7.35966443e-01 7.67870369e-03 2.32436171e+02] [-7.35919376e-01 6.77018017e-01 -8.32331703e-03 -1.25178237e+02] [-1.13243028e-02 -1.62336889e-05 9.99935878e-01 -5.08643920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.47, Y:-125.23, Z:-0.50 [[ 6.78015588e-01 7.35007437e-01 7.67666057e-03 2.32473387e+02] [-7.34960287e-01 6.78059045e-01 -8.32520099e-03 -1.25226910e+02] [-1.13243138e-02 2.57538718e-06 9.99935878e-01 -5.01067223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.52, Y:-125.27, Z:-0.51 [[ 6.87344879e-01 7.26290656e-01 7.67466677e-03 2.32519096e+02] [-7.26242935e-01 6.87387707e-01 -8.32703858e-03 -1.25268574e+02] [-1.13233219e-02 1.49874801e-04 9.99935878e-01 -5.06046406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.55, Y:-125.32, Z:-0.50 [[ 6.90280844e-01 7.23500854e-01 7.67265225e-03 2.32553992e+02] [-7.23452939e-01 6.90323456e-01 -8.32889437e-03 -1.25319380e+02] [-1.13225740e-02 1.98473416e-04 9.99935878e-01 -5.00972693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.60, Y:-125.36, Z:-0.50 [[ 6.94754198e-01 7.19206344e-01 7.67068168e-03 2.32598607e+02] [-7.19158145e-01 6.94796489e-01 -8.33070883e-03 -1.25362432e+02] [-1.13210613e-02 2.71361726e-04 9.99935878e-01 -5.04799125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.64, Y:-125.41, Z:-0.51 [[ 6.98827682e-01 7.15248951e-01 7.66869366e-03 2.32642276e+02] [-7.15200493e-01 6.98869676e-01 -8.33253846e-03 -1.25406438e+02] [-1.13192568e-02 3.38355060e-04 9.99935878e-01 -5.05819442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:-125.45, Z:-0.51 [[ 7.02909373e-01 7.11238101e-01 7.66662903e-03 2.32689402e+02] [-7.11189383e-01 7.02951064e-01 -8.33443766e-03 -1.25447565e+02] [-1.13170347e-02 4.05929173e-04 9.99935878e-01 -5.08468892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.73, Y:-125.49, Z:-0.50 [[ 6.99821686e-01 7.14276462e-01 7.66449120e-03 2.32728627e+02] [-7.14227903e-01 6.99863563e-01 -8.33640318e-03 -1.25494182e+02] [-1.13185947e-02 3.59802252e-04 9.99935878e-01 -5.02546552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.77, Y:-125.54, Z:-0.50 [[ 6.97393142e-01 7.16647807e-01 7.66327489e-03 2.32772828e+02] [-7.16599378e-01 6.97435170e-01 -8.33752113e-03 -1.25538456e+02] [-1.13197037e-02 3.23032044e-04 9.99935878e-01 -4.99922577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.82, Y:-125.58, Z:-0.50 [[ 6.94415335e-01 7.19533632e-01 7.66124830e-03 2.32815646e+02] [-7.19485358e-01 6.94457539e-01 -8.33938293e-03 -1.25582762e+02] [-1.13208781e-02 2.78839411e-04 9.99935878e-01 -4.97225035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.86, Y:-125.63, Z:-0.49 [[ 6.90571354e-01 7.23223713e-01 7.65934996e-03 2.32858214e+02] [-7.23175645e-01 6.90613794e-01 -8.34112610e-03 -1.25627517e+02] [-1.13221529e-02 2.21087405e-04 9.99935878e-01 -4.94521393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.90, Y:-125.67, Z:-0.49 [[ 6.85060462e-01 7.28445968e-01 7.65730896e-03 2.32901930e+02] [-7.28398203e-01 6.85103242e-01 -8.34299936e-03 -1.25672475e+02] [-1.13234714e-02 1.37888911e-04 9.99935878e-01 -4.94723361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.95, Y:-125.72, Z:-0.50 [[ 6.80299714e-01 7.32894058e-01 7.65500398e-03 2.32945705e+02] [-7.32846548e-01 6.80342778e-01 -8.34511372e-03 -1.25717989e+02] [-1.13241109e-02 6.72352347e-05 9.99935878e-01 -4.95878618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.99, Y:-125.76, Z:-0.50 [[ 6.78984521e-01 7.34112700e-01 7.65265620e-03 2.32989237e+02] [-7.34065244e-01 6.79027644e-01 -8.34726613e-03 -1.25762207e+02] [-1.13241992e-02 5.01155628e-05 9.99935878e-01 -4.99437623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:-125.81, Z:-0.50 [[ 6.80982235e-01 7.32259971e-01 7.65059304e-03 2.33031780e+02] [-7.32212376e-01 6.81025204e-01 -8.34915667e-03 -1.25808638e+02] [-1.13239999e-02 8.37684595e-05 9.99935878e-01 -5.01363596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.07, Y:-125.86, Z:-0.50 [[ 6.87459838e-01 7.26182123e-01 7.64821802e-03 2.33071974e+02] [-7.26134124e-01 6.87502356e-01 -8.35133174e-03 -1.25857734e+02] [-1.13227557e-02 1.87573074e-04 9.99935878e-01 -5.02857742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.11, Y:-125.91, Z:-0.50 [[ 6.94204410e-01 7.19737298e-01 7.64588161e-03 2.33111511e+02] [-7.19688881e-01 6.94246450e-01 -8.35347023e-03 -1.25906324e+02] [-1.13204303e-02 2.96359887e-04 9.99935878e-01 -5.03306266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:-125.95, Z:-0.51 [[ 6.97050918e-01 7.16980889e-01 7.64349504e-03 2.33152191e+02] [-7.16932282e-01 6.97092739e-01 -8.35565339e-03 -1.25953382e+02] [-1.13190687e-02 3.44447522e-04 9.99935878e-01 -5.06992014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.19, Y:-126.00, Z:-0.50 [[ 6.97169806e-01 7.16865309e-01 7.64142841e-03 2.33192964e+02] [-7.16816674e-01 6.97211595e-01 -8.35754294e-03 -1.26001368e+02] [-1.13189251e-02 3.49123291e-04 9.99935878e-01 -5.04540833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.24, Y:-126.05, Z:-0.50 [[ 6.95897740e-01 7.18100258e-01 7.63905848e-03 2.33235035e+02] [-7.18051673e-01 6.95939588e-01 -8.35970858e-03 -1.26048638e+02] [-1.13194321e-02 3.32263581e-04 9.99935878e-01 -5.04508503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.28, Y:-126.09, Z:-0.51 [[ 6.92690518e-01 7.21194514e-01 7.63671718e-03 2.33277603e+02] [-7.21146093e-01 6.92732554e-01 -8.36184684e-03 -1.26094279e+02] [-1.13207207e-02 2.84983251e-04 9.99935878e-01 -5.05086796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.32, Y:-126.14, Z:-0.51 [[ 6.88561344e-01 7.25137911e-01 7.63447217e-03 2.33319106e+02] [-7.25089708e-01 6.88603631e-01 -8.36389606e-03 -1.26139699e+02] [-1.13221034e-02 2.23378321e-04 9.99935878e-01 -5.06320190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.36, Y:-126.18, Z:-0.51 [[ 6.82528941e-01 7.30818714e-01 7.63226130e-03 2.33362152e+02] [-7.30770841e-01 6.82571600e-01 -8.36591305e-03 -1.26184941e+02] [-1.13235306e-02 1.32543775e-04 9.99935878e-01 -5.10858427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.40, Y:-126.23, Z:-0.51 [[ 6.79407537e-01 7.33721445e-01 7.63150180e-03 2.33403988e+02] [-7.33673747e-01 6.79450391e-01 -8.36660582e-03 -1.26231528e+02] [-1.13239850e-02 8.53025382e-05 9.99935878e-01 -5.09729980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.45, Y:-126.28, Z:-0.51 [[ 6.75892095e-01 7.36961108e-01 7.62904351e-03 2.33446283e+02] [-7.36913589e-01 6.75935148e-01 -8.36884680e-03 -1.26277105e+02] [-1.13242533e-02 3.44915557e-05 9.99935878e-01 -5.08933417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.49, Y:-126.32, Z:-0.51 [[ 6.75480840e-01 7.37338093e-01 7.62700028e-03 2.33488517e+02] [-7.37290577e-01 6.75523897e-01 -8.37070849e-03 -1.26323959e+02] [-1.13242632e-02 3.09377661e-05 9.99935878e-01 -5.09346248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.53, Y:-126.37, Z:-0.51 [[ 6.75935275e-01 7.36921549e-01 7.62461972e-03 2.33529726e+02] [-7.36873982e-01 6.75978276e-01 -8.37287631e-03 -1.26371459e+02] [-1.13242303e-02 4.11385571e-05 9.99935878e-01 -5.10259330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.57, Y:-126.42, Z:-0.51 [[ 6.79269603e-01 7.33849241e-01 7.62224820e-03 2.33570599e+02] [-7.33801456e-01 6.79312360e-01 -8.37503466e-03 -1.26419462e+02] [-1.13239002e-02 9.56896413e-05 9.99935878e-01 -5.10463085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.61, Y:-126.47, Z:-0.51 [[ 6.82211656e-01 7.31115035e-01 7.61988566e-03 2.33612035e+02] [-7.31067054e-01 6.82254194e-01 -8.37718363e-03 -1.26466769e+02] [-1.13233839e-02 1.44364956e-04 9.99935878e-01 -5.12444150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.797628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:-126.51, Z:-0.52 [[ 6.87079630e-01 7.26542191e-01 7.61754401e-03 2.33652157e+02] [-7.26493904e-01 6.87121820e-01 -8.37931240e-03 -1.26514590e+02] [-1.13221047e-02 2.23155577e-04 9.99935878e-01 -5.16881101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.69, Y:-126.56, Z:-0.52 [[ 6.91527125e-01 7.22310348e-01 7.61547943e-03 2.33691781e+02] [-7.22261782e-01 6.91568994e-01 -8.38118836e-03 -1.26561676e+02] [-1.13204485e-02 2.95449348e-04 9.99935878e-01 -5.15616676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.74, Y:-126.61, Z:-0.52 [[ 6.95381320e-01 7.18600624e-01 7.61330073e-03 2.33735655e+02] [-7.18551813e-01 6.95422903e-01 -8.38316699e-03 -1.26607435e+02] [-1.13186127e-02 3.58946684e-04 9.99935878e-01 -5.16435867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.77, Y:-126.66, Z:-0.52 [[ 6.93923649e-01 7.20008365e-01 7.61081602e-03 2.33774839e+02] [-7.19959613e-01 6.93965301e-01 -8.38542216e-03 -1.26655041e+02] [-1.13192163e-02 3.39362580e-04 9.99935878e-01 -5.16014177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.82, Y:-126.70, Z:-0.52 [[ 6.89568740e-01 7.24180270e-01 7.60853237e-03 2.33817576e+02] [-7.24131748e-01 6.89610660e-01 -8.38749373e-03 -1.26699238e+02] [-1.13209825e-02 2.74173648e-04 9.99935878e-01 -5.17854848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.86, Y:-126.74, Z:-0.52 [[ 6.83672163e-01 7.29749625e-01 7.60643391e-03 2.33861459e+02] [-7.29701424e-01 6.83714451e-01 -8.38939635e-03 -1.26744885e+02] [-1.13227876e-02 1.85171095e-04 9.99935878e-01 -5.19593720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:-126.79, Z:-0.52 [[ 6.73704623e-01 7.38961607e-01 7.60424204e-03 2.33904499e+02] [-7.38913961e-01 6.73747536e-01 -8.39138261e-03 -1.26790158e+02] [-1.13242489e-02 3.44326569e-05 9.99935878e-01 -5.18353046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.95, Y:-126.84, Z:-0.52 [[ 6.65575513e-01 7.46291798e-01 7.60190324e-03 2.33946210e+02] [-7.46244601e-01 6.65618919e-01 -8.39350084e-03 -1.26836283e+02] [-1.13239714e-02 -8.63706172e-05 9.99935878e-01 -5.16279729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.99, Y:-126.88, Z:-0.52 [[ 6.61629031e-01 7.49792817e-01 7.59980364e-03 2.33987754e+02] [-7.49745828e-01 6.61672661e-01 -8.39540146e-03 -1.26883635e+02] [-1.13233940e-02 -1.43279744e-04 9.99935878e-01 -5.16255572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.03, Y:-126.93, Z:-0.52 [[ 6.58121006e-01 7.52873842e-01 7.59739436e-03 2.34029032e+02] [-7.52827032e-01 6.58164828e-01 -8.39758117e-03 -1.26930500e+02] [-1.13226570e-02 -1.92899282e-04 9.99935878e-01 -5.17057017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:-126.98, Z:-0.52 [[ 6.57899282e-01 7.53067627e-01 7.59500881e-03 2.34070434e+02] [-7.53020805e-01 6.57943092e-01 -8.39973818e-03 -1.26978426e+02] [-1.13226545e-02 -1.93017933e-04 9.99935878e-01 -5.18186138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.11, Y:-127.03, Z:-0.52 [[ 6.60056515e-01 7.51177575e-01 7.59263611e-03 2.34111360e+02] [-7.51130602e-01 6.60100164e-01 -8.40188235e-03 -1.27026011e+02] [-1.13232059e-02 -1.57344146e-04 9.99935878e-01 -5.21460065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.15, Y:-127.08, Z:-0.52 [[ 6.63926280e-01 7.47759508e-01 7.59026599e-03 2.34150079e+02] [-7.47712287e-01 6.63969660e-01 -8.40402296e-03 -1.27075738e+02] [-1.13238944e-02 -9.56834349e-05 9.99935878e-01 -5.21426839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.19, Y:-127.12, Z:-0.52 [[ 6.66853585e-01 7.45150132e-01 7.58791056e-03 2.34188841e+02] [-7.45102717e-01 6.66896752e-01 -8.40614912e-03 -1.27124179e+02] [-1.13241960e-02 -4.81020879e-05 9.99935878e-01 -5.19400913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.23, Y:-127.17, Z:-0.52 [[ 6.67118367e-01 7.44913108e-01 7.58584908e-03 2.34230134e+02] [-7.44865656e-01 6.67161494e-01 -8.40800903e-03 -1.27172287e+02] [-1.13242225e-02 -4.13011947e-05 9.99935878e-01 -5.20328729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:-127.22, Z:-0.52 [[ 6.65495699e-01 7.46363159e-01 7.58351300e-03 2.34271231e+02] [-7.46315777e-01 6.65538902e-01 -8.41011550e-03 -1.27219556e+02] [-1.13241233e-02 -6.27997108e-05 9.99935878e-01 -5.22267290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:-127.26, Z:-0.52 [[ 6.62987089e-01 7.48592426e-01 7.58277171e-03 2.34314910e+02] [-7.48545182e-01 6.63030444e-01 -8.41078381e-03 -1.27264339e+02] [-1.13238576e-02 -9.98061556e-05 9.99935878e-01 -5.24158404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.36, Y:-127.31, Z:-0.53 [[ 6.63327266e-01 7.48291034e-01 7.58066300e-03 2.34358220e+02] [-7.48243749e-01 6.63370575e-01 -8.41268397e-03 -1.27308839e+02] [-1.13239248e-02 -9.18210408e-05 9.99935878e-01 -5.27026494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.40, Y:-127.36, Z:-0.53 [[ 6.65781924e-01 7.46107898e-01 7.57858787e-03 2.34400034e+02] [-7.46060449e-01 6.65825054e-01 -8.41455294e-03 -1.27356380e+02] [-1.13241781e-02 -5.18274217e-05 9.99935878e-01 -5.25910471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:-127.40, Z:-0.52 [[ 6.67101718e-01 7.44928117e-01 7.57618893e-03 2.34441052e+02] [-7.44880567e-01 6.67144737e-01 -8.41671232e-03 -1.27403503e+02] [-1.13242602e-02 -2.85526605e-05 9.99935878e-01 -5.23589187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.48, Y:-127.45, Z:-0.52 [[ 6.68650120e-01 7.43538600e-01 7.57406858e-03 2.34484338e+02] [-7.43490940e-01 6.68693016e-01 -8.41861995e-03 -1.27446729e+02] [-1.13242957e-02 -2.14012305e-06 9.99935878e-01 -5.24928592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05762799999997 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:234.53, Y:-127.49, Z:-0.53 [[ 6.71447724e-01 7.41013228e-01 7.57291629e-03 2.34527673e+02] [-7.40965394e-01 6.71490427e-01 -8.41965636e-03 -1.27492393e+02] [-1.13242175e-02 4.20901946e-05 9.99935878e-01 -5.27081823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.57, Y:-127.54, Z:-0.52 [[ 6.75781475e-01 7.37063148e-01 7.57050545e-03 2.34567173e+02] [-7.37015041e-01 6.75823870e-01 -8.42182350e-03 -1.27540326e+02] [-1.13237440e-02 1.11735930e-04 9.99935878e-01 -5.22632797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.61, Y:-127.59, Z:-0.52 [[ 6.79158220e-01 7.33952881e-01 7.56843040e-03 2.34608257e+02] [-7.33904558e-01 6.79200369e-01 -8.42368787e-03 -1.27588294e+02] [-1.13230707e-02 1.66511294e-04 9.99935878e-01 -5.24527069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.65, Y:-127.63, Z:-0.53 [[ 6.79111915e-01 7.33995751e-01 7.56607890e-03 2.34650036e+02] [-7.33947407e-01 6.79154040e-01 -8.42579944e-03 -1.27634679e+02] [-1.13230340e-02 1.68956802e-04 9.99935878e-01 -5.27319028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.297628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:234.69, Y:-127.68, Z:-0.53 [[ 6.78648255e-01 7.34424490e-01 7.56402769e-03 2.34692034e+02] [-7.34376152e-01 6.78690387e-01 -8.42764045e-03 -1.27680942e+02] [-1.13230984e-02 1.64561941e-04 9.99935878e-01 -5.34238280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.73, Y:-127.73, Z:-0.53 [[ 6.76371301e-01 7.36522003e-01 7.56327503e-03 2.34734500e+02] [-7.36473788e-01 6.76413574e-01 -8.42831586e-03 -1.27726954e+02] [-1.13235420e-02 1.30517146e-04 9.99935878e-01 -5.33501736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.78, Y:-127.77, Z:-0.53 [[ 6.73126974e-01 7.39488276e-01 7.56090067e-03 2.34776728e+02] [-7.39440224e-01 6.73169431e-01 -8.43044533e-03 -1.27771918e+02] [-1.13239827e-02 8.39260736e-05 9.99935878e-01 -5.32361335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.82, Y:-127.81, Z:-0.53 [[ 6.74695215e-01 7.38057742e-01 7.55885422e-03 2.34821858e+02] [-7.38009579e-01 6.74737547e-01 -8.43227980e-03 -1.27814683e+02] [-1.13237521e-02 1.10712021e-04 9.99935878e-01 -5.33858170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.86, Y:-127.86, Z:-0.53 [[ 6.69175220e-01 7.43066230e-01 7.55666162e-03 2.34860508e+02] [-7.43018362e-01 6.69217885e-01 -8.43424426e-03 -1.27862478e+02] [-1.13242552e-02 2.92489176e-05 9.99935878e-01 -5.32820513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.90, Y:-127.91, Z:-0.53 [[ 6.65153039e-01 7.46668836e-01 7.55545194e-03 2.34903930e+02] [-7.46621187e-01 6.65195948e-01 -8.43532776e-03 -1.27907855e+02] [-1.13242524e-02 -3.02765991e-05 9.99935878e-01 -5.34231166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.94, Y:-127.95, Z:-0.54 [[ 6.60491504e-01 7.50795528e-01 7.55307036e-03 2.34944755e+02] [-7.50748123e-01 6.60534682e-01 -8.43745971e-03 -1.27954049e+02] [-1.13238719e-02 -9.75829471e-05 9.99935878e-01 -5.35537574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:-128.00, Z:-0.54 [[ 6.57639358e-01 7.53295068e-01 7.55087070e-03 2.34986747e+02] [-7.53247804e-01 6.57682691e-01 -8.43942777e-03 -1.28000340e+02] [-1.13234563e-02 -1.37576918e-04 9.99935878e-01 -5.37980129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.03, Y:-128.05, Z:-0.54 [[ 6.55972268e-01 7.54747242e-01 7.54878336e-03 2.35027678e+02] [-7.54700052e-01 6.56015682e-01 -8.44129441e-03 -1.28047284e+02] [-1.13231639e-02 -1.59812157e-04 9.99935878e-01 -5.43095035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.07, Y:-128.10, Z:-0.55 [[ 6.57669668e-01 7.53268647e-01 7.54670864e-03 2.35066525e+02] [-7.53221339e-01 6.57712952e-01 -8.44314886e-03 -1.28095612e+02] [-1.13235273e-02 -1.31539076e-04 9.99935878e-01 -5.45360019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.10, Y:-128.14, Z:-0.54 [[ 6.61030142e-01 7.50321417e-01 7.54466092e-03 2.35104681e+02] [-7.50273895e-01 6.61073191e-01 -8.44497827e-03 -1.28144211e+02] [-1.13240211e-02 -7.81769476e-05 9.99935878e-01 -5.43765797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:235.14, Y:-128.19, Z:-0.54 [[ 6.66679258e-01 7.45306565e-01 7.54257736e-03 2.35144950e+02] [-7.45258698e-01 6.66721924e-01 -8.44683878e-03 -1.28191373e+02] [-1.13242861e-02 1.01608259e-05 9.99935878e-01 -5.43284504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.19, Y:-128.24, Z:-0.54 [[ 6.69515321e-01 7.42759972e-01 7.54051419e-03 2.35186299e+02] [-7.42711921e-01 6.69557781e-01 -8.44868017e-03 -1.28237407e+02] [-1.13241514e-02 5.60910363e-05 9.99935878e-01 -5.36545843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:-128.28, Z:-0.54 [[ 6.71581815e-01 7.40892055e-01 7.53848127e-03 2.35230092e+02] [-7.40843867e-01 6.71624117e-01 -8.45049369e-03 -1.28283281e+02] [-1.13239295e-02 9.03602742e-05 9.99935878e-01 -5.35868528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.27, Y:-128.33, Z:-0.54 [[ 6.73433429e-01 7.39209459e-01 7.53608514e-03 2.35274382e+02] [-7.39161141e-01 6.73475583e-01 -8.45263001e-03 -1.28327877e+02] [-1.13236334e-02 1.21902317e-04 9.99935878e-01 -5.40242592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.32, Y:-128.37, Z:-0.55 [[ 6.81191039e-01 7.32066944e-01 7.53371725e-03 2.35322686e+02] [-7.32018161e-01 6.81232654e-01 -8.45473995e-03 -1.28369136e+02] [-1.13216498e-02 2.44475245e-04 9.99935878e-01 -5.49079495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:-128.42, Z:-0.55 [[ 6.85958894e-01 7.27601316e-01 7.53131073e-03 2.35364555e+02] [-7.27552238e-01 6.86000161e-01 -8.45688308e-03 -1.28415693e+02] [-1.13197196e-02 3.21652181e-04 9.99935878e-01 -5.51480491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.41, Y:-128.46, Z:-0.55 [[ 6.89037198e-01 7.24686854e-01 7.53015692e-03 2.35407667e+02] [-7.24637591e-01 6.89078244e-01 -8.45791033e-03 -1.28461828e+02] [-1.13182037e-02 3.71180067e-04 9.99935878e-01 -5.51067708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.45, Y:-128.51, Z:-0.55 [[ 6.88232397e-01 7.25451240e-01 7.52763024e-03 2.35446149e+02] [-7.25401998e-01 6.88273468e-01 -8.46015851e-03 -1.28510443e+02] [-1.13185007e-02 3.61997154e-04 9.99935878e-01 -5.46103138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.49, Y:-128.56, Z:-0.54 [[ 6.88560629e-01 7.25139731e-01 7.52530153e-03 2.35488094e+02] [-7.25090448e-01 6.88601651e-01 -8.46222938e-03 -1.28556045e+02] [-1.13182338e-02 3.70233738e-04 9.99935878e-01 -5.41184710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:-128.60, Z:-0.54 [[ 6.86758151e-01 7.26847056e-01 7.52323551e-03 2.35532981e+02] [-7.26797855e-01 6.86799270e-01 -8.46406575e-03 -1.28600012e+02] [-1.13190339e-02 3.44894712e-04 9.99935878e-01 -5.36814738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.58, Y:-128.64, Z:-0.53 [[ 6.83384527e-01 7.30019863e-01 7.52250298e-03 2.35576721e+02] [-7.29970845e-01 6.83425866e-01 -8.46471675e-03 -1.28644787e+02] [-1.13204845e-02 2.93448597e-04 9.99935878e-01 -5.34445218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.62, Y:-128.69, Z:-0.54 [[ 6.78704752e-01 7.34372727e-01 7.52046887e-03 2.35623789e+02] [-7.34323955e-01 6.78746379e-01 -8.46652356e-03 -1.28685872e+02] [-1.13220750e-02 2.23809325e-04 9.99935878e-01 -5.39769563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:-128.73, Z:-0.54 [[ 6.71464089e-01 7.40998957e-01 7.51822764e-03 2.35666420e+02] [-7.40950573e-01 6.71506168e-01 -8.46851330e-03 -1.28729249e+02] [-1.13236957e-02 1.15667491e-04 9.99935878e-01 -5.43876591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.71, Y:-128.77, Z:-0.55 [[ 6.69026619e-01 7.43200438e-01 7.51618182e-03 2.35709557e+02] [-7.43152172e-01 6.69068833e-01 -8.47032866e-03 -1.28774578e+02] [-1.13239950e-02 8.12085040e-05 9.99935878e-01 -5.48778799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.75, Y:-128.82, Z:-0.55 [[ 6.68884754e-01 7.43328143e-01 7.51388763e-03 2.35751105e+02] [-7.43279862e-01 6.68926951e-01 -8.47236331e-03 -1.28822544e+02] [-1.13239880e-02 8.21132862e-05 9.99935878e-01 -5.49404568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.79, Y:-128.87, Z:-0.55 [[ 6.68808968e-01 7.43396342e-01 7.51284698e-03 2.35792314e+02] [-7.43348056e-01 6.68851158e-01 -8.47328600e-03 -1.28870367e+02] [-1.13239862e-02 8.23494676e-05 9.99935878e-01 -5.50311911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.83, Y:-128.92, Z:-0.55 [[ 6.67923014e-01 7.44192475e-01 7.51050603e-03 2.35832828e+02] [-7.44144215e-01 6.67965235e-01 -8.47536046e-03 -1.28918820e+02] [-1.13240564e-02 7.19886830e-05 9.99935878e-01 -5.50912110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.87, Y:-128.97, Z:-0.55 [[ 6.66099108e-01 7.45825452e-01 7.50819364e-03 2.35872213e+02] [-7.45777273e-01 6.66141421e-01 -8.47740848e-03 -1.28967735e+02] [-1.13241858e-02 4.73540491e-05 9.99935878e-01 -5.52013094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.91, Y:-129.02, Z:-0.55 [[ 6.64038224e-01 7.47660952e-01 7.50583600e-03 2.35912204e+02] [-7.47612867e-01 6.64080643e-01 -8.47949540e-03 -1.29016723e+02] [-1.13242680e-02 1.92494973e-05 9.99935878e-01 -5.53414543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.95, Y:-129.07, Z:-0.56 [[ 6.60859662e-01 7.50471989e-01 7.50336473e-03 2.35951463e+02] [-7.50424059e-01 6.60902256e-01 -8.48168162e-03 -1.29065975e+02] [-1.13242552e-02 -2.55041695e-05 9.99935878e-01 -5.55220435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.99, Y:-129.11, Z:-0.56 [[ 6.58020699e-01 7.52962480e-01 7.50090990e-03 2.35989449e+02] [-7.52914686e-01 6.58063447e-01 -8.48385203e-03 -1.29113599e+02] [-1.13240969e-02 -6.49949847e-05 9.99935878e-01 -5.59309855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.03, Y:-129.16, Z:-0.56 [[ 6.54383296e-01 7.56125830e-01 7.49875288e-03 2.36026895e+02] [-7.56078221e-01 6.54426249e-01 -8.48575816e-03 -1.29163882e+02] [-1.13236817e-02 -1.16705335e-04 9.99935878e-01 -5.61862856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.277628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:236.06, Y:-129.21, Z:-0.57 [[ 6.54583415e-01 7.55952613e-01 7.49658585e-03 2.36064096e+02] [-7.55904971e-01 6.54626332e-01 -8.48767215e-03 -1.29214099e+02] [-1.13237404e-02 -1.10817080e-04 9.99935878e-01 -5.66844837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.10, Y:-129.27, Z:-0.56 [[ 6.54997942e-01 7.55593495e-01 7.49443431e-03 2.36099788e+02] [-7.55545807e-01 6.55040808e-01 -8.48957149e-03 -1.29265564e+02] [-1.13238253e-02 -1.01736566e-04 9.99935878e-01 -5.60629756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.14, Y:-129.31, Z:-0.56 [[ 6.54483776e-01 7.56038923e-01 7.49228429e-03 2.36141383e+02] [-7.55991243e-01 6.54526650e-01 -8.49146852e-03 -1.29312296e+02] [-1.13237805e-02 -1.06572931e-04 9.99935878e-01 -5.58588719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.19, Y:-129.36, Z:-0.56 [[ 6.54775370e-01 7.55786420e-01 7.49014168e-03 2.36185028e+02] [-7.55738702e-01 6.54818202e-01 -8.49335805e-03 -1.29357057e+02] [-1.13238458e-02 -9.93482976e-05 9.99935878e-01 -5.60143095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.23, Y:-129.40, Z:-0.56 [[ 6.55389935e-01 7.55253578e-01 7.48769912e-03 2.36228709e+02] [-7.55205800e-01 6.55432701e-01 -8.49551085e-03 -1.29400530e+02] [-1.13239478e-02 -8.68814966e-05 9.99935878e-01 -5.62859623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.27, Y:-129.45, Z:-0.56 [[ 6.55655650e-01 7.55022938e-01 7.48544437e-03 2.36268979e+02] [-7.54975122e-01 6.55698374e-01 -8.49749706e-03 -1.29447814e+02] [-1.13239989e-02 -7.98923146e-05 9.99935878e-01 -5.61010972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.31, Y:-129.50, Z:-0.56 [[ 6.54470682e-01 7.56050346e-01 7.48336698e-03 2.36309967e+02] [-7.56002577e-01 6.54513457e-01 -8.49932613e-03 -1.29495642e+02] [-1.13238829e-02 -9.48849431e-05 9.99935878e-01 -5.60185150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.35, Y:-129.54, Z:-0.56 [[ 6.52652862e-01 7.57620141e-01 7.48093876e-03 2.36352048e+02] [-7.57572450e-01 6.52695724e-01 -8.50146287e-03 -1.29542223e+02] [-1.13236562e-02 -1.18849038e-04 9.99935878e-01 -5.62703982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.39, Y:-129.59, Z:-0.56 [[ 6.51878796e-01 7.58286296e-01 7.47851983e-03 2.36392423e+02] [-7.58238625e-01 6.51921680e-01 -8.50359020e-03 -1.29589968e+02] [-1.13235651e-02 -1.27192450e-04 9.99935878e-01 -5.64708448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.43, Y:-129.64, Z:-0.57 [[ 6.51153826e-01 7.58908956e-01 7.47608769e-03 2.36431021e+02] [-7.58861301e-01 6.51196728e-01 -8.50572793e-03 -1.29638693e+02] [-1.13234769e-02 -1.34776337e-04 9.99935878e-01 -5.66353117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.47, Y:-129.69, Z:-0.57 [[ 6.50989470e-01 7.59049965e-01 7.47398821e-03 2.36471598e+02] [-7.59002298e-01 6.51032359e-01 -8.50757234e-03 -1.29686652e+02] [-1.13234807e-02 -1.34434224e-04 9.99935878e-01 -5.66778402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.52, Y:-129.73, Z:-0.57 [[ 6.52222053e-01 7.57991140e-01 7.47161188e-03 2.36515120e+02] [-7.57943380e-01 6.52264838e-01 -8.50965879e-03 -1.29732547e+02] [-1.13237157e-02 -1.12871639e-04 9.99935878e-01 -5.67359885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.56, Y:-129.78, Z:-0.57 [[ 6.56735487e-01 7.54084021e-01 7.46920490e-03 2.36558122e+02] [-7.54035982e-01 6.56777959e-01 -8.51177096e-03 -1.29778395e+02] [-1.13241996e-02 -4.20672073e-05 9.99935878e-01 -5.66485306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:-129.83, Z:-0.57 [[ 6.60185829e-01 7.51065189e-01 7.46682623e-03 2.36598562e+02] [-7.51016932e-01 6.60228053e-01 -8.51385710e-03 -1.29826445e+02] [-1.13242698e-02 1.30148724e-05 9.99935878e-01 -5.65339983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.64, Y:-129.88, Z:-0.56 [[ 6.65825186e-01 7.46070441e-01 7.46445332e-03 2.36639045e+02] [-7.46021844e-01 6.65867019e-01 -8.51593702e-03 -1.29875074e+02] [-1.13238222e-02 1.01480123e-04 9.99935878e-01 -5.64205143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.68, Y:-129.92, Z:-0.57 [[ 6.71846398e-01 7.40652912e-01 7.46205809e-03 2.36681144e+02] [-7.40603954e-01 6.71887807e-01 -8.51803531e-03 -1.29922067e+02] [-1.13225735e-02 1.96381608e-04 9.99935878e-01 -5.66626987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:-129.97, Z:-0.57 [[ 6.75237693e-01 7.37562480e-01 7.45963774e-03 2.36723541e+02] [-7.37513310e-01 6.75278850e-01 -8.52015440e-03 -1.29968047e+02] [-1.13214818e-02 2.51547279e-04 9.99935878e-01 -5.68521665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.77, Y:-130.01, Z:-0.57 [[ 6.78812300e-01 7.34273962e-01 7.45721799e-03 2.36765115e+02] [-7.34224569e-01 6.78853190e-01 -8.52227175e-03 -1.30013358e+02] [-1.13200385e-02 3.09750225e-04 9.99935878e-01 -5.70806522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.81, Y:-130.06, Z:-0.57 [[ 6.81226320e-01 7.32034917e-01 7.45528539e-03 2.36808909e+02] [-7.31985371e-01 6.81267025e-01 -8.52396205e-03 -1.30058072e+02] [-1.13188779e-02 3.49587460e-04 9.99935878e-01 -5.73029820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.85, Y:-130.10, Z:-0.57 [[ 6.82187437e-01 7.31139351e-01 7.45321899e-03 2.36853026e+02] [-7.31089732e-01 6.82228052e-01 -8.52576850e-03 -1.30102787e+02] [-1.13183199e-02 3.67200287e-04 9.99935878e-01 -5.74090463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.90, Y:-130.15, Z:-0.58 [[ 6.81201528e-01 7.32058033e-01 7.45085648e-03 2.36898024e+02] [-7.32008446e-01 6.81242182e-01 -8.52783264e-03 -1.30145419e+02] [-1.13187061e-02 3.55082748e-04 9.99935878e-01 -5.75313462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.94, Y:-130.19, Z:-0.58 [[ 6.78149773e-01 7.34885979e-01 7.44867569e-03 2.36940480e+02] [-7.34836541e-01 6.78190608e-01 -8.52973704e-03 -1.30190614e+02] [-1.13200061e-02 3.10880154e-04 9.99935878e-01 -5.76086877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.98, Y:-130.24, Z:-0.57 [[ 6.73029122e-01 7.39578495e-01 7.44653717e-03 2.36984310e+02] [-7.39529322e-01 6.73070274e-01 -8.53160358e-03 -1.30235429e+02] [-1.13218334e-02 2.35085082e-04 9.99935878e-01 -5.73045291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:-130.28, Z:-0.57 [[ 6.67210175e-01 7.44832305e-01 7.44445608e-03 2.37030296e+02] [-7.44783436e-01 6.67251688e-01 -8.53341910e-03 -1.30278962e+02] [-1.13232921e-02 1.49076474e-04 9.99935878e-01 -5.73832398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.07, Y:-130.32, Z:-0.58 [[ 6.62659313e-01 7.48884004e-01 7.44203376e-03 2.37073412e+02] [-7.48835365e-01 6.62701095e-01 -8.53553109e-03 -1.30324939e+02] [-1.13239666e-02 8.32910975e-05 9.99935878e-01 -5.76892879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.11, Y:-130.37, Z:-0.58 [[ 6.58416074e-01 7.52617384e-01 7.43960635e-03 2.37113922e+02] [-7.52568957e-01 6.58458103e-01 -8.53764631e-03 -1.30373006e+02] [-1.13242501e-02 2.25067660e-05 9.99935878e-01 -5.76535638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.837628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:-130.42, Z:-0.58 [[ 6.56609256e-01 7.54194254e-01 7.43716386e-03 2.37154425e+02] [-7.54145904e-01 6.56651374e-01 -8.53977344e-03 -1.30419686e+02] [-1.13242719e-02 -1.41238304e-06 9.99935878e-01 -5.78313939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.19, Y:-130.47, Z:-0.58 [[ 6.55776390e-01 7.54918571e-01 7.43490759e-03 2.37193557e+02] [-7.54870246e-01 6.55818535e-01 -8.54173735e-03 -1.30467437e+02] [-1.13242664e-02 -1.09208362e-05 9.99935878e-01 -5.80624903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.23, Y:-130.52, Z:-0.58 [[ 6.55940502e-01 7.54776002e-01 7.43270126e-03 2.37231995e+02] [-7.54727646e-01 6.55982611e-01 -8.54365678e-03 -1.30517105e+02] [-1.13242699e-02 -5.53461445e-06 9.99935878e-01 -5.82524552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.27, Y:-130.57, Z:-0.59 [[ 6.58446139e-01 7.52591172e-01 7.43030292e-03 2.37269343e+02] [-7.52542652e-01 6.58488061e-01 -8.54574208e-03 -1.30566873e+02] [-1.13242158e-02 3.52910140e-05 9.99935878e-01 -5.85025439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.31, Y:-130.62, Z:-0.59 [[ 6.61861464e-01 7.49589372e-01 7.42808871e-03 2.37307314e+02] [-7.49540641e-01 6.61903139e-01 -8.54766626e-03 -1.30617626e+02] [-1.13239150e-02 8.97165327e-05 9.99935878e-01 -5.87001569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.35, Y:-130.67, Z:-0.59 [[ 6.64818877e-01 7.46967683e-01 7.42571270e-03 2.37345135e+02] [-7.46918764e-01 6.64860332e-01 -8.54972990e-03 -1.30666904e+02] [-1.13234338e-02 1.37617679e-04 9.99935878e-01 -5.88626781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.38, Y:-130.72, Z:-0.59 [[ 6.68723999e-01 7.43473674e-01 7.42352111e-03 2.37382535e+02] [-7.43424518e-01 6.68765172e-01 -8.55163239e-03 -1.30716408e+02] [-1.13225059e-02 1.99854209e-04 9.99935878e-01 -5.90174908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.43, Y:-130.76, Z:-0.59 [[ 6.69842538e-01 7.42466092e-01 7.42140794e-03 2.37429593e+02] [-7.42416853e-01 6.69883613e-01 -8.55346588e-03 -1.30758694e+02] [-1.13221379e-02 2.19696967e-04 9.99935878e-01 -5.93872949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.47, Y:-130.81, Z:-0.59 [[ 6.69451531e-01 7.42818690e-01 7.41899303e-03 2.37470235e+02] [-7.42769450e-01 6.69492603e-01 -8.55555998e-03 -1.30805174e+02] [-1.13221908e-02 2.16931349e-04 9.99935878e-01 -5.94013961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:237.51, Y:-130.85, Z:-0.59 [[ 6.65993595e-01 7.45920587e-01 7.41687030e-03 2.37505791e+02] [-7.45871517e-01 6.66034872e-01 -8.55739979e-03 -1.30854714e+02] [-1.13230349e-02 1.67141143e-04 9.99935878e-01 -5.94543128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.55, Y:-130.90, Z:-0.59 [[ 6.65962579e-01 7.45948297e-01 7.41492715e-03 2.37546216e+02] [-7.45899211e-01 6.66003836e-01 -8.55908318e-03 -1.30901511e+02] [-1.13230035e-02 1.69240802e-04 9.99935878e-01 -5.90885276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.59, Y:-130.95, Z:-0.59 [[ 6.66068028e-01 7.45854163e-01 7.41282019e-03 2.37588141e+02] [-7.45805050e-01 6.66109253e-01 -8.56090758e-03 -1.30946793e+02] [-1.13229367e-02 1.73628090e-04 9.99935878e-01 -5.90295467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.63, Y:-130.99, Z:-0.59 [[ 6.65388442e-01 7.46460518e-01 7.41059619e-03 2.37628952e+02] [-7.46411421e-01 6.65429687e-01 -8.56283231e-03 -1.30994499e+02] [-1.13230469e-02 1.66256015e-04 9.99935878e-01 -5.90190321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.67, Y:-131.04, Z:-0.59 [[ 6.63624858e-01 7.48028855e-01 7.40818336e-03 2.37669187e+02] [-7.47979832e-01 6.63666190e-01 -8.56491928e-03 -1.31041761e+02] [-1.13233676e-02 1.42721591e-04 9.99935878e-01 -5.90847014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.71, Y:-131.09, Z:-0.59 [[ 6.60287544e-01 7.50976372e-01 7.40595537e-03 2.37710132e+02] [-7.50927513e-01 6.60329069e-01 -8.56684536e-03 -1.31089101e+02] [-1.13238661e-02 9.52456358e-05 9.99935878e-01 -5.92321636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.75, Y:-131.14, Z:-0.59 [[ 6.57979880e-01 7.52999114e-01 7.40355433e-03 2.37749547e+02] [-7.52950359e-01 6.58021528e-01 -8.56891986e-03 -1.31137283e+02] [-1.13240872e-02 6.36679771e-05 9.99935878e-01 -5.93478204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.79, Y:-131.19, Z:-0.59 [[ 6.56560374e-01 7.54237161e-01 7.40133170e-03 2.37789073e+02] [-7.54188463e-01 6.56602088e-01 -8.57083921e-03 -1.31185678e+02] [-1.13241753e-02 4.52744127e-05 9.99935878e-01 -5.91088830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.83, Y:-131.23, Z:-0.59 [[ 6.55008917e-01 7.55584921e-01 7.39905697e-03 2.37827864e+02] [-7.55536286e-01 6.55050706e-01 -8.57280249e-03 -1.31233898e+02] [-1.13242378e-02 2.50060568e-05 9.99935878e-01 -5.92193349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.87, Y:-131.28, Z:-0.59 [[ 6.56473474e-01 7.54312843e-01 7.39682204e-03 2.37867168e+02] [-7.54264106e-01 6.56515142e-01 -8.57473041e-03 -1.31282753e+02] [-1.13241550e-02 4.99256893e-05 9.99935878e-01 -5.93829876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.91, Y:-131.33, Z:-0.60 [[ 6.60340486e-01 7.50929934e-01 7.39440645e-03 2.37907187e+02] [-7.50880960e-01 6.60381876e-01 -8.57681298e-03 -1.31331849e+02] [-1.13237176e-02 1.11297834e-04 9.99935878e-01 -5.95194478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.95, Y:-131.38, Z:-0.60 [[ 6.62314841e-01 7.49189169e-01 7.39196189e-03 2.37949098e+02] [-7.49140063e-01 6.62356074e-01 -8.57891932e-03 -1.31379196e+02] [-1.13233443e-02 1.44330796e-04 9.99935878e-01 -5.95441804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.99, Y:-131.43, Z:-0.60 [[ 6.65656226e-01 7.46221940e-01 7.38954836e-03 2.37990757e+02] [-7.46172627e-01 6.65697212e-01 -8.58099774e-03 -1.31425244e+02] [-1.13225305e-02 1.98115857e-04 9.99935878e-01 -5.96733560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:-131.47, Z:-0.60 [[ 6.67906788e-01 7.44208269e-01 7.38743554e-03 2.38032668e+02] [-7.44158813e-01 6.67947600e-01 -8.58281629e-03 -1.31471020e+02] [-1.13218227e-02 2.35096002e-04 9.99935878e-01 -5.99217082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.07, Y:-131.52, Z:-0.60 [[ 6.68152839e-01 7.43987393e-01 7.38531706e-03 2.38074689e+02] [-7.43937902e-01 6.68193611e-01 -8.58463882e-03 -1.31518195e+02] [-1.13216847e-02 2.41633522e-04 9.99935878e-01 -6.00779330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.12, Y:-131.56, Z:-0.60 [[ 6.67264831e-01 7.44783954e-01 7.38289095e-03 2.38116382e+02] [-7.44734490e-01 6.67305633e-01 -8.58672479e-03 -1.31564732e+02] [-1.13218996e-02 2.31325933e-04 9.99935878e-01 -6.00257951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.16, Y:-131.61, Z:-0.60 [[ 6.63042830e-01 7.48545078e-01 7.38047464e-03 2.38159946e+02] [-7.48495822e-01 6.63083883e-01 -8.58880116e-03 -1.31610900e+02] [-1.13229786e-02 1.70488587e-04 9.99935878e-01 -5.98542551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.21, Y:-131.65, Z:-0.60 [[ 6.62017190e-01 7.49452336e-01 7.37805834e-03 2.38207846e+02] [-7.49403113e-01 6.62058284e-01 -8.59087634e-03 -1.31651916e+02] [-1.13231570e-02 1.58167928e-04 9.99935878e-01 -6.03564971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:238.24, Y:-131.70, Z:-0.60 [[ 6.56058130e-01 7.54674318e-01 7.37583348e-03 2.38244070e+02] [-7.54625401e-01 6.56099587e-01 -8.59278610e-03 -1.31701268e+02] [-1.13240363e-02 7.13758903e-05 9.99935878e-01 -6.02503258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:-131.75, Z:-0.60 [[ 6.54287606e-01 7.56209863e-01 7.37380049e-03 2.38282408e+02] [-7.56161023e-01 6.54329154e-01 -8.59453033e-03 -1.31749754e+02] [-1.13241612e-02 4.75141471e-05 9.99935879e-01 -5.99856720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.32, Y:-131.80, Z:-0.60 [[ 6.52752869e-01 7.57535049e-01 7.37162581e-03 2.38321565e+02] [-7.57486273e-01 6.52794491e-01 -8.59639518e-03 -1.31798056e+02] [-1.13242274e-02 2.74162515e-05 9.99935879e-01 -5.99794512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.36, Y:-131.85, Z:-0.60 [[ 6.50945351e-01 7.59088823e-01 7.36948426e-03 2.38361467e+02] [-7.59040125e-01 6.50987065e-01 -8.59823069e-03 -1.31846611e+02] [-1.13242597e-02 3.24404304e-06 9.99935879e-01 -5.99200117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.40, Y:-131.90, Z:-0.60 [[ 6.47597114e-01 7.61947311e-01 7.36706590e-03 2.38400874e+02] [-7.61898773e-01 6.47639015e-01 -8.60030226e-03 -1.31895784e+02] [-1.13241765e-02 -4.34275466e-05 9.99935879e-01 -6.00374962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.44, Y:-131.94, Z:-0.60 [[ 6.46221336e-01 7.63114505e-01 7.36462340e-03 2.38439961e+02] [-7.63066019e-01 6.46263297e-01 -8.60239332e-03 -1.31943969e+02] [-1.13240969e-02 -6.06437500e-05 9.99935879e-01 -6.02216269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.48, Y:-131.99, Z:-0.60 [[ 6.43621747e-01 7.65308330e-01 7.36250909e-03 2.38478491e+02] [-7.65259967e-01 6.43663849e-01 -8.60420251e-03 -1.31993653e+02] [-1.13238488e-02 -9.63816230e-05 9.99935879e-01 -6.02042408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.52, Y:-132.04, Z:-0.60 [[ 6.41735566e-01 7.66890666e-01 7.36003931e-03 2.38515814e+02] [-7.66842382e-01 6.41777759e-01 -8.60631465e-03 -1.32043039e+02] [-1.13236119e-02 -1.21011873e-04 9.99935879e-01 -6.00994422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.55, Y:-132.09, Z:-0.60 [[ 6.42839752e-01 7.65965348e-01 7.35790640e-03 2.38552419e+02] [-7.65916983e-01 6.42881851e-01 -8.60813777e-03 -1.32091458e+02] [-1.13237997e-02 -1.01892329e-04 9.99935879e-01 -6.03557820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.59, Y:-132.14, Z:-0.60 [[ 6.43390914e-01 7.65502464e-01 7.35595434e-03 2.38592999e+02] [-7.65454049e-01 6.43432957e-01 -8.60980555e-03 -1.32140147e+02] [-1.13238908e-02 -9.11743782e-05 9.99935879e-01 -6.04156934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.64, Y:-132.18, Z:-0.61 [[ 6.43499659e-01 7.65411076e-01 7.35352026e-03 2.38636105e+02] [-7.65362632e-01 6.43541667e-01 -8.61188397e-03 -1.32184493e+02] [-1.13239281e-02 -8.63652187e-05 9.99935879e-01 -6.06150714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.68, Y:-132.23, Z:-0.60 [[ 6.45051966e-01 7.64103342e-01 7.35141538e-03 2.38678149e+02] [-7.64054792e-01 6.45093853e-01 -8.61368039e-03 -1.32230086e+02] [-1.13240948e-02 -6.06126762e-05 9.99935879e-01 -6.04347980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.72, Y:-132.28, Z:-0.60 [[ 6.45523470e-01 7.63705072e-01 7.34933778e-03 2.38719143e+02] [-7.63656477e-01 6.45565303e-01 -8.61545268e-03 -1.32278191e+02] [-1.13241424e-02 -5.08924876e-05 9.99935879e-01 -6.03576713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.76, Y:-132.33, Z:-0.60 [[ 6.48295047e-01 7.61353765e-01 7.34689037e-03 2.38759685e+02] [-7.61304994e-01 6.48336676e-01 -8.61753922e-03 -1.32325193e+02] [-1.13242544e-02 -6.51633002e-06 9.99935879e-01 -6.02182912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.80, Y:-132.37, Z:-0.60 [[ 6.49667078e-01 7.60183361e-01 7.34472243e-03 2.38800486e+02] [-7.60134494e-01 6.49708594e-01 -8.61938655e-03 -1.32371935e+02] [-1.13242435e-02 1.67548039e-05 9.99935879e-01 -6.02989966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.84, Y:-132.42, Z:-0.60 [[ 6.50942600e-01 7.59091444e-01 7.34243335e-03 2.38841801e+02] [-7.59042485e-01 6.50984008e-01 -8.62133607e-03 -1.32419454e+02] [-1.13241891e-02 3.87760578e-05 9.99935879e-01 -6.04132563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.88, Y:-132.47, Z:-0.60 [[ 6.52633527e-01 7.57638174e-01 7.34001440e-03 2.38882596e+02] [-7.57589100e-01 6.52674798e-01 -8.62339502e-03 -1.32466837e+02] [-1.13240557e-02 6.72018045e-05 9.99935879e-01 -6.03717356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.92, Y:-132.51, Z:-0.60 [[ 6.56161170e-01 7.54585104e-01 7.33760573e-03 2.38922623e+02] [-7.54535815e-01 6.56202184e-01 -8.62544405e-03 -1.32514750e+02] [-1.13235845e-02 1.23195135e-04 9.99935879e-01 -6.04215369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.96, Y:-132.56, Z:-0.60 [[ 6.58461243e-01 7.52578891e-01 7.33514548e-03 2.38962824e+02] [-7.52529453e-01 6.58502079e-01 -8.62753577e-03 -1.32562688e+02] [-1.13231098e-02 1.60984912e-04 9.99935879e-01 -6.04354712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:-132.61, Z:-0.60 [[ 6.60737980e-01 7.50580811e-01 7.33271888e-03 2.39004719e+02] [-7.50531227e-01 6.60778637e-01 -8.62959769e-03 -1.32609596e+02] [-1.13225144e-02 1.98468438e-04 9.99935879e-01 -6.04814639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.05, Y:-132.66, Z:-0.61 [[ 6.61027051e-01 7.50326265e-01 7.33026746e-03 2.39046678e+02] [-7.50276643e-01 6.61067662e-01 -8.63167951e-03 -1.32656466e+02] [-1.13223786e-02 2.06045194e-04 9.99935879e-01 -6.06007847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.09, Y:-132.70, Z:-0.61 [[ 6.60970180e-01 7.50376389e-01 7.32777676e-03 2.39087896e+02] [-7.50326746e-01 6.61010765e-01 -8.63379344e-03 -1.32702727e+02] [-1.13223341e-02 2.08453113e-04 9.99935879e-01 -6.08233733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.13, Y:-132.75, Z:-0.61 [[ 6.60501429e-01 7.50789052e-01 7.32547763e-03 2.39128943e+02] [-7.50739413e-01 6.60542018e-01 -8.63574373e-03 -1.32748661e+02] [-1.13224076e-02 2.04396295e-04 9.99935879e-01 -6.10703626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.17, Y:-132.80, Z:-0.61 [[ 6.57263794e-01 7.53625016e-01 7.32401827e-03 2.39171268e+02] [-7.53575538e-01 6.57304580e-01 -8.63698125e-03 -1.32795036e+02] [-1.13231559e-02 1.57574057e-04 9.99935879e-01 -6.12298069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.21, Y:-132.84, Z:-0.61 [[ 6.50848567e-01 7.59172270e-01 7.32170347e-03 2.39212850e+02] [-7.59123118e-01 6.50889745e-01 -8.63894310e-03 -1.32842401e+02] [-1.13240677e-02 6.45693642e-05 9.99935879e-01 -6.12816351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.25, Y:-132.89, Z:-0.61 [[ 6.46431454e-01 7.62936959e-01 7.31929629e-03 2.39254391e+02] [-7.62888023e-01 6.46472890e-01 -8.64098208e-03 -1.32889291e+02] [-1.13242512e-02 1.99913071e-06 9.99935879e-01 -6.14917098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.30, Y:-132.94, Z:-0.62 [[ 6.41447130e-01 7.67132351e-01 7.31688593e-03 2.39296535e+02] [-7.67083663e-01 6.41488856e-01 -8.64302261e-03 -1.32936406e+02] [-1.13240430e-02 -6.86216211e-05 9.99935879e-01 -6.18377643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.33, Y:-132.99, Z:-0.62 [[ 6.39906870e-01 7.68417658e-01 7.31440501e-03 2.39334168e+02] [-7.68369031e-01 6.39948666e-01 -8.64512165e-03 -1.32985278e+02] [-1.13239079e-02 -8.80895512e-05 9.99935879e-01 -6.17859613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.37, Y:-133.04, Z:-0.62 [[ 6.40258501e-01 7.68124720e-01 7.31211165e-03 2.39373009e+02] [-7.68076051e-01 6.40300248e-01 -8.64706095e-03 -1.33035072e+02] [-1.13239682e-02 -7.99035651e-05 9.99935879e-01 -6.16332208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:-133.08, Z:-0.62 [[ 6.41504786e-01 7.67084205e-01 7.30968755e-03 2.39412348e+02] [-7.67035445e-01 6.41546427e-01 -8.64910965e-03 -1.33083741e+02] [-1.13240993e-02 -5.83442075e-05 9.99935879e-01 -6.17780275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:-133.13, Z:-0.62 [[ 6.43757162e-01 7.65194956e-01 7.30728394e-03 2.39449884e+02] [-7.65146051e-01 6.43798632e-01 -8.65113989e-03 -1.33132775e+02] [-1.13242280e-02 -2.19061845e-05 9.99935879e-01 -6.21904971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.49, Y:-133.18, Z:-0.62 [[ 6.46225500e-01 7.63111550e-01 7.30521139e-03 2.39488061e+02] [-7.63062491e-01 6.46266789e-01 -8.65288964e-03 -1.33183057e+02] [-1.13242355e-02 1.73851255e-05 9.99935879e-01 -6.21318767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.53, Y:-133.23, Z:-0.62 [[ 6.49896307e-01 7.59987802e-01 7.30282887e-03 2.39525379e+02] [-7.59938522e-01 6.49937332e-01 -8.65489997e-03 -1.33234421e+02] [-1.13239995e-02 7.50865513e-05 9.99935879e-01 -6.22912688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.56, Y:-133.28, Z:-0.62 [[ 6.51627513e-01 7.58503980e-01 7.30049021e-03 2.39563431e+02] [-7.58454584e-01 6.51668399e-01 -8.65687220e-03 -1.33283601e+02] [-1.13237708e-02 1.03965830e-04 9.99935879e-01 -6.19722112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.60, Y:-133.33, Z:-0.62 [[ 6.51118857e-01 7.58940688e-01 7.29832477e-03 2.39604254e+02] [-7.58891300e-01 6.51159751e-01 -8.65869742e-03 -1.33331092e+02] [-1.13238131e-02 9.92059973e-05 9.99935879e-01 -6.19799107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:-133.38, Z:-0.62 [[ 6.50794674e-01 7.59218719e-01 7.29586963e-03 2.39644846e+02] [-7.59169324e-01 6.50835561e-01 -8.66076564e-03 -1.33377351e+02] [-1.13238268e-02 9.75797333e-05 9.99935879e-01 -6.20556567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.69, Y:-133.42, Z:-0.62 [[ 6.50000852e-01 7.59898477e-01 7.29360329e-03 2.39685820e+02] [-7.59849104e-01 6.50041765e-01 -8.66267381e-03 -1.33424766e+02] [-1.13238994e-02 8.87074352e-05 9.99935879e-01 -6.21678235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.73, Y:-133.47, Z:-0.62 [[ 6.50711616e-01 7.59289952e-01 7.29118129e-03 2.39728748e+02] [-7.59240518e-01 6.50752456e-01 -8.66471187e-03 -1.33471335e+02] [-1.13237828e-02 1.02468407e-04 9.99935879e-01 -6.22063215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.77, Y:-133.52, Z:-0.62 [[ 6.49940923e-01 7.59949782e-01 7.28876372e-03 2.39768797e+02] [-7.59900367e-01 6.49981785e-01 -8.66674505e-03 -1.33519095e+02] [-1.13238547e-02 9.41380540e-05 9.99935879e-01 -6.16862064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.81, Y:-133.56, Z:-0.62 [[ 6.50767836e-01 7.59241813e-01 7.28650003e-03 2.39811461e+02] [-7.59192332e-01 6.50808618e-01 -8.66864782e-03 -1.33563348e+02] [-1.13237169e-02 1.09422232e-04 9.99935879e-01 -6.21729852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.85, Y:-133.61, Z:-0.62 [[ 6.47563267e-01 7.61976872e-01 7.28443430e-03 2.39854036e+02] [-7.61927543e-01 6.47604233e-01 -8.67038335e-03 -1.33608874e+02] [-1.13240621e-02 6.44106299e-05 9.99935879e-01 -6.20909537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.90, Y:-133.66, Z:-0.62 [[ 6.43849386e-01 7.65117597e-01 7.28216740e-03 2.39895832e+02] [-7.65068448e-01 6.43890567e-01 -8.67228687e-03 -1.33655188e+02] [-1.13242382e-02 1.22900698e-05 9.99935879e-01 -6.18922070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.94, Y:-133.70, Z:-0.62 [[ 6.44600728e-01 7.64484732e-01 7.27984149e-03 2.39936816e+02] [-7.64435520e-01 6.44641834e-01 -8.67423889e-03 -1.33700080e+02] [-1.13242136e-02 2.64512932e-05 9.99935879e-01 -6.24399119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.98, Y:-133.75, Z:-0.63 [[ 6.45420982e-01 7.63792374e-01 7.27771793e-03 2.39976132e+02] [-7.63743098e-01 6.45462011e-01 -8.67602020e-03 -1.33749371e+02] [-1.13241685e-02 4.13786451e-05 9.99935879e-01 -6.26287493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.02, Y:-133.80, Z:-0.63 [[ 6.45504459e-01 7.63721849e-01 7.27531582e-03 2.40016452e+02] [-7.63672545e-01 6.45545456e-01 -8.67803403e-03 -1.33797727e+02] [-1.13241513e-02 4.57507120e-05 9.99935879e-01 -6.27960183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.06, Y:-133.85, Z:-0.63 [[ 6.45523602e-01 7.63705692e-01 7.27292522e-03 2.40055425e+02] [-7.63656364e-01 6.45564570e-01 -8.68003709e-03 -1.33847077e+02] [-1.13241366e-02 4.91531796e-05 9.99935879e-01 -6.30807725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.09, Y:-133.90, Z:-0.63 [[ 6.46535890e-01 7.62848925e-01 7.27053664e-03 2.40091847e+02] [-7.62799521e-01 6.46576765e-01 -8.68203735e-03 -1.33896547e+02] [-1.13240429e-02 6.72868839e-05 9.99935879e-01 -6.32688955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:-133.95, Z:-0.63 [[ 6.47150265e-01 7.62327811e-01 7.26937651e-03 2.40129511e+02] [-7.62278363e-01 6.47191087e-01 -8.68300860e-03 -1.33947071e+02] [-1.13239746e-02 7.79228890e-05 9.99935879e-01 -6.32722600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.17, Y:-134.00, Z:-0.63 [[ 6.47711384e-01 7.61851137e-01 7.26692774e-03 2.40167194e+02] [-7.61801636e-01 6.47752142e-01 -8.68505752e-03 -1.33997370e+02] [-1.13238890e-02 8.94531808e-05 9.99935879e-01 -6.32437268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.21, Y:-134.05, Z:-0.63 [[ 6.44889766e-01 7.64241072e-01 7.26450127e-03 2.40207343e+02] [-7.64191699e-01 6.44930679e-01 -8.68708664e-03 -1.34045343e+02] [-1.13241281e-02 5.07417005e-05 9.99935879e-01 -6.31911489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.25, Y:-134.09, Z:-0.63 [[ 6.41509212e-01 7.67080956e-01 7.26210876e-03 2.40249639e+02] [-7.67031741e-01 6.41550316e-01 -8.68908624e-03 -1.34092223e+02] [-1.13242407e-02 3.86094553e-06 9.99935879e-01 -6.33736372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:-134.14, Z:-0.64 [[ 6.37951524e-01 7.70042305e-01 7.25966305e-03 2.40291166e+02] [-7.69993258e-01 6.37992827e-01 -8.69112913e-03 -1.34139453e+02] [-1.13241501e-02 -4.53725382e-05 9.99935879e-01 -6.35076119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.33, Y:-134.19, Z:-0.64 [[ 6.38035463e-01 7.69972780e-01 7.25720023e-03 2.40332033e+02] [-7.69923705e-01 6.38076733e-01 -8.69318513e-03 -1.34187191e+02] [-1.13241665e-02 -4.09300928e-05 9.99935879e-01 -6.37750344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.37, Y:-134.24, Z:-0.64 [[ 6.40109899e-01 7.68249104e-01 7.25474407e-03 2.40371215e+02] [-7.68199895e-01 6.40151009e-01 -8.69523439e-03 -1.34235674e+02] [-1.13242378e-02 -7.18802995e-06 9.99935879e-01 -6.39773731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.41, Y:-134.29, Z:-0.64 [[ 6.42325102e-01 7.66397980e-01 7.25257889e-03 2.40409509e+02] [-7.66348632e-01 6.42366044e-01 -8.69703996e-03 -1.34285778e+02] [-1.13242043e-02 2.83231651e-05 9.99935879e-01 -6.40829738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.45, Y:-134.33, Z:-0.64 [[ 6.43248521e-01 7.65623129e-01 7.25011622e-03 2.40450917e+02] [-7.65573709e-01 6.43289377e-01 -8.69909244e-03 -1.34333342e+02] [-1.13241491e-02 4.51799796e-05 9.99935879e-01 -6.42128884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.49, Y:-134.38, Z:-0.64 [[ 6.42582173e-01 7.66182499e-01 7.24766951e-03 2.40492089e+02] [-7.66133092e-01 6.42623044e-01 -8.70113044e-03 -1.34380774e+02] [-1.13241733e-02 3.85118588e-05 9.99935879e-01 -6.41477512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:240.53, Y:-134.43, Z:-0.64 [[ 6.41553345e-01 7.67044205e-01 7.24520174e-03 2.40533030e+02] [-7.66994829e-01 6.41594254e-01 -8.70318481e-03 -1.34428391e+02] [-1.13242073e-02 2.65250527e-05 9.99935879e-01 -6.40826556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.57, Y:-134.48, Z:-0.64 [[ 6.41113092e-01 7.67412240e-01 7.24274066e-03 2.40574192e+02] [-7.67362865e-01 6.41154001e-01 -8.70523242e-03 -1.34476475e+02] [-1.13242141e-02 2.32282531e-05 9.99935879e-01 -6.41110971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99762799999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:240.61, Y:-134.52, Z:-0.64 [[ 6.42673793e-01 7.66105720e-01 7.24028381e-03 2.40614883e+02] [-7.66056238e-01 6.42714574e-01 -8.70727534e-03 -1.34524303e+02] [-1.13241294e-02 4.94730956e-05 9.99935879e-01 -6.40996732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:-134.57, Z:-0.64 [[ 6.44073355e-01 7.64929492e-01 7.23780484e-03 2.40654888e+02] [-7.64879912e-01 6.44114018e-01 -8.70933547e-03 -1.34572913e+02] [-1.13239991e-02 7.33993912e-05 9.99935879e-01 -6.41257456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:-134.62, Z:-0.64 [[ 6.43779997e-01 7.65176428e-01 7.23532590e-03 2.40693388e+02] [-7.65126841e-01 6.43820650e-01 -8.71139437e-03 -1.34621305e+02] [-1.13240058e-02 7.22793989e-05 9.99935879e-01 -6.42359474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17762799999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:240.73, Y:-134.67, Z:-0.65 [[ 6.40496325e-01 7.67927171e-01 7.23303609e-03 2.40732693e+02] [-7.67877737e-01 6.40537164e-01 -8.71329518e-03 -1.34670509e+02] [-1.13242045e-02 2.67461606e-05 9.99935879e-01 -6.46389529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.237628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:240.77, Y:-134.72, Z:-0.65 [[ 6.34747126e-01 7.72686097e-01 7.23058357e-03 2.40772120e+02] [-7.72636946e-01 6.34788305e-01 -8.71532988e-03 -1.34717239e+02] [-1.13241041e-02 -5.45854162e-05 9.99935879e-01 -6.50666133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.81, Y:-134.76, Z:-0.65 [[ 6.29256150e-01 7.77164361e-01 7.22862289e-03 2.40813187e+02] [-7.77115485e-01 6.29297655e-01 -8.71695579e-03 -1.34764388e+02] [-1.13234628e-02 -1.32276740e-04 9.99935879e-01 -6.49677190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.357628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:240.85, Y:-134.81, Z:-0.65 [[ 6.27102279e-01 7.78903405e-01 7.22617980e-03 2.40854579e+02] [-7.78854620e-01 6.27143891e-01 -8.71898059e-03 -1.34810933e+02] [-1.13230982e-02 -1.60450923e-04 9.99935879e-01 -6.50679254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.90, Y:-134.86, Z:-0.65 [[ 6.27339229e-01 7.78712589e-01 7.22467132e-03 2.40895999e+02] [-7.78663777e-01 6.27380809e-01 -8.72023036e-03 -1.34857657e+02] [-1.13231733e-02 -1.55047268e-04 9.99935879e-01 -6.51606375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.94, Y:-134.90, Z:-0.65 [[ 6.29145684e-01 7.77253851e-01 7.22217042e-03 2.40935925e+02] [-7.77204919e-01 6.29187123e-01 -8.72230114e-03 -1.34904784e+02] [-1.13235388e-02 -1.25508263e-04 9.99935879e-01 -6.52717507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.97, Y:-134.96, Z:-0.65 [[ 6.33441492e-01 7.73756907e-01 7.21986284e-03 2.40973808e+02] [-7.73707724e-01 6.33482633e-01 -8.72421081e-03 -1.34955630e+02] [-1.13240761e-02 -5.97865365e-05 9.99935879e-01 -6.52986724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.01, Y:-135.00, Z:-0.65 [[ 6.40146042e-01 7.68219340e-01 7.21736485e-03 2.41011010e+02] [-7.68169778e-01 6.40186726e-01 -8.72627687e-03 -1.35004614e+02] [-1.13241558e-02 4.19300474e-05 9.99935879e-01 -6.54921849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:-135.05, Z:-0.66 [[ 6.42626281e-01 7.66145812e-01 7.21506242e-03 2.41051600e+02] [-7.66096098e-01 6.42666778e-01 -8.72818015e-03 -1.35052268e+02] [-1.13239396e-02 8.15267868e-05 9.99935879e-01 -6.55908836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.717628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:241.09, Y:-135.10, Z:-0.66 [[ 6.45971484e-01 7.63327465e-01 7.21267060e-03 2.41091044e+02] [-7.63277552e-01 6.46011736e-01 -8.73015622e-03 -1.35100050e+02] [-1.13234379e-02 1.34162411e-04 9.99935879e-01 -6.60528263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.777628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:241.13, Y:-135.15, Z:-0.66 [[ 6.47326140e-01 7.62179032e-01 7.21053398e-03 2.41130962e+02] [-7.62129028e-01 6.47366278e-01 -8.73192057e-03 -1.35147699e+02] [-1.13231433e-02 1.57043181e-04 9.99935879e-01 -6.63017406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.837628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:241.17, Y:-135.19, Z:-0.66 [[ 6.47664259e-01 7.61891755e-01 7.20836800e-03 2.41172541e+02] [-7.61841714e-01 6.47704351e-01 -8.73370826e-03 -1.35194768e+02] [-1.13230316e-02 1.64875255e-04 9.99935879e-01 -6.64964413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.21, Y:-135.24, Z:-0.67 [[ 6.47618130e-01 7.61930990e-01 7.20587349e-03 2.41214403e+02] [-7.61880927e-01 6.47658196e-01 -8.73576591e-03 -1.35240443e+02] [-1.13229938e-02 1.67422807e-04 9.99935879e-01 -6.65306398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.26, Y:-135.29, Z:-0.67 [[ 6.46979879e-01 7.62473046e-01 7.20357420e-03 2.41256050e+02] [-7.62422996e-01 6.47019960e-01 -8.73766151e-03 -1.35288094e+02] [-1.13230877e-02 1.60920566e-04 9.99935879e-01 -6.65633941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.30, Y:-135.33, Z:-0.67 [[ 6.45598725e-01 7.63642868e-01 7.20115503e-03 2.41297745e+02] [-7.63592869e-01 6.45638869e-01 -8.73965481e-03 -1.35334829e+02] [-1.13233207e-02 1.43559373e-04 9.99935879e-01 -6.65734851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.34, Y:-135.38, Z:-0.67 [[ 6.43361260e-01 7.65528882e-01 7.19864358e-03 2.41340088e+02] [-7.65478977e-01 6.43401522e-01 -8.74172295e-03 -1.35379064e+02] [-1.13236596e-02 1.13675565e-04 9.99935879e-01 -6.66163706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:-135.43, Z:-0.67 [[ 6.41385337e-01 7.67185153e-01 7.19663405e-03 2.41381928e+02] [-7.67135333e-01 6.41425704e-01 -8.74337698e-03 -1.35426031e+02] [-1.13238951e-02 8.70815367e-05 9.99935879e-01 -6.66835528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.42, Y:-135.47, Z:-0.67 [[ 6.38208905e-01 7.69829615e-01 7.19427677e-03 2.41421955e+02] [-7.69779941e-01 6.38249452e-01 -8.74531618e-03 -1.35474022e+02] [-1.13241466e-02 4.33287264e-05 9.99935879e-01 -6.67373629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.46, Y:-135.52, Z:-0.67 [[ 6.35704407e-01 7.71899077e-01 7.19179585e-03 2.41461639e+02] [-7.71849512e-01 6.35745086e-01 -8.74735591e-03 -1.35522346e+02] [-1.13242248e-02 9.74857795e-06 9.99935879e-01 -6.68820621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317628 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:241.50, Y:-135.57, Z:-0.67 [[ 6.31195622e-01 7.75590353e-01 7.18964834e-03 2.41500394e+02] [-7.75541006e-01 6.31236565e-01 -8.74912064e-03 -1.35568905e+02] [-1.13241025e-02 -5.34604634e-05 9.99935879e-01 -6.73750951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.54, Y:-135.62, Z:-0.67 [[ 6.25499953e-01 7.80191096e-01 7.18768306e-03 2.41539679e+02] [-7.80142031e-01 6.25541235e-01 -8.75073488e-03 -1.35616940e+02] [-1.13234376e-02 -1.33829405e-04 9.99935879e-01 -6.73400816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:-135.67, Z:-0.68 [[ 6.24274271e-01 7.81172198e-01 7.18551487e-03 2.41576708e+02] [-7.81123178e-01 6.24315605e-01 -8.75251490e-03 -1.35666068e+02] [-1.13232504e-02 -1.48802352e-04 9.99935879e-01 -6.76855585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.61, Y:-135.72, Z:-0.68 [[ 6.25209734e-01 7.80423721e-01 7.18352927e-03 2.41612075e+02] [-7.80374633e-01 6.25250988e-01 -8.75414425e-03 -1.35717811e+02] [-1.13234506e-02 -1.32667810e-04 9.99935879e-01 -6.75002801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.65, Y:-135.77, Z:-0.67 [[ 6.28432759e-01 7.77830761e-01 7.18149672e-03 2.41645583e+02] [-7.77781483e-01 6.28473786e-01 -8.75581134e-03 -1.35770180e+02] [-1.13239218e-02 -8.31964961e-05 9.99935879e-01 -6.69915219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:-135.82, Z:-0.67 [[ 6.30504297e-01 7.76152553e-01 7.17954971e-03 2.41682231e+02] [-7.76103148e-01 6.30545170e-01 -8.75740756e-03 -1.35821023e+02] [-1.13241146e-02 -5.04880353e-05 9.99935879e-01 -6.68392248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.72, Y:-135.87, Z:-0.67 [[ 6.30976584e-01 7.75768674e-01 7.17744806e-03 2.41719290e+02] [-7.75719224e-01 6.31017403e-01 -8.75912970e-03 -1.35872058e+02] [-1.13241531e-02 -4.08787104e-05 9.99935879e-01 -6.67246183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.76, Y:-135.92, Z:-0.67 [[ 6.28132035e-01 7.78073690e-01 7.17495372e-03 2.41760389e+02] [-7.78024366e-01 6.28173007e-01 -8.76117244e-03 -1.35918967e+02] [-1.13239500e-02 -7.91157441e-05 9.99935879e-01 -6.68600003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.80, Y:-135.96, Z:-0.68 [[ 6.24742248e-01 7.80798103e-01 7.17264828e-03 2.41802494e+02] [-7.80748936e-01 6.24783408e-01 -8.76305946e-03 -1.35963577e+02] [-1.13235318e-02 -1.25384053e-04 9.99935879e-01 -6.75485268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.84, Y:-136.01, Z:-0.68 [[ 6.23448143e-01 7.81831820e-01 7.17070259e-03 2.41844066e+02] [-7.81782704e-01 6.23489363e-01 -8.76465130e-03 -1.36009804e+02] [-1.13233401e-02 -1.41625683e-04 9.99935879e-01 -6.77520477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.89, Y:-136.06, Z:-0.68 [[ 6.24444461e-01 7.81036316e-01 7.16864765e-03 2.41885223e+02] [-7.80987127e-01 6.24485595e-01 -8.76633173e-03 -1.36058018e+02] [-1.13235406e-02 -1.24534241e-04 9.99935879e-01 -6.77274917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.92, Y:-136.11, Z:-0.68 [[ 6.29689964e-01 7.76813487e-01 7.16621996e-03 2.41923446e+02] [-7.76764001e-01 6.29730739e-01 -8.76831584e-03 -1.36107627e+02] [-1.13241350e-02 -4.51411973e-05 9.99935879e-01 -6.75140240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.96, Y:-136.16, Z:-0.67 [[ 6.32054584e-01 7.74890756e-01 7.16374532e-03 2.41962189e+02] [-7.74841122e-01 6.32095180e-01 -8.77033717e-03 -1.36155227e+02] [-1.13242221e-02 -7.43265298e-06 9.99935879e-01 -6.74317917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.00, Y:-136.20, Z:-0.67 [[ 6.31789277e-01 7.75107101e-01 7.16177187e-03 2.42002032e+02] [-7.75057463e-01 6.31829868e-01 -8.77194837e-03 -1.36203376e+02] [-1.13242208e-02 -8.76181369e-06 9.99935879e-01 -6.73558443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.04, Y:-136.25, Z:-0.67 [[ 6.30514437e-01 7.76144500e-01 7.15967040e-03 2.42041202e+02] [-7.76094909e-01 6.30555085e-01 -8.77366326e-03 -1.36252456e+02] [-1.13241971e-02 -2.46623971e-05 9.99935879e-01 -6.72952797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.08, Y:-136.30, Z:-0.67 [[ 6.28682736e-01 7.77628956e-01 7.15713526e-03 2.42079369e+02] [-7.77579438e-01 6.28723472e-01 -8.77573082e-03 -1.36301901e+02] [-1.13241213e-02 -4.80907501e-05 9.99935879e-01 -6.74778168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.12, Y:-136.35, Z:-0.68 [[ 6.27084595e-01 7.78918299e-01 7.15494856e-03 2.42115756e+02] [-7.78868844e-01 6.27125409e-01 -8.77751330e-03 -1.36350679e+02] [-1.13240158e-02 -6.85231443e-05 9.99935879e-01 -6.77178281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.15, Y:-136.40, Z:-0.68 [[ 6.27195901e-01 7.78828696e-01 7.15294929e-03 2.42153144e+02] [-7.78779216e-01 6.27236685e-01 -8.77914223e-03 -1.36400333e+02] [-1.13240401e-02 -6.43262252e-05 9.99935879e-01 -6.78557766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:-136.45, Z:-0.68 [[ 6.29489016e-01 7.76976476e-01 7.15080974e-03 2.42189984e+02] [-7.76926857e-01 6.29529630e-01 -8.78088460e-03 -1.36451456e+02] [-1.13241874e-02 -2.81857252e-05 9.99935879e-01 -6.77051628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:-136.50, Z:-0.67 [[ 6.32874521e-01 7.74221378e-01 7.14833339e-03 2.42227512e+02] [-7.74171559e-01 6.32914890e-01 -8.78290009e-03 -1.36500191e+02] [-1.13241956e-02 2.44372846e-05 9.99935879e-01 -6.74983120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.27, Y:-136.55, Z:-0.67 [[ 6.35797472e-01 7.71822845e-01 7.14635409e-03 2.42267018e+02] [-7.71772856e-01 6.35837630e-01 -8.78451028e-03 -1.36549264e+02] [-1.13240066e-02 6.98073307e-05 9.99935879e-01 -6.74342343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.31, Y:-136.60, Z:-0.67 [[ 6.40935664e-01 7.67561358e-01 7.14394368e-03 2.42307171e+02] [-7.67511080e-01 6.40975459e-01 -8.78647009e-03 -1.36597164e+02] [-1.13232475e-02 1.48506107e-04 9.99935879e-01 -6.74907686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:-136.64, Z:-0.68 [[ 6.43372906e-01 7.65519629e-01 7.14157006e-03 2.42346295e+02] [-7.65469203e-01 6.43412514e-01 -8.78839893e-03 -1.36643628e+02] [-1.13226674e-02 1.87565817e-04 9.99935879e-01 -6.80774019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:-136.69, Z:-0.68 [[ 6.40648301e-01 7.67801257e-01 7.14040262e-03 2.42386722e+02] [-7.67750962e-01 6.40688074e-01 -8.78934735e-03 -1.36690630e+02] [-1.13232427e-02 1.48829467e-04 9.99935879e-01 -6.81907127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:-136.74, Z:-0.69 [[ 6.38043864e-01 7.69966929e-01 7.13837389e-03 2.42427763e+02] [-7.69916750e-01 6.38083784e-01 -8.79099470e-03 -1.36736430e+02] [-1.13236558e-02 1.13086595e-04 9.99935879e-01 -6.86168786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.47, Y:-136.78, Z:-0.68 [[ 6.33708116e-01 7.73539329e-01 7.13651811e-03 2.42468835e+02] [-7.73489359e-01 6.33748297e-01 -8.79250096e-03 -1.36783177e+02] [-1.13241015e-02 5.18584039e-05 9.99935879e-01 -6.83590353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.51, Y:-136.83, Z:-0.68 [[ 6.30851533e-01 7.75870764e-01 7.13446930e-03 2.42509526e+02] [-7.75820924e-01 6.30891874e-01 -8.79416310e-03 -1.36830254e+02] [-1.13242128e-02 1.27407080e-05 9.99935879e-01 -6.81679069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.55, Y:-136.88, Z:-0.68 [[ 6.28055124e-01 7.78136164e-01 7.13242833e-03 2.42549920e+02] [-7.78086450e-01 6.28095621e-01 -8.79581810e-03 -1.36877916e+02] [-1.13241912e-02 -2.53872183e-05 9.99935879e-01 -6.80016375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.59, Y:-136.93, Z:-0.68 [[ 6.26001551e-01 7.79789212e-01 7.13040956e-03 2.42589721e+02] [-7.79739586e-01 6.26042157e-01 -8.79745433e-03 -1.36925081e+02] [-1.13240970e-02 -5.26425387e-05 9.99935879e-01 -6.78103019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.63, Y:-136.97, Z:-0.68 [[ 6.24888623e-01 7.80681366e-01 7.12837726e-03 2.42630557e+02] [-7.80631780e-01 6.24929276e-01 -8.79910075e-03 -1.36972188e+02] [-1.13240256e-02 -6.61798828e-05 9.99935879e-01 -6.75324787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:-137.02, Z:-0.68 [[ 6.25363003e-01 7.80301436e-01 7.12620004e-03 2.42671364e+02] [-7.80251805e-01 6.25403602e-01 -8.80086368e-03 -1.37019132e+02] [-1.13240777e-02 -5.64959038e-05 9.99935879e-01 -6.78087789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.71, Y:-137.07, Z:-0.68 [[ 6.27880598e-01 7.78277073e-01 7.12402189e-03 2.42711180e+02] [-7.78227291e-01 6.27921012e-01 -8.80262647e-03 -1.37066247e+02] [-1.13242054e-02 -1.71098797e-05 9.99935879e-01 -6.83247633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.75, Y:-137.11, Z:-0.69 [[ 6.30764136e-01 7.75941933e-01 7.12183591e-03 2.42750762e+02] [-7.75891982e-01 6.30804340e-01 -8.80439470e-03 -1.37113712e+02] [-1.13241840e-02 2.77210376e-05 9.99935879e-01 -6.87737599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.297628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:242.79, Y:-137.16, Z:-0.69 [[ 6.36140406e-01 7.71540469e-01 7.11966422e-03 2.42788696e+02] [-7.71490219e-01 6.36180237e-01 -8.80615049e-03 -1.37162845e+02] [-1.13236911e-02 1.09196837e-04 9.99935879e-01 -6.91310909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.83, Y:-137.21, Z:-0.69 [[ 6.38942856e-01 7.69221274e-01 7.11744986e-03 2.42826450e+02] [-7.69170860e-01 6.38982479e-01 -8.80793984e-03 -1.37211343e+02] [-1.13231805e-02 1.53235206e-04 9.99935879e-01 -6.86458431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.87, Y:-137.26, Z:-0.68 [[ 6.42056698e-01 7.66624137e-01 7.11542869e-03 2.42865415e+02] [-7.66573545e-01 6.42096092e-01 -8.80957233e-03 -1.37260135e+02] [-1.13224197e-02 2.01745520e-04 9.99935879e-01 -6.82227387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.91, Y:-137.31, Z:-0.68 [[ 6.43444175e-01 7.65459990e-01 7.11322004e-03 2.42905628e+02] [-7.65409307e-01 6.43483452e-01 -8.81135532e-03 -1.37308069e+02] [-1.13219793e-02 2.25090430e-04 9.99935879e-01 -6.80785676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.95, Y:-137.36, Z:-0.68 [[ 6.43880516e-01 7.65093010e-01 7.11103979e-03 2.42946516e+02] [-7.65042285e-01 6.43919740e-01 -8.81311451e-03 -1.37356193e+02] [-1.13217912e-02 2.34346592e-04 9.99935879e-01 -6.81560884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:-137.40, Z:-0.68 [[ 6.44035516e-01 7.64962563e-01 7.10856496e-03 2.42987551e+02] [-7.64911808e-01 6.44074701e-01 -8.81511023e-03 -1.37402981e+02] [-1.13216762e-02 2.39818791e-04 9.99935879e-01 -6.83278458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.657628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:-137.45, Z:-0.69 [[ 6.43732862e-01 7.65217292e-01 7.10628153e-03 2.43028543e+02] [-7.65166532e-01 6.43772040e-01 -8.81695063e-03 -1.37449397e+02] [-1.13217084e-02 2.38272066e-04 9.99935879e-01 -6.87639567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:-137.49, Z:-0.69 [[ 6.41535053e-01 7.67060824e-01 7.10407003e-03 2.43071300e+02] [-7.67010157e-01 6.41574352e-01 -8.81873214e-03 -1.37494475e+02] [-1.13222931e-02 2.08631926e-04 9.99935879e-01 -6.85925544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.777628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:-137.54, Z:-0.69 [[ 6.40556171e-01 7.67878476e-01 7.10188746e-03 2.43113638e+02] [-7.67827840e-01 6.40595509e-01 -8.82048945e-03 -1.37541458e+02] [-1.13225012e-02 1.96992044e-04 9.99935879e-01 -6.88086485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.15, Y:-137.59, Z:-0.68 [[ 6.37597082e-01 7.70337303e-01 7.09931848e-03 2.43153739e+02] [-7.70286795e-01 6.37636586e-01 -8.82255665e-03 -1.37587672e+02] [-1.13231297e-02 1.56725098e-04 9.99935879e-01 -6.82607077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:-137.63, Z:-0.68 [[ 6.34095349e-01 7.73222295e-01 7.09726865e-03 2.43195249e+02] [-7.73171948e-01 6.34135058e-01 -8.82420532e-03 -1.37633749e+02] [-1.13236991e-02 1.07978523e-04 9.99935879e-01 -6.81486276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:-137.68, Z:-0.68 [[ 6.26991757e-01 7.78993580e-01 7.09506639e-03 2.43236986e+02] [-7.78943579e-01 6.27031899e-01 -8.82597568e-03 -1.37679873e+02] [-1.13242113e-02 7.15759334e-06 9.99935879e-01 -6.79576169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.28, Y:-137.72, Z:-0.69 [[ 6.23984703e-01 7.81404365e-01 7.09284299e-03 2.43283983e+02] [-7.81354499e-01 6.24025013e-01 -8.82776212e-03 -1.37722752e+02] [-1.13241633e-02 -3.36362568e-05 9.99935879e-01 -6.88068225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.32, Y:-137.77, Z:-0.69 [[ 6.15284649e-01 7.88273132e-01 7.09018764e-03 2.43321160e+02] [-7.88223691e-01 6.15325479e-01 -8.82989429e-03 -1.37771740e+02] [-1.13231415e-02 -1.55755468e-04 9.99935879e-01 -6.88067234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.36, Y:-137.82, Z:-0.69 [[ 6.14667968e-01 7.88754112e-01 7.08807555e-03 2.43361215e+02] [-7.88704684e-01 6.14708813e-01 -8.83158942e-03 -1.37819281e+02] [-1.13230550e-02 -1.61903267e-04 9.99935879e-01 -6.91186419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.40, Y:-137.87, Z:-0.69 [[ 6.17470331e-01 7.86562256e-01 7.08583793e-03 2.43399810e+02] [-7.86512662e-01 6.17510975e-01 -8.83338437e-03 -1.37866338e+02] [-1.13235894e-02 -1.18748486e-04 9.99935879e-01 -6.93267928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.44, Y:-137.91, Z:-0.69 [[ 6.20862984e-01 7.83887093e-01 7.08378278e-03 2.43438985e+02] [-7.83837306e-01 6.20903390e-01 -8.83503215e-03 -1.37914635e+02] [-1.13240124e-02 -6.71887842e-05 9.99935879e-01 -6.93040294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.48, Y:-137.96, Z:-0.69 [[ 6.28355656e-01 7.77893965e-01 7.08158976e-03 2.43477559e+02] [-7.77843772e-01 6.28395558e-01 -8.83678958e-03 -1.37963544e+02] [-1.13241248e-02 4.42762210e-05 9.99935879e-01 -6.92614127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.52, Y:-138.01, Z:-0.69 [[ 6.35630085e-01 7.71961318e-01 7.07939334e-03 2.43515057e+02] [-7.71910733e-01 6.35669489e-01 -8.83854885e-03 -1.38012864e+02] [-1.13231722e-02 1.53387858e-04 9.99935879e-01 -6.90638110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437628 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:-138.06, Z:-0.69 [[ 6.39755689e-01 7.68545751e-01 7.07716371e-03 2.43552786e+02] [-7.68494936e-01 6.39794796e-01 -8.84033379e-03 -1.38062669e+02] [-1.13221335e-02 2.16889362e-04 9.99935879e-01 -6.92684544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49762799999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:-138.11, Z:-0.69 [[ 6.38181740e-01 7.69853244e-01 7.07464500e-03 2.43592259e+02] [-7.69802487e-01 6.38220921e-01 -8.84234897e-03 -1.38109583e+02] [-1.13224975e-02 1.96946342e-04 9.99935879e-01 -6.93909182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55762799999997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:243.63, Y:-138.16, Z:-0.70 [[ 6.30620334e-01 7.76059251e-01 7.07341378e-03 2.43632563e+02] [-7.76008869e-01 6.30659997e-01 -8.84333377e-03 -1.38156474e+02] [-1.13238701e-02 8.77542723e-05 9.99935879e-01 -6.96528029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61762799999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:243.67, Y:-138.20, Z:-0.70 [[ 6.22624924e-01 7.82488468e-01 7.07118140e-03 2.43672615e+02] [-7.82438475e-01 6.22665076e-01 -8.84511844e-03 -1.38202873e+02] [-1.13241809e-02 -2.55731960e-05 9.99935879e-01 -7.01565896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67762799999997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:243.71, Y:-138.25, Z:-0.70 [[ 6.19411719e-01 7.85034482e-01 7.06992075e-03 2.43708572e+02] [-7.84984643e-01 6.19452062e-01 -8.84612596e-03 -1.38254158e+02] [-1.13239909e-02 -7.03851218e-05 9.99935879e-01 -6.96330104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.75, Y:-138.30, Z:-0.69 [[ 6.18327932e-01 7.85888424e-01 7.06770547e-03 2.43745508e+02] [-7.85838620e-01 6.18368319e-01 -8.84789553e-03 -1.38303466e+02] [-1.13239038e-02 -8.31749645e-05 9.99935879e-01 -6.89920920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.78, Y:-138.35, Z:-0.69 [[ 6.17167599e-01 7.86799994e-01 7.06566689e-03 2.43783371e+02] [-7.86750231e-01 6.17208036e-01 -8.84952318e-03 -1.38352097e+02] [-1.13237912e-02 -9.72760792e-05 9.99935879e-01 -6.87325249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.857628 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:-138.40, Z:-0.69 [[ 6.15581012e-01 7.88041956e-01 7.06356781e-03 2.43822392e+02] [-7.87992255e-01 6.15621525e-01 -8.85119832e-03 -1.38401971e+02] [-1.13236000e-02 -1.17407108e-04 9.99935879e-01 -6.88557755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.917628 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:-138.45, Z:-0.69 [[ 6.13873873e-01 7.89372543e-01 7.06098174e-03 2.43859026e+02] [-7.89322906e-01 6.13914464e-01 -8.85326086e-03 -1.38451991e+02] [-1.13233599e-02 -1.38609095e-04 9.99935879e-01 -6.88376591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.977628 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:-138.50, Z:-0.69 [[ 6.12057413e-01 7.90781821e-01 7.05938899e-03 2.43896023e+02] [-7.90732263e-01 6.12098101e-01 -8.85453070e-03 -1.38502845e+02] [-1.13230405e-02 -1.62605471e-04 9.99935879e-01 -6.88898831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:-138.55, Z:-0.69 [[ 6.10544192e-01 7.91950750e-01 7.05687773e-03 2.43932116e+02] [-7.91901247e-01 6.10584947e-01 -8.85653167e-03 -1.38554082e+02] [-1.13227602e-02 -1.81046298e-04 9.99935879e-01 -6.88629852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:-138.61, Z:-0.69 [[ 6.11235084e-01 7.91417657e-01 7.05432090e-03 2.43967705e+02] [-7.91368095e-01 6.11275767e-01 -8.85856774e-03 -1.38606434e+02] [-1.13229624e-02 -1.67897088e-04 9.99935879e-01 -6.92428281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:-138.66, Z:-0.70 [[ 6.15481381e-01 7.88119878e-01 7.05179482e-03 2.44002244e+02] [-7.88070075e-01 6.15521768e-01 -8.86057816e-03 -1.38657349e+02] [-1.13237310e-02 -1.03787590e-04 9.99935879e-01 -6.98072574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:-138.71, Z:-0.70 [[ 6.20160285e-01 7.84443447e-01 7.04977519e-03 2.44036283e+02] [-7.84393387e-01 6.20200352e-01 -8.86218475e-03 -1.38710663e+02] [-1.13241558e-02 -3.38220183e-05 9.99935879e-01 -6.98112151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.277628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:-138.76, Z:-0.70 [[ 6.28576685e-01 7.77715685e-01 7.04731300e-03 2.44068228e+02] [-7.77665174e-01 6.28616182e-01 -8.86414228e-03 -1.38764654e+02] [-1.13238375e-02 9.13432782e-05 9.99935879e-01 -6.98207616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:-138.82, Z:-0.70 [[ 6.32264258e-01 7.74720766e-01 7.04579744e-03 2.44103540e+02] [-7.74670054e-01 6.32303498e-01 -8.86534678e-03 -1.38815470e+02] [-1.13232506e-02 1.47073619e-04 9.99935879e-01 -6.96796416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:-138.87, Z:-0.70 [[ 6.35938725e-01 7.71707408e-01 7.04371356e-03 2.44136220e+02] [-7.71656492e-01 6.35977700e-01 -8.86700216e-03 -1.38869993e+02] [-1.13223760e-02 2.03542744e-04 9.99935879e-01 -6.98063551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:-138.92, Z:-0.70 [[ 6.36593606e-01 7.71167297e-01 7.04135635e-03 2.44170687e+02] [-7.71116327e-01 6.36632511e-01 -8.86887364e-03 -1.38921281e+02] [-1.13221417e-02 2.16163410e-04 9.99935879e-01 -7.00947908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:-138.97, Z:-0.70 [[ 6.27368556e-01 7.78690661e-01 7.03918040e-03 2.44210940e+02] [-7.78640138e-01 6.27408039e-01 -8.87060035e-03 -1.38968035e+02] [-1.13238920e-02 8.41473288e-05 9.99935879e-01 -7.03781518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:-139.02, Z:-0.71 [[ 6.22245025e-01 7.82790910e-01 7.03700508e-03 2.44250261e+02] [-7.82740629e-01 6.22284814e-01 -8.87232569e-03 -1.39016235e+02] [-1.13241973e-02 1.26107422e-05 9.99935879e-01 -7.07152982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:-139.06, Z:-0.71 [[ 6.19273307e-01 7.85143988e-01 7.03485664e-03 2.44289393e+02] [-7.85093838e-01 6.19313262e-01 -8.87402886e-03 -1.39063935e+02] [-1.13241704e-02 -2.75734035e-05 9.99935879e-01 -7.09746714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:-139.11, Z:-0.71 [[ 6.18887592e-01 7.85448083e-01 7.03263032e-03 2.44328766e+02] [-7.85397932e-01 6.18927547e-01 -8.87579285e-03 -1.39112396e+02] [-1.13241631e-02 -3.02952445e-05 9.99935879e-01 -7.06494792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:-139.16, Z:-0.71 [[ 6.23210502e-01 7.82022534e-01 7.03039847e-03 2.44367063e+02] [-7.81972144e-01 6.23250154e-01 -8.87756032e-03 -1.39161424e+02] [-1.13241491e-02 3.50130589e-05 9.99935879e-01 -7.06022357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:-139.21, Z:-0.70 [[ 6.28842640e-01 7.77500829e-01 7.02818591e-03 2.44403615e+02] [-7.77450134e-01 6.28881902e-01 -8.87931161e-03 -1.39211642e+02] [-1.13235711e-02 1.19625677e-04 9.99935879e-01 -7.01449168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:-139.26, Z:-0.70 [[ 6.32624750e-01 7.74426602e-01 7.02596081e-03 2.44441304e+02] [-7.74375697e-01 6.32663739e-01 -8.88107192e-03 -1.39259631e+02] [-1.13228090e-02 1.77652608e-04 9.99935879e-01 -6.99985788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:-139.31, Z:-0.70 [[ 6.32951531e-01 7.74159560e-01 7.02393651e-03 2.44480710e+02] [-7.74108620e-01 6.32990475e-01 -8.88267263e-03 -1.39308665e+02] [-1.13226908e-02 1.85011434e-04 9.99935879e-01 -7.01353298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:-139.36, Z:-0.71 [[ 6.31828134e-01 7.75076711e-01 7.02143697e-03 2.44520554e+02] [-7.75025807e-01 6.31867124e-01 -8.88464799e-03 -1.39356548e+02] [-1.13228989e-02 1.71775710e-04 9.99935879e-01 -7.06202625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:-139.40, Z:-0.71 [[ 6.29453645e-01 7.77006331e-01 7.01924746e-03 2.44560129e+02] [-7.76955527e-01 6.29492765e-01 -8.88637746e-03 -1.39404234e+02] [-1.13233370e-02 1.39919578e-04 9.99935879e-01 -7.09949565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:-139.45, Z:-0.71 [[ 6.28750248e-01 7.77575647e-01 7.01699802e-03 2.44600020e+02] [-7.77524858e-01 6.28789389e-01 -8.88815334e-03 -1.39451480e+02] [-1.13234255e-02 1.32538226e-04 9.99935879e-01 -7.12859122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17762799999997 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:244.64, Y:-139.50, Z:-0.72 [[ 6.30158179e-01 7.76435099e-01 7.01478583e-03 2.44639760e+02] [-7.76384219e-01 6.30197202e-01 -8.88989892e-03 -1.39498684e+02] [-1.13231279e-02 1.55873491e-04 9.99935879e-01 -7.16643927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.237628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:244.68, Y:-139.55, Z:-0.72 [[ 6.32884184e-01 7.74214720e-01 7.01256819e-03 2.44676520e+02] [-7.74163685e-01 6.32923003e-01 -8.89164791e-03 -1.39548329e+02] [-1.13224604e-02 1.98507704e-04 9.99935879e-01 -7.17163482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.297628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:244.71, Y:-139.60, Z:-0.72 [[ 6.34376301e-01 7.72992604e-01 7.01022475e-03 2.44714634e+02] [-7.72941474e-01 6.34414994e-01 -8.89349511e-03 -1.39598912e+02] [-1.13219976e-02 2.23329079e-04 9.99935879e-01 -7.17257980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.75, Y:-139.65, Z:-0.72 [[ 6.34096081e-01 7.73222511e-01 7.00775058e-03 2.44752383e+02] [-7.73171373e-01 6.34134764e-01 -8.89544423e-03 -1.39648091e+02] [-1.13220160e-02 2.22374183e-04 9.99935879e-01 -7.15590610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.79, Y:-139.70, Z:-0.71 [[ 6.29963937e-01 7.76592789e-01 7.00558462e-03 2.44789747e+02] [-7.76541839e-01 6.30002868e-01 -8.89714970e-03 -1.39697148e+02] [-1.13230007e-02 1.64753893e-04 9.99935879e-01 -7.12615277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.83, Y:-139.75, Z:-0.71 [[ 6.22974519e-01 7.82210777e-01 7.00350370e-03 2.44827050e+02] [-7.82160160e-01 6.23013881e-01 -8.89878742e-03 -1.39747272e+02] [-1.13240074e-02 6.58562368e-05 9.99935879e-01 -7.10961088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.537628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:244.87, Y:-139.80, Z:-0.71 [[ 6.17935663e-01 7.86197496e-01 7.00097523e-03 2.44866716e+02] [-7.86147110e-01 6.17975321e-01 -8.90077621e-03 -1.39795825e+02] [-1.13241979e-02 -3.68939072e-06 9.99935879e-01 -7.14256372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.91, Y:-139.84, Z:-0.71 [[ 6.12522172e-01 7.90422426e-01 6.99845149e-03 2.44905614e+02] [-7.90372291e-01 6.12562146e-01 -8.90276012e-03 -1.39843347e+02] [-1.13239277e-02 -7.82441709e-05 9.99935879e-01 -7.14568938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.94, Y:-139.90, Z:-0.71 [[ 6.13794879e-01 7.89434542e-01 6.99643534e-03 2.44941088e+02] [-7.89384325e-01 6.13834750e-01 -8.90434428e-03 -1.39895991e+02] [-1.13240521e-02 -5.74354662e-05 9.99935879e-01 -7.12894511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.98, Y:-139.95, Z:-0.71 [[ 6.15083581e-01 7.88430893e-01 6.99392357e-03 2.44978158e+02] [-7.88380589e-01 6.15123341e-01 -8.90631671e-03 -1.39946370e+02] [-1.13241409e-02 -3.57444035e-05 9.99935879e-01 -7.12367764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:-140.00, Z:-0.71 [[ 6.19642253e-01 7.84853234e-01 6.99136647e-03 2.45012316e+02] [-7.84802677e-01 6.19681692e-01 -8.90832356e-03 -1.39998287e+02] [-1.13241484e-02 3.31305599e-05 9.99935879e-01 -7.11704208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.05, Y:-140.05, Z:-0.71 [[ 6.21608325e-01 7.83297035e-01 6.98900596e-03 2.45050451e+02] [-7.83246358e-01 6.21647610e-01 -8.91017510e-03 -1.40048783e+02] [-1.13240126e-02 6.45255506e-05 9.99935879e-01 -7.12356248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:-140.10, Z:-0.71 [[ 6.21652387e-01 7.83262088e-01 6.98648110e-03 2.45091373e+02] [-7.83211387e-01 6.21691641e-01 -8.91215441e-03 -1.40097178e+02] [-1.13239896e-02 6.83705116e-05 9.99935879e-01 -7.14089503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:-140.15, Z:-0.72 [[ 6.21371666e-01 7.83484829e-01 6.98395972e-03 2.45131220e+02] [-7.83434120e-01 6.21410909e-01 -8.91412984e-03 -1.40146043e+02] [-1.13239943e-02 6.75153762e-05 9.99935879e-01 -7.16164327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.17, Y:-140.19, Z:-0.72 [[ 6.22074476e-01 7.82926948e-01 6.98141999e-03 2.45170701e+02] [-7.82876181e-01 6.22113645e-01 -8.91611847e-03 -1.40193971e+02] [-1.13239061e-02 8.09023044e-05 9.99935879e-01 -7.16849937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.21, Y:-140.24, Z:-0.72 [[ 6.22312191e-01 7.82738033e-01 6.97907640e-03 2.45211190e+02] [-7.82687234e-01 6.22351318e-01 -8.91795254e-03 -1.40242261e+02] [-1.13238580e-02 8.73165847e-05 9.99935879e-01 -7.17005312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.25, Y:-140.29, Z:-0.72 [[ 6.20737398e-01 7.83987507e-01 6.97650474e-03 2.45249901e+02] [-7.83936764e-01 6.20776598e-01 -8.91996389e-03 -1.40289963e+02] [-1.13239911e-02 6.78166242e-05 9.99935879e-01 -7.19549817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.29, Y:-140.34, Z:-0.72 [[ 6.19896855e-01 7.84652305e-01 6.97492175e-03 2.45289403e+02] [-7.84601590e-01 6.19936091e-01 -8.92120153e-03 -1.40339520e+02] [-1.13240471e-02 5.76900764e-05 9.99935879e-01 -7.22046826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:245.33, Y:-140.39, Z:-0.73 [[ 6.20646976e-01 7.84059128e-01 6.97240737e-03 2.45327987e+02] [-7.84008354e-01 6.20686135e-01 -8.92316622e-03 -1.40389709e+02] [-1.13239665e-02 7.17105070e-05 9.99935879e-01 -7.27090846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.37, Y:-140.44, Z:-0.73 [[ 6.22000750e-01 7.82985624e-01 6.96990317e-03 2.45365280e+02] [-7.82934760e-01 6.22039793e-01 -8.92512183e-03 -1.40440796e+02] [-1.13237992e-02 9.44530116e-05 9.99935879e-01 -7.25070296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:-140.49, Z:-0.72 [[ 6.21759964e-01 7.83176865e-01 6.96739568e-03 2.45402154e+02] [-7.83125992e-01 6.21798994e-01 -8.92707888e-03 -1.40492147e+02] [-1.13238013e-02 9.41515960e-05 9.99935879e-01 -7.24479298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.44, Y:-140.54, Z:-0.73 [[ 6.20434978e-01 7.84226962e-01 6.96489373e-03 2.45440676e+02] [-7.84176133e-01 6.20474065e-01 -8.92903047e-03 -1.40541501e+02] [-1.13239224e-02 7.81793910e-05 9.99935879e-01 -7.25259602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.48, Y:-140.59, Z:-0.73 [[ 6.19919911e-01 7.84634201e-01 6.96237715e-03 2.45480295e+02] [-7.84583375e-01 6.19959003e-01 -8.93099233e-03 -1.40589238e+02] [-1.13239504e-02 7.39346100e-05 9.99935879e-01 -7.26490343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.52, Y:-140.64, Z:-0.73 [[ 6.21206960e-01 7.83615639e-01 6.96005144e-03 2.45518555e+02] [-7.83564729e-01 6.21245942e-01 -8.93280442e-03 -1.40638732e+02] [-1.13237890e-02 9.54694647e-05 9.99935879e-01 -7.26120783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.56, Y:-140.69, Z:-0.73 [[ 6.25528997e-01 7.80169896e-01 6.95756843e-03 2.45557958e+02] [-7.80118749e-01 6.25567668e-01 -8.93473796e-03 -1.40688282e+02] [-1.13230434e-02 1.61208092e-04 9.99935879e-01 -7.26828789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.60, Y:-140.74, Z:-0.73 [[ 6.29279528e-01 7.77147928e-01 6.95505148e-03 2.45596922e+02] [-7.77096575e-01 6.29317924e-01 -8.93669680e-03 -1.40737752e+02] [-1.13220740e-02 2.18933660e-04 9.99935879e-01 -7.29247279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.64, Y:-140.79, Z:-0.73 [[ 6.32629051e-01 7.74423751e-01 6.95247572e-03 2.45636045e+02] [-7.74372210e-01 6.32667195e-01 -8.93870021e-03 -1.40785965e+02] [-1.13209451e-02 2.71077441e-04 9.99935879e-01 -7.34899626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.797628 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:245.68, Y:-140.83, Z:-0.74 [[ 6.33316990e-01 7.73861284e-01 6.95010133e-03 2.45675426e+02] [-7.73809689e-01 6.33355060e-01 -8.94054599e-03 -1.40834345e+02] [-1.13206242e-02 2.84143931e-04 9.99935879e-01 -7.40744230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:-140.88, Z:-0.74 [[ 6.29184609e-01 7.77224842e-01 6.94786547e-03 2.45714618e+02] [-7.77173431e-01 6.29222929e-01 -8.94228318e-03 -1.40882705e+02] [-1.13219209e-02 2.26650511e-04 9.99935879e-01 -7.38961861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.76, Y:-140.93, Z:-0.74 [[ 6.20413325e-01 7.84244264e-01 6.94550552e-03 2.45755798e+02] [-7.84193267e-01 6.20452193e-01 -8.94411578e-03 -1.40930309e+02] [-1.13237256e-02 1.02429946e-04 9.99935879e-01 -7.38950163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.80, Y:-140.98, Z:-0.74 [[ 6.10851464e-01 7.91714774e-01 6.94300277e-03 2.45795906e+02] [-7.91664230e-01 6.10890919e-01 -8.94605817e-03 -1.40978907e+02] [-1.13241438e-02 -3.18142152e-05 9.99935879e-01 -7.37294712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.83, Y:-141.03, Z:-0.74 [[ 6.06501779e-01 7.95051836e-01 6.94050158e-03 2.45834522e+02] [-7.95001486e-01 6.06541483e-01 -8.94799820e-03 -1.41027967e+02] [-1.13238245e-02 -9.07322456e-05 9.99935879e-01 -7.38340293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.87, Y:-141.08, Z:-0.74 [[ 6.04389731e-01 7.96658595e-01 6.93794526e-03 2.45871390e+02] [-7.96608329e-01 6.04429540e-01 -8.94997984e-03 -1.41079353e+02] [-1.13235774e-02 -1.17549062e-04 9.99935879e-01 -7.39827563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.91, Y:-141.13, Z:-0.74 [[ 6.07467015e-01 7.94314627e-01 6.93538837e-03 2.45905128e+02] [-7.94264184e-01 6.07506600e-01 -8.95196075e-03 -1.41131568e+02] [-1.13239676e-02 -7.05097014e-05 9.99935879e-01 -7.41639459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.94, Y:-141.18, Z:-0.74 [[ 6.12436965e-01 7.90489017e-01 6.93381252e-03 2.45940205e+02] [-7.90438313e-01 6.12476215e-01 -8.95318117e-03 -1.41184127e+02] [-1.13241866e-02 2.50803629e-06 9.99935879e-01 -7.43790181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.98, Y:-141.23, Z:-0.74 [[ 6.15345477e-01 7.88227062e-01 6.93123266e-03 2.45980585e+02] [-7.88176192e-01 6.15384511e-01 -8.95517796e-03 -1.41232407e+02] [-1.13240868e-02 4.74956938e-05 9.99935879e-01 -7.44586113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.02, Y:-141.28, Z:-0.75 [[ 6.18378551e-01 7.85849834e-01 6.92867684e-03 2.46021182e+02] [-7.85798791e-01 6.18417359e-01 -8.95715498e-03 -1.41281094e+02] [-1.13237928e-02 9.43666325e-05 9.99935879e-01 -7.45918752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.06, Y:-141.33, Z:-0.75 [[ 6.20854166e-01 7.83895487e-01 6.92613868e-03 2.46060017e+02] [-7.83844299e-01 6.20892783e-01 -8.95911719e-03 -1.41330078e+02] [-1.13234011e-02 1.33290911e-04 9.99935879e-01 -7.45022442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.10, Y:-141.38, Z:-0.75 [[ 6.21660016e-01 7.83256591e-01 6.92360338e-03 2.46101781e+02] [-7.83205343e-01 6.21698552e-01 -8.96107604e-03 -1.41377500e+02] [-1.13232161e-02 1.48139514e-04 9.99935879e-01 -7.46635346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:-141.43, Z:-0.75 [[ 6.23792586e-01 7.81559280e-01 6.92106599e-03 2.46140964e+02] [-7.81507905e-01 6.23830954e-01 -8.96303536e-03 -1.41426691e+02] [-1.13227187e-02 1.82207221e-04 9.99935879e-01 -7.46066274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.18, Y:-141.48, Z:-0.75 [[ 6.28766781e-01 7.77563161e-01 6.91850666e-03 2.46180107e+02] [-7.77511521e-01 6.28804790e-01 -8.96501046e-03 -1.41475154e+02] [-1.13212520e-02 2.57682136e-04 9.99935879e-01 -7.45510110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.22, Y:-141.52, Z:-0.75 [[ 6.31109899e-01 7.75662596e-01 6.91614817e-03 2.46219229e+02] [-7.75610821e-01 6.31147725e-01 -8.96682957e-03 -1.41524230e+02] [-1.13203455e-02 2.94815543e-04 9.99935879e-01 -7.45997576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.26, Y:-141.57, Z:-0.75 [[ 6.32400877e-01 7.74610439e-01 6.91361132e-03 2.46259668e+02] [-7.74558580e-01 6.32438588e-01 -8.96878510e-03 -1.41572624e+02] [-1.13197491e-02 3.16870601e-04 9.99935879e-01 -7.47510055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.30, Y:-141.62, Z:-0.75 [[ 6.33269423e-01 7.73900559e-01 6.91108818e-03 2.46301396e+02] [-7.73848636e-01 6.33307046e-01 -8.97072894e-03 -1.41619795e+02] [-1.13192930e-02 3.32752172e-04 9.99935879e-01 -7.50265135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.34, Y:-141.67, Z:-0.75 [[ 6.30835187e-01 7.75886099e-01 6.90854869e-03 2.46342374e+02] [-7.75834274e-01 6.30872943e-01 -8.97268423e-03 -1.41667491e+02] [-1.13201974e-02 3.00396080e-04 9.99935879e-01 -7.50634517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.39, Y:-141.71, Z:-0.76 [[ 6.30814284e-01 7.75903117e-01 6.90600331e-03 2.46388444e+02] [-7.75851271e-01 6.30852012e-01 -8.97464290e-03 -1.41710549e+02] [-1.13201195e-02 3.03301490e-04 9.99935879e-01 -7.55722690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.42, Y:-141.76, Z:-0.75 [[ 6.13795838e-01 7.89434613e-01 6.90366368e-03 2.46423544e+02] [-7.89383579e-01 6.13834658e-01 -8.97644228e-03 -1.41760812e+02] [-1.13240223e-02 6.00641702e-05 9.99935879e-01 -7.49230579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.46, Y:-141.81, Z:-0.75 [[ 6.02456223e-01 7.98122089e-01 6.90153655e-03 2.46464623e+02] [-7.98071596e-01 6.02495744e-01 -8.97807743e-03 -1.41808442e+02] [-1.13237483e-02 -9.90216757e-05 9.99935879e-01 -7.52018504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05762799999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:246.50, Y:-141.86, Z:-0.76 [[ 5.96177140e-01 8.02823281e-01 6.89901357e-03 2.46502034e+02] [-8.02773078e-01 5.96217028e-01 -8.98001574e-03 -1.41858498e+02] [-1.13226751e-02 -1.84662254e-04 9.99935879e-01 -7.56806575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.54, Y:-141.91, Z:-0.76 [[ 5.94337546e-01 8.04186123e-01 6.89648665e-03 2.46538249e+02] [-8.04135988e-01 5.94377521e-01 -8.98195595e-03 -1.41910457e+02] [-1.13222810e-02 -2.07399450e-04 9.99935879e-01 -7.56580592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.57, Y:-141.96, Z:-0.76 [[ 5.95219799e-01 8.03533363e-01 6.89390850e-03 2.46570382e+02] [-8.03483161e-01 5.95259690e-01 -8.98393432e-03 -1.41963204e+02] [-1.13225568e-02 -1.91723812e-04 9.99935879e-01 -7.60077352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.60, Y:-142.02, Z:-0.77 [[ 5.98611329e-01 8.01009978e-01 6.89153061e-03 2.46602590e+02] [-8.00959587e-01 5.98650980e-01 -8.98575801e-03 -1.42016157e+02] [-1.13233034e-02 -1.40860973e-04 9.99935879e-01 -7.65102698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.297628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:246.64, Y:-142.07, Z:-0.77 [[ 6.01778817e-01 7.98633078e-01 6.88921271e-03 2.46636343e+02] [-7.98582511e-01 6.01818243e-01 -8.98753476e-03 -1.42069522e+02] [-1.13237964e-02 -9.30967469e-05 9.99935879e-01 -7.70876916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.67, Y:-142.12, Z:-0.77 [[ 6.04425420e-01 7.96631963e-01 6.88669568e-03 2.46668805e+02] [-7.96581243e-01 6.04464649e-01 -8.98946302e-03 -1.42124513e+02] [-1.13240577e-02 -5.23526494e-05 9.99935879e-01 -7.65980737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.71, Y:-142.17, Z:-0.76 [[ 6.03813223e-01 7.97096105e-01 6.88412529e-03 2.46709410e+02] [-7.97045393e-01 6.03852462e-01 -8.99143098e-03 -1.42171093e+02] [-1.13240306e-02 -5.78154292e-05 9.99935879e-01 -7.64776519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.75, Y:-142.22, Z:-0.77 [[ 6.03461821e-01 7.97362196e-01 6.88175183e-03 2.46750665e+02] [-7.97311480e-01 6.03501056e-01 -8.99324719e-03 -1.42218658e+02] [-1.13240198e-02 -5.98184074e-05 9.99935879e-01 -7.66302560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.79, Y:-142.27, Z:-0.77 [[ 6.04438869e-01 7.96621824e-01 6.87916914e-03 2.46787280e+02] [-7.96571038e-01 6.04478012e-01 -8.99522232e-03 -1.42268213e+02] [-1.13240969e-02 -4.26848987e-05 9.99935879e-01 -7.67543745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.597628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:246.82, Y:-142.32, Z:-0.77 [[ 6.08327943e-01 7.93655986e-01 6.87678618e-03 2.46822206e+02] [-7.93604988e-01 6.08366810e-01 -8.99704371e-03 -1.42320068e+02] [-1.13241661e-02 1.57012713e-05 9.99935879e-01 -7.72162017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.86, Y:-142.37, Z:-0.77 [[ 6.07967975e-01 7.93931789e-01 6.87423517e-03 2.46859618e+02] [-7.93880787e-01 6.08006837e-01 -8.99899240e-03 -1.42370228e+02] [-1.13241681e-02 1.37759620e-05 9.99935879e-01 -7.73079572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.90, Y:-142.42, Z:-0.77 [[ 6.05958949e-01 7.95466235e-01 6.87170013e-03 2.46899092e+02] [-7.95415310e-01 6.05997911e-01 -9.00092776e-03 -1.42419395e+02] [-1.13241700e-02 -1.16627586e-05 9.99935879e-01 -7.72016506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.94, Y:-142.47, Z:-0.77 [[ 6.04231798e-01 7.96778984e-01 6.86913917e-03 2.46939777e+02] [-7.96728121e-01 6.04270841e-01 -9.00288176e-03 -1.42467165e+02] [-1.13241275e-02 -3.30089170e-05 9.99935879e-01 -7.70021544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.98, Y:-142.52, Z:-0.77 [[ 6.05418338e-01 7.95877809e-01 6.86656143e-03 2.46976705e+02] [-7.95826865e-01 6.05457276e-01 -9.00484739e-03 -1.42516604e+02] [-1.13241678e-02 -1.28943193e-05 9.99935879e-01 -7.68174908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.01, Y:-142.57, Z:-0.77 [[ 6.10507640e-01 7.91980622e-01 6.86417858e-03 2.47013080e+02] [-7.91929409e-01 6.10546224e-01 -9.00666341e-03 -1.42567676e+02] [-1.13240012e-02 6.26919353e-05 9.99935879e-01 -7.66775445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.05, Y:-142.62, Z:-0.77 [[ 6.12417493e-01 7.90504717e-01 6.86338406e-03 2.47050345e+02] [-7.90453405e-01 6.12455944e-01 -9.00726882e-03 -1.42617139e+02] [-1.13238089e-02 9.10236846e-05 9.99935879e-01 -7.67087472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.09, Y:-142.67, Z:-0.77 [[ 6.10852309e-01 7.91714836e-01 6.86117277e-03 2.47088100e+02] [-7.91663581e-01 6.10890836e-01 -9.00895293e-03 -1.42666979e+02] [-1.13239493e-02 7.13990885e-05 9.99935879e-01 -7.68346353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.13, Y:-142.71, Z:-0.77 [[ 6.08794360e-01 7.93298422e-01 6.85861555e-03 2.47127978e+02] [-7.93247245e-01 6.08832991e-01 -9.01089935e-03 -1.42714498e+02] [-1.13240837e-02 4.52068061e-05 9.99935879e-01 -7.72779698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.17, Y:-142.76, Z:-0.78 [[ 6.07447687e-01 7.94330093e-01 6.85640485e-03 2.47166819e+02] [-7.94278963e-01 6.07486380e-01 -9.01258116e-03 -1.42764143e+02] [-1.13241370e-02 2.87734488e-05 9.99935879e-01 -7.76380102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.21, Y:-142.81, Z:-0.78 [[ 6.06262945e-01 7.95234724e-01 6.85382498e-03 2.47205119e+02] [-7.95183630e-01 6.06301685e-01 -9.01454265e-03 -1.42814163e+02] [-1.13241630e-02 1.51337516e-05 9.99935879e-01 -7.79201661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.24, Y:-142.86, Z:-0.78 [[ 6.05923802e-01 7.95493184e-01 6.85126015e-03 2.47243282e+02] [-7.95442084e-01 6.05962535e-01 -9.01649156e-03 -1.42862868e+02] [-1.13241646e-02 1.35261924e-05 9.99935880e-01 -7.81336030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.28, Y:-142.91, Z:-0.78 [[ 6.05810062e-01 7.95579821e-01 6.84967932e-03 2.47280779e+02] [-7.95528712e-01 6.05848784e-01 -9.01769233e-03 -1.42913676e+02] [-1.13241639e-02 1.38921750e-05 9.99935880e-01 -7.81681414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.32, Y:-142.96, Z:-0.78 [[ 6.05053884e-01 7.96155081e-01 6.84717213e-03 2.47317873e+02] [-7.96103988e-01 6.05092627e-01 -9.01959565e-03 -1.42964538e+02] [-1.13241703e-02 6.28034887e-06 9.99935880e-01 -7.80629051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:247.36, Y:-143.01, Z:-0.78 [[ 6.02545048e-01 7.98055521e-01 6.84468601e-03 2.47355488e+02] [-7.98004529e-01 6.02583923e-01 -9.02148189e-03 -1.43013218e+02] [-1.13241412e-02 -2.62411965e-05 9.99935880e-01 -7.84307847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49762799999996 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:247.39, Y:-143.06, Z:-0.79 [[ 6.01629486e-01 7.98745975e-01 6.84315158e-03 2.47393502e+02] [-7.98695015e-01 6.01668402e-01 -9.02264567e-03 -1.43062577e+02] [-1.13241100e-02 -3.73013777e-05 9.99935880e-01 -7.88641227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.43, Y:-143.11, Z:-0.79 [[ 6.01299080e-01 7.98994748e-01 6.84164244e-03 2.47430660e+02] [-7.98943791e-01 6.01338000e-01 -9.02378986e-03 -1.43113396e+02] [-1.13241003e-02 -4.00912041e-05 9.99935880e-01 -7.87409877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.47, Y:-143.16, Z:-0.79 [[ 6.00519693e-01 7.99580719e-01 6.83906096e-03 2.47467478e+02] [-7.99529777e-01 6.00558633e-01 -9.02574593e-03 -1.43163206e+02] [-1.13240695e-02 -4.78947079e-05 9.99935880e-01 -7.90476056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67762799999997 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:247.51, Y:-143.21, Z:-0.80 [[ 5.98867702e-01 8.00818790e-01 6.83680021e-03 2.47506181e+02] [-8.00767909e-01 5.98906722e-01 -9.02745807e-03 -1.43211019e+02] [-1.13239636e-02 -6.84371355e-05 9.99935880e-01 -7.96761387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.737628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:247.55, Y:-143.26, Z:-0.80 [[ 6.00387534e-01 7.99679997e-01 6.83457352e-03 2.47545727e+02] [-7.99629023e-01 6.00426432e-01 -9.02914356e-03 -1.43259367e+02] [-1.13240841e-02 -4.41381163e-05 9.99935880e-01 -7.98763526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.797628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:247.58, Y:-143.31, Z:-0.80 [[ 6.06515260e-01 7.95042489e-01 6.83232371e-03 2.47582908e+02] [-7.94991198e-01 6.06553739e-01 -9.03084566e-03 -1.43308567e+02] [-1.13240775e-02 4.57084904e-05 9.99935880e-01 -7.98245387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.62, Y:-143.36, Z:-0.79 [[ 6.16260837e-01 7.87512496e-01 6.82994735e-03 2.47619774e+02] [-7.87460716e-01 6.16298655e-01 -9.03264252e-03 -1.43358448e+02] [-1.13226062e-02 1.88148614e-04 9.99935880e-01 -7.92008252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.66, Y:-143.41, Z:-0.79 [[ 6.23450786e-01 7.81832782e-01 6.82775287e-03 2.47658545e+02] [-7.81780639e-01 6.23488102e-01 -9.03430102e-03 -1.43407887e+02] [-1.13203354e-02 2.94637070e-04 9.99935880e-01 -7.92751406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.70, Y:-143.46, Z:-0.79 [[ 6.29314955e-01 7.77120392e-01 6.82526270e-03 2.47695635e+02] [-7.77067949e-01 6.29351849e-01 -9.03618190e-03 -1.43457600e+02] [-1.13176929e-02 3.82911510e-04 9.99935880e-01 -7.93438223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.73, Y:-143.51, Z:-0.79 [[ 6.26899617e-01 7.79070162e-01 6.82296552e-03 2.47732813e+02] [-7.79017815e-01 6.26936647e-01 -9.03791611e-03 -1.43508188e+02] [-1.13187379e-02 3.50654448e-04 9.99935880e-01 -7.93371262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.77, Y:-143.55, Z:-0.80 [[ 6.17838533e-01 7.86275414e-01 6.82055985e-03 2.47773211e+02] [-7.86223480e-01 6.17876139e-01 -9.03973121e-03 -1.43554109e+02] [-1.13219796e-02 2.22609975e-04 9.99935880e-01 -7.97427696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.81, Y:-143.60, Z:-0.80 [[ 6.04171414e-01 7.96825206e-01 6.81863598e-03 2.47812654e+02] [-7.96773912e-01 6.04209890e-01 -9.04118214e-03 -1.43603442e+02] [-1.13241291e-02 2.95125388e-05 9.99935880e-01 -7.95676017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.85, Y:-143.65, Z:-0.79 [[ 5.95890228e-01 8.03036971e-01 6.81616227e-03 2.47851846e+02] [-8.02986057e-01 5.95929204e-01 -9.04304670e-03 -1.43652703e+02] [-1.13238510e-02 -8.46201044e-05 9.99935880e-01 -7.94339610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.89, Y:-143.70, Z:-0.79 [[ 5.88667582e-01 8.08346493e-01 6.81359282e-03 2.47890967e+02] [-8.08295908e-01 5.88706985e-01 -9.04498226e-03 -1.43700875e+02] [-1.13226894e-02 -1.82911354e-04 9.99935880e-01 -7.93447072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.93, Y:-143.75, Z:-0.79 [[ 5.88983432e-01 8.08116404e-01 6.81136081e-03 2.47926622e+02] [-8.08065784e-01 5.89022790e-01 -9.04666277e-03 -1.43751780e+02] [-1.13228033e-02 -1.75693123e-04 9.99935880e-01 -7.91985250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:-143.80, Z:-0.79 [[ 5.92178956e-01 8.05777712e-01 6.80912287e-03 2.47961406e+02] [-8.05726917e-01 5.92218088e-01 -9.04834689e-03 -1.43804201e+02] [-1.13234420e-02 -1.28052959e-04 9.99935880e-01 -7.92903845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.00, Y:-143.85, Z:-0.80 [[ 5.94016285e-01 8.04424219e-01 6.80658972e-03 2.47997480e+02] [-8.04373313e-01 5.94055272e-01 -9.05025204e-03 -1.43854697e+02] [-1.13237324e-02 -9.90420278e-05 9.99935880e-01 -7.99365043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.03, Y:-143.91, Z:-0.80 [[ 5.95950448e-01 8.02992381e-01 6.80438413e-03 2.48033203e+02] [-8.02941363e-01 5.95989288e-01 -9.05191000e-03 -1.43905880e+02] [-1.13239548e-02 -6.90316479e-05 9.99935880e-01 -8.02220392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.07, Y:-143.96, Z:-0.80 [[ 6.01570407e-01 7.98790821e-01 6.80217716e-03 2.48069593e+02] [-7.98739513e-01 6.01608863e-01 -9.05356815e-03 -1.43957781e+02] [-1.13241572e-02 1.31910069e-05 9.99935880e-01 -8.02188527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.11, Y:-144.01, Z:-0.80 [[ 6.06859175e-01 7.94780289e-01 6.79961924e-03 2.48105312e+02] [-7.94728705e-01 6.06897260e-01 -9.05548885e-03 -1.44008074e+02] [-1.13237943e-02 9.15538960e-05 9.99935880e-01 -7.99727656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.14, Y:-144.06, Z:-0.80 [[ 6.09467871e-01 7.92781627e-01 6.79756852e-03 2.48144108e+02] [-7.92729900e-01 6.09505763e-01 -9.05702798e-03 -1.44058215e+02] [-1.13234026e-02 1.31331745e-04 9.99935880e-01 -7.98981244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.18, Y:-144.11, Z:-0.80 [[ 6.09638503e-01 7.92650442e-01 6.79505913e-03 2.48182077e+02] [-7.92598686e-01 6.09676356e-01 -9.05891027e-03 -1.44107960e+02] [-1.13233361e-02 1.36905558e-04 9.99935880e-01 -8.00539668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:248.22, Y:-144.16, Z:-0.81 [[ 6.10342562e-01 7.92108463e-01 6.79257081e-03 2.48220860e+02] [-7.92056654e-01 6.10380340e-01 -9.06077568e-03 -1.44156625e+02] [-1.13231688e-02 1.50076138e-04 9.99935880e-01 -8.06092041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.26, Y:-144.21, Z:-0.81 [[ 6.09612396e-01 7.92670561e-01 6.79034688e-03 2.48259878e+02] [-7.92618768e-01 6.09650196e-01 -9.06244203e-03 -1.44205717e+02] [-1.13232673e-02 1.42420616e-04 9.99935880e-01 -8.05060428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.30, Y:-144.26, Z:-0.80 [[ 6.08674249e-01 7.93391193e-01 6.78779678e-03 2.48297996e+02] [-7.93339423e-01 6.08712082e-01 -9.06435166e-03 -1.44255600e+02] [-1.13233907e-02 1.32210659e-04 9.99935880e-01 -8.03624444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.34, Y:-144.30, Z:-0.80 [[ 6.05996336e-01 7.95438496e-01 6.78523427e-03 2.48335847e+02] [-7.95386832e-01 6.06034314e-01 -9.06626946e-03 -1.44303357e+02] [-1.13237445e-02 9.72400837e-05 9.99935880e-01 -8.02128856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.37, Y:-144.35, Z:-0.80 [[ 6.01019362e-01 7.99205671e-01 6.78403704e-03 2.48373481e+02] [-7.99154235e-01 6.01057647e-01 -9.06716522e-03 -1.44350916e+02] [-1.13241272e-02 2.80499196e-05 9.99935880e-01 -8.02009779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.41, Y:-144.40, Z:-0.80 [[ 5.94529428e-01 8.04045242e-01 6.78297026e-03 2.48410780e+02] [-8.03994109e-01 5.94568117e-01 -9.06796319e-03 -1.44401650e+02] [-1.13239905e-02 -6.22971618e-05 9.99935880e-01 -8.01420087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.45, Y:-144.45, Z:-0.80 [[ 5.91651545e-01 8.06165289e-01 6.78058578e-03 2.48449940e+02] [-8.06114274e-01 5.91690389e-01 -9.06974583e-03 -1.44451314e+02] [-1.13237217e-02 -9.97978547e-05 9.99935880e-01 -8.01937485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.49, Y:-144.50, Z:-0.80 [[ 5.88974464e-01 8.08123221e-01 6.77800081e-03 2.48488071e+02] [-8.08072313e-01 5.89013448e-01 -9.07167723e-03 -1.44501859e+02] [-1.13233666e-02 -1.34128555e-04 9.99935880e-01 -8.02756829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.52, Y:-144.55, Z:-0.80 [[ 5.87117384e-01 8.09473453e-01 6.77544874e-03 2.48523522e+02] [-8.09422612e-01 5.87156457e-01 -9.07358291e-03 -1.44553275e+02] [-1.13230730e-02 -1.56943151e-04 9.99935880e-01 -8.03312878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.56, Y:-144.60, Z:-0.81 [[ 5.87085035e-01 8.09496936e-01 6.77293452e-03 2.48559353e+02] [-8.09446076e-01 5.87124081e-01 -9.07545925e-03 -1.44604581e+02] [-1.13231094e-02 -1.54258955e-04 9.99935880e-01 -8.05476156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.60, Y:-144.66, Z:-0.81 [[ 5.88571480e-01 8.08416833e-01 6.77039379e-03 2.48595352e+02] [-8.08365879e-01 5.88610404e-01 -9.07735427e-03 -1.44655396e+02] [-1.13234102e-02 -1.30283486e-04 9.99935880e-01 -8.10162019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.26, Y:-144.21, Z:0.15 [[ 6.62105890e-01 7.49379732e-01 6.76820872e-03 2.49259706e+02] [-7.49325321e-01 6.62139815e-01 -9.07898320e-03 -1.44210720e+02] [-1.12851065e-02 9.39658073e-04 9.99935880e-01 1.45976058e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 290.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.30, Y:-144.26, Z:0.14 [[ 6.68168520e-01 7.43972060e-01 7.51022878e-03 2.49297753e+02] [-7.43924447e-01 6.68210725e-01 -8.41690137e-03 -1.44258216e+02] [-1.12803549e-02 3.68657394e-05 9.99936374e-01 1.43754665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.34, Y:-144.30, Z:0.14 [[ 6.70093521e-01 7.42238706e-01 7.50839308e-03 2.49341467e+02] [-7.42190966e-01 6.70135582e-01 -8.41853861e-03 -1.44303579e+02] [-1.12802066e-02 6.85466623e-05 9.99936374e-01 1.44724517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.39, Y:-144.35, Z:0.14 [[ 6.71426877e-01 7.41032799e-01 7.50600990e-03 2.49385237e+02] [-7.40984959e-01 6.71468825e-01 -8.42066292e-03 -1.44349193e+02] [-1.12800391e-02 9.20189646e-05 9.99936374e-01 1.43805466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.43, Y:-144.40, Z:0.14 [[ 6.74826147e-01 7.37938593e-01 7.50364665e-03 2.49427727e+02] [-7.37890538e-01 6.74867847e-01 -8.42276829e-03 -1.44395748e+02] [-1.12794556e-02 1.47034408e-04 9.99936374e-01 1.43559372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.47, Y:-144.44, Z:0.14 [[ 6.77937997e-01 7.35080814e-01 7.50125778e-03 2.49470858e+02] [-7.35032560e-01 6.77979467e-01 -8.42489526e-03 -1.44441768e+02] [-1.12786776e-02 1.97887907e-04 9.99936374e-01 1.43158157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.51, Y:-144.49, Z:0.14 [[ 6.77911180e-01 7.35105570e-01 7.49887359e-03 2.49514384e+02] [-7.35057293e-01 6.77952625e-01 -8.42701686e-03 -1.44485847e+02] [-1.12786281e-02 2.00667224e-04 9.99936374e-01 1.40181203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.56, Y:-144.53, Z:0.14 [[ 6.76530792e-01 7.36376185e-01 7.49680052e-03 2.49556862e+02] [-7.36327966e-01 6.76572303e-01 -8.42886069e-03 -1.44532549e+02] [-1.12789399e-02 1.82279920e-04 9.99936374e-01 1.40834317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.60, Y:-144.58, Z:0.14 [[ 6.73518382e-01 7.39132480e-01 7.49441638e-03 2.49599386e+02] [-7.39084407e-01 6.73560063e-01 -8.43097998e-03 -1.44576343e+02] [-1.12795507e-02 1.39413709e-04 9.99936374e-01 1.41847823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:249.64, Y:-144.62, Z:0.14 [[ 6.67391841e-01 7.44669049e-01 7.49250917e-03 2.49642098e+02] [-7.44621303e-01 6.67433896e-01 -8.43267456e-03 -1.44621707e+02] [-1.12803063e-02 4.88162584e-05 9.99936374e-01 1.43626799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.68, Y:-144.67, Z:0.14 [[ 6.62118220e-01 7.49361967e-01 7.49039979e-03 2.49682263e+02] [-7.49314497e-01 6.62160587e-01 -8.43454782e-03 -1.44668066e+02] [-1.12803769e-02 -2.79973669e-05 9.99936374e-01 1.44517401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.72, Y:-144.72, Z:0.15 [[ 6.59374857e-01 7.51777035e-01 7.48924983e-03 2.49722461e+02] [-7.51729709e-01 6.59417384e-01 -8.43556878e-03 -1.44716117e+02] [-1.12802084e-02 -6.76896403e-05 9.99936374e-01 1.45042405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.76, Y:-144.77, Z:0.14 [[ 6.55998330e-01 7.54725207e-01 7.48688414e-03 2.49761628e+02] [-7.54678049e-01 6.56041042e-01 -8.43766789e-03 -1.44765854e+02] [-1.12798239e-02 -1.15091068e-04 9.99936374e-01 1.43967392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.80, Y:-144.81, Z:0.14 [[ 6.54119958e-01 7.56353794e-01 7.48449310e-03 2.49800290e+02] [-7.56306718e-01 6.54162761e-01 -8.43978829e-03 -1.44814345e+02] [-1.12795426e-02 -1.39938449e-04 9.99936374e-01 1.40251144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.84, Y:-144.86, Z:0.14 [[ 6.55700703e-01 7.54983842e-01 7.48239293e-03 2.49838060e+02] [-7.54936655e-01 6.55743383e-01 -8.44164981e-03 -1.44862259e+02] [-1.12798389e-02 -1.13536982e-04 9.99936374e-01 1.36848122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.88, Y:-144.91, Z:0.14 [[ 6.59504606e-01 7.51663300e-01 7.48047350e-03 2.49877269e+02] [-7.51615879e-01 6.59547026e-01 -8.44335035e-03 -1.44910928e+02] [-1.12802806e-02 -5.40142162e-05 9.99936374e-01 1.35170340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.92, Y:-144.96, Z:0.13 [[ 6.61434409e-01 7.49965730e-01 7.47839781e-03 2.49918762e+02] [-7.49918180e-01 6.61476683e-01 -8.44518842e-03 -1.44958414e+02] [-1.12803877e-02 -2.22482625e-05 9.99936374e-01 1.34310107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:-145.00, Z:0.13 [[ 6.61063085e-01 7.50293081e-01 7.47605338e-03 2.49962686e+02] [-7.50245527e-01 6.61105357e-01 -8.44726330e-03 -1.45004109e+02] [-1.12803821e-02 -2.47016833e-05 9.99936374e-01 1.34646126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.01, Y:-145.05, Z:0.13 [[ 6.60807081e-01 7.50518584e-01 7.47368642e-03 2.50009744e+02] [-7.50471022e-01 6.60849343e-01 -8.44935694e-03 -1.45045223e+02] [-1.12803802e-02 -2.53901930e-05 9.99936374e-01 1.31392042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.05, Y:-145.09, Z:0.13 [[ 6.55594666e-01 7.55076030e-01 7.47149769e-03 2.50047150e+02] [-7.55028739e-01 6.55637231e-01 -8.45129193e-03 -1.45093376e+02] [-1.12799600e-02 -1.00573567e-04 9.99936374e-01 1.29470043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:-145.14, Z:0.13 [[ 6.55496909e-01 7.55160915e-01 7.46950733e-03 2.50088467e+02] [-7.55113610e-01 6.55539459e-01 -8.45305070e-03 -1.45139538e+02] [-1.12799703e-02 -9.93780324e-05 9.99936374e-01 1.26372932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.737628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:250.13, Y:-145.19, Z:0.12 [[ 6.60548019e-01 7.50746663e-01 7.46741616e-03 2.50127467e+02] [-7.50699053e-01 6.60590226e-01 -8.45489763e-03 -1.45187042e+02] [-1.12803883e-02 -2.09163530e-05 9.99936374e-01 1.21456949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.17, Y:-145.24, Z:0.12 [[ 6.64060532e-01 7.47641544e-01 7.46535970e-03 2.50167881e+02] [-7.47593715e-01 6.64102493e-01 -8.45671302e-03 -1.45235764e+02] [-1.12803540e-02 3.47133522e-05 9.99936374e-01 1.22884918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.21, Y:-145.28, Z:0.13 [[ 6.71017470e-01 7.41403978e-01 7.46305295e-03 2.50206446e+02] [-7.41355737e-01 6.71058955e-01 -8.45874824e-03 -1.45284570e+02] [-1.12794981e-02 1.43190727e-04 9.99936374e-01 1.28700615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.917628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.25, Y:-145.33, Z:0.13 [[ 6.76680411e-01 7.36239061e-01 7.46098273e-03 2.50247847e+02] [-7.36190484e-01 6.76721501e-01 -8.46057387e-03 -1.45330988e+02] [-1.12780124e-02 2.32400119e-04 9.99936374e-01 1.32657969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.29, Y:-145.38, Z:0.13 [[ 6.78711010e-01 7.34367571e-01 7.45891345e-03 2.50290499e+02] [-7.34318860e-01 6.78751943e-01 -8.46239777e-03 -1.45376975e+02] [-1.12772625e-02 2.66301717e-04 9.99936374e-01 1.33685071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.34, Y:-145.42, Z:0.13 [[ 6.81362624e-01 7.31908037e-01 7.45651719e-03 2.50335022e+02] [-7.31859155e-01 6.81403353e-01 -8.46450867e-03 -1.45421492e+02] [-1.12761377e-02 3.10279469e-04 9.99936374e-01 1.33023851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.38, Y:-145.46, Z:0.13 [[ 6.84988860e-01 7.28515407e-01 7.45409142e-03 2.50381618e+02] [-7.28466300e-01 6.85029317e-01 -8.46664434e-03 -1.45462534e+02] [-1.12743520e-02 3.69502658e-04 9.99936374e-01 1.29638130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.42, Y:-145.51, Z:0.13 [[ 6.81260491e-01 7.32003151e-01 7.45188521e-03 2.50421253e+02] [-7.31954231e-01 6.81301172e-01 -8.46858568e-03 -1.45509626e+02] [-1.12760095e-02 3.14873925e-04 9.99936374e-01 1.26711788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.47, Y:-145.55, Z:0.13 [[ 6.79858019e-01 7.33305922e-01 7.44973108e-03 2.50466131e+02] [-7.33257059e-01 6.79898769e-01 -8.47048022e-03 -1.45553280e+02] [-1.12765163e-02 2.96156002e-04 9.99936374e-01 1.26179656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.51, Y:-145.60, Z:0.13 [[ 6.80835130e-01 7.32398840e-01 7.44748654e-03 2.50512805e+02] [-7.32349901e-01 6.80875790e-01 -8.47245323e-03 -1.45595412e+02] [-1.12760282e-02 3.14177770e-04 9.99936374e-01 1.25820151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.55, Y:-145.64, Z:0.13 [[ 6.73774847e-01 7.38899197e-01 7.44531129e-03 2.50552127e+02] [-7.38850629e-01 6.73815950e-01 -8.47436433e-03 -1.45642914e+02] [-1.12784705e-02 2.08840611e-04 9.99936374e-01 1.28464631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.60, Y:-145.69, Z:0.13 [[ 6.65302617e-01 7.46536690e-01 7.44302820e-03 2.50597663e+02] [-7.46488571e-01 6.65344245e-01 -8.47636909e-03 -1.45685274e+02] [-1.12800965e-02 8.32150506e-05 9.99936374e-01 1.28210518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:-145.73, Z:0.13 [[ 6.58015310e-01 7.52967784e-01 7.44093269e-03 2.50640281e+02] [-7.52920052e-01 6.58057380e-01 -8.47820823e-03 -1.45731202e+02] [-1.12803783e-02 -2.36366161e-05 9.99936374e-01 1.29429895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.68, Y:-145.78, Z:0.13 [[ 6.48977171e-01 7.60771516e-01 7.43855330e-03 2.50683308e+02] [-7.60724265e-01 6.49019782e-01 -8.48029533e-03 -1.45777364e+02] [-1.12793354e-02 -1.55169920e-04 9.99936374e-01 1.27920241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.72, Y:-145.82, Z:0.13 [[ 6.44477947e-01 7.64586738e-01 7.43611572e-03 2.50723804e+02] [-7.64539716e-01 6.44520808e-01 -8.48243222e-03 -1.45823787e+02] [-1.12782865e-02 -2.18465299e-04 9.99936374e-01 1.25254477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.76, Y:-145.87, Z:0.12 [[ 6.44775169e-01 7.64336130e-01 7.43385995e-03 2.50763172e+02] [-7.64289067e-01 6.44817987e-01 -8.48440869e-03 -1.45872097e+02] [-1.12784267e-02 -2.11081842e-04 9.99936374e-01 1.19975725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.80, Y:-145.92, Z:0.12 [[ 6.49600475e-01 7.60239431e-01 7.43173957e-03 2.50800188e+02] [-7.60192077e-01 6.49642971e-01 -8.48626559e-03 -1.45921578e+02] [-1.12795711e-02 -1.36867381e-04 9.99936374e-01 1.15460377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:-145.97, Z:0.11 [[ 6.55396116e-01 7.55248788e-01 7.42964301e-03 2.50837589e+02] [-7.55201090e-01 6.55438225e-01 -8.48810070e-03 -1.45970895e+02] [-1.12802998e-02 -4.78062688e-05 9.99936374e-01 1.14204315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.87, Y:-146.02, Z:0.12 [[ 6.65139320e-01 7.46682334e-01 7.42816666e-03 2.50872848e+02] [-7.46634079e-01 6.65180790e-01 -8.48939250e-03 -1.46022915e+02] [-1.12799532e-02 1.00506381e-04 9.99936374e-01 1.16603066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.91, Y:-146.08, Z:0.12 [[ 6.72534362e-01 7.40028638e-01 7.42612307e-03 2.50906886e+02] [-7.39979953e-01 6.72575326e-01 -8.49117976e-03 -1.46075302e+02] [-1.12783433e-02 2.15427961e-04 9.99936374e-01 1.21956599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.95, Y:-146.12, Z:0.12 [[ 6.76526837e-01 7.36380555e-01 7.42411076e-03 2.50946083e+02] [-7.36331630e-01 6.76567514e-01 -8.49293882e-03 -1.46124231e+02] [-1.12769472e-02 2.79093457e-04 9.99936374e-01 1.22612669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.99, Y:-146.17, Z:0.12 [[ 6.77789730e-01 7.35218334e-01 7.42184142e-03 2.50987174e+02] [-7.35169318e-01 6.77830296e-01 -8.49492150e-03 -1.46171793e+02] [-1.12763710e-02 3.01460445e-04 9.99936374e-01 1.19004107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.03, Y:-146.22, Z:0.12 [[ 6.78068927e-01 7.34960871e-01 7.41949141e-03 2.51028185e+02] [-7.34911817e-01 6.78109447e-01 -8.49697351e-03 -1.46218646e+02] [-1.12761703e-02 3.08861799e-04 9.99936374e-01 1.17302853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.07, Y:-146.26, Z:0.12 [[ 6.77767933e-01 7.35238466e-01 7.41804428e-03 2.51070928e+02] [-7.35189415e-01 6.77808457e-01 -8.49823670e-03 -1.46263750e+02] [-1.12762437e-02 3.06164693e-04 9.99936374e-01 1.15158266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.11, Y:-146.31, Z:0.11 [[ 6.75809289e-01 7.37039218e-01 7.41595088e-03 2.51114976e+02] [-7.36990255e-01 6.75849919e-01 -8.50006310e-03 -1.46308417e+02] [-1.12769497e-02 2.78938073e-04 9.99936374e-01 1.14093733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.16, Y:-146.35, Z:0.11 [[ 6.70819203e-01 7.41583858e-01 7.41480629e-03 2.51157191e+02] [-7.41535159e-01 6.70860150e-01 -8.50106144e-03 -1.46352353e+02] [-1.12785480e-02 2.04335705e-04 9.99936374e-01 1.14744771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.20, Y:-146.40, Z:0.12 [[ 6.61719549e-01 7.49714804e-01 7.41287593e-03 2.51200746e+02] [-7.49666590e-01 6.61761065e-01 -8.50274437e-03 -1.46396245e+02] [-1.12801860e-02 6.92467498e-05 9.99936374e-01 1.18725103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.24, Y:-146.44, Z:0.12 [[ 6.54250989e-01 7.56241181e-01 7.41080279e-03 2.51244015e+02] [-7.56193360e-01 6.54292958e-01 -8.50455089e-03 -1.46441359e+02] [-1.12803277e-02 -3.98890435e-05 9.99936374e-01 1.19093877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.29, Y:-146.49, Z:0.12 [[ 6.45589343e-01 7.63648815e-01 7.40857872e-03 2.51285325e+02] [-7.63601453e-01 6.45631830e-01 -8.50648791e-03 -1.46488712e+02] [-1.12791836e-02 -1.65503535e-04 9.99936374e-01 1.19922594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.33, Y:-146.54, Z:0.12 [[ 6.42629122e-01 7.66141606e-01 7.40616165e-03 2.51326090e+02] [-7.66094385e-01 6.42671765e-01 -8.50859180e-03 -1.46536017e+02] [-1.12785172e-02 -2.05949979e-04 9.99936374e-01 1.18833685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.37, Y:-146.58, Z:0.12 [[ 6.45182293e-01 7.63992797e-01 7.40373982e-03 2.51366123e+02] [-7.63945410e-01 6.45224751e-01 -8.51069863e-03 -1.46584698e+02] [-1.12791886e-02 -1.65100994e-04 9.99936374e-01 1.15318490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.41, Y:-146.63, Z:0.11 [[ 6.48247670e-01 7.61393576e-01 7.40135132e-03 2.51405530e+02] [-7.61345995e-01 6.48289911e-01 -8.51277529e-03 -1.46633741e+02] [-1.12797938e-02 -1.16602431e-04 9.99936374e-01 1.14188353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.44, Y:-146.68, Z:0.11 [[ 6.53268692e-01 7.57090003e-01 7.39892500e-03 2.51443349e+02] [-7.57042119e-01 6.53310590e-01 -8.51488362e-03 -1.46684728e+02] [-1.12803293e-02 -3.87909793e-05 9.99936374e-01 1.12894005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.48, Y:-146.73, Z:0.11 [[ 6.56464714e-01 7.54320470e-01 7.39650347e-03 2.51482581e+02] [-7.54272386e-01 6.56506381e-01 -8.51698658e-03 -1.46734402e+02] [-1.12803890e-02 1.21228387e-05 9.99936374e-01 1.10949536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.52, Y:-146.78, Z:0.11 [[ 6.58146804e-01 7.52853313e-01 7.39412219e-03 2.51521490e+02] [-7.52805113e-01 6.58188337e-01 -8.51905341e-03 -1.46784532e+02] [-1.12803226e-02 4.04547934e-05 9.99936374e-01 1.10509822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.56, Y:-146.83, Z:0.11 [[ 6.57444874e-01 7.53466389e-01 7.39170395e-03 2.51560246e+02] [-7.53418205e-01 6.57486425e-01 -8.52115112e-03 -1.46834804e+02] [-1.12803460e-02 3.31428051e-05 9.99936374e-01 1.12483998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.60, Y:-146.88, Z:0.11 [[ 6.55222205e-01 7.55400067e-01 7.38924050e-03 2.51600885e+02] [-7.55351981e-01 6.55263869e-01 -8.52328680e-03 -1.46880201e+02] [-1.12803937e-02 3.16932098e-06 9.99936374e-01 1.08970324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.64, Y:-146.93, Z:0.11 [[ 6.54019159e-01 7.56441906e-01 7.38804630e-03 2.51640972e+02] [-7.56393874e-01 6.54060886e-01 -8.52432181e-03 -1.46928038e+02] [-1.12803864e-02 -1.32031855e-05 9.99936374e-01 1.06074001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.68, Y:-146.97, Z:0.10 [[ 6.53732657e-01 7.56689541e-01 7.38596329e-03 2.51682982e+02] [-7.56641504e-01 6.53774379e-01 -8.52612628e-03 -1.46973884e+02] [-1.12803841e-02 -1.47191857e-05 9.99936374e-01 1.03041949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.73, Y:-147.02, Z:0.10 [[ 6.54184472e-01 7.56298986e-01 7.38383006e-03 2.51725283e+02] [-7.56250904e-01 6.54226141e-01 -8.52797331e-03 -1.47018580e+02] [-1.12803922e-02 -5.16044174e-06 9.99936374e-01 1.01064834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.77, Y:-147.06, Z:0.10 [[ 6.58747395e-01 7.52327972e-01 7.38188099e-03 2.51768146e+02] [-7.52279620e-01 6.58788751e-01 -8.52966010e-03 -1.47063993e+02] [-1.12802020e-02 6.56527435e-05 9.99936374e-01 1.03716726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.81, Y:-147.11, Z:0.11 [[ 6.66972750e-01 7.45045562e-01 7.37980636e-03 2.51808348e+02] [-7.44996738e-01 6.67013549e-01 -8.53145468e-03 -1.47111410e+02] [-1.12787533e-02 1.92316128e-04 9.99936374e-01 1.07041267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.85, Y:-147.16, Z:0.11 [[ 6.69602421e-01 7.42683087e-01 7.37771556e-03 2.51849361e+02] [-7.42634100e-01 6.69643022e-01 -8.53326235e-03 -1.47158603e+02] [-1.12779454e-02 2.34949978e-04 9.99936374e-01 1.06772924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.89, Y:-147.20, Z:0.11 [[ 6.75605965e-01 7.37226007e-01 7.37533982e-03 2.51891817e+02] [-7.37176669e-01 6.75646140e-01 -8.53531522e-03 -1.47204380e+02] [-1.12755762e-02 3.29581422e-04 9.99936374e-01 1.07241213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.93, Y:-147.25, Z:0.11 [[ 6.76436358e-01 7.36464180e-01 7.37321253e-03 2.51933783e+02] [-7.36414778e-01 6.76476453e-01 -8.53715248e-03 -1.47249966e+02] [-1.12751117e-02 3.45097669e-04 9.99936374e-01 1.08559345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.97, Y:-147.30, Z:0.11 [[ 6.71052665e-01 7.41373044e-01 7.37093063e-03 2.51972301e+02] [-7.41323914e-01 6.71093092e-01 -8.53912220e-03 -1.47296931e+02] [-1.12772557e-02 2.65953566e-04 9.99936374e-01 1.07000766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.02, Y:-147.34, Z:0.10 [[ 6.64032131e-01 7.47667726e-01 7.36884752e-03 2.52019758e+02] [-7.47618959e-01 6.64072996e-01 -8.54091945e-03 -1.47339648e+02] [-1.12792225e-02 1.62354827e-04 9.99936374e-01 1.03312986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.06, Y:-147.39, Z:0.10 [[ 6.53595195e-01 7.56808469e-01 7.36633100e-03 2.52057932e+02] [-7.56760249e-01 6.53636704e-01 -8.54308934e-03 -1.47387934e+02] [-1.12803867e-02 9.17566029e-06 9.99936374e-01 9.87470606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.10, Y:-147.44, Z:0.10 [[ 6.49446821e-01 7.60371354e-01 7.36417438e-03 2.52095658e+02] [-7.60323340e-01 6.49488570e-01 -8.54494795e-03 -1.47436795e+02] [-1.12802807e-02 -4.96643788e-05 9.99936374e-01 1.01405935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.14, Y:-147.48, Z:0.10 [[ 6.48806050e-01 7.60918192e-01 7.36299507e-03 2.52136366e+02] [-7.60870203e-01 6.48847826e-01 -8.54596401e-03 -1.47484159e+02] [-1.12802428e-02 -5.76104047e-05 9.99936374e-01 1.02120017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.17, Y:-147.53, Z:0.10 [[ 6.51957456e-01 7.58219819e-01 7.36086656e-03 2.52174222e+02] [-7.58171635e-01 6.51999008e-01 -8.54779695e-03 -1.47534835e+02] [-1.12803868e-02 -8.00028374e-06 9.99936374e-01 1.03365568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.21, Y:-147.59, Z:0.10 [[ 6.59477619e-01 7.51688182e-01 7.35841967e-03 2.52209350e+02] [-7.51639564e-01 6.59518662e-01 -8.54990286e-03 -1.47587092e+02] [-1.12798760e-02 1.07590229e-04 9.99936374e-01 1.03366416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.25, Y:-147.64, Z:0.10 [[ 6.62738161e-01 7.48815077e-01 7.35597946e-03 2.52249380e+02] [-7.48766258e-01 6.62778964e-01 -8.55200180e-03 -1.47635603e+02] [-1.12792563e-02 1.59828734e-04 9.99936374e-01 1.00432968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.29, Y:-147.68, Z:0.10 [[ 6.64561938e-01 7.47196999e-01 7.35355992e-03 2.52291310e+02] [-7.47148058e-01 6.64602594e-01 -8.55408177e-03 -1.47681901e+02] [-1.12787792e-02 1.90519152e-04 9.99936374e-01 9.82364788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.33, Y:-147.73, Z:0.09 [[ 6.64689847e-01 7.47083238e-01 7.35142794e-03 2.52332925e+02] [-7.47034269e-01 6.64730470e-01 -8.55591361e-03 -1.47727267e+02] [-1.12786978e-02 1.95260309e-04 9.99936374e-01 9.49741322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.037628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:252.37, Y:-147.77, Z:0.09 [[ 6.65159048e-01 7.46665540e-01 7.34933303e-03 2.52373359e+02] [-7.46616526e-01 6.65199616e-01 -8.55771272e-03 -1.47773830e+02] [-1.12785227e-02 2.05106550e-04 9.99936374e-01 9.01663636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.42, Y:-147.82, Z:0.09 [[ 6.65446952e-01 7.46408985e-01 7.34722782e-03 2.52416150e+02] [-7.46359935e-01 6.65487478e-01 -8.55951976e-03 -1.47820481e+02] [-1.12783906e-02 2.12229865e-04 9.99936374e-01 9.12534050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.46, Y:-147.87, Z:0.09 [[ 6.65016246e-01 7.46792774e-01 7.34480139e-03 2.52459074e+02] [-7.46743724e-01 6.65056772e-01 -8.56160134e-03 -1.47865099e+02] [-1.12784519e-02 2.08919633e-04 9.99936374e-01 9.13620614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:-147.91, Z:0.09 [[ 6.61964567e-01 7.49499164e-01 7.34268244e-03 2.52502095e+02] [-7.49450260e-01 6.62005268e-01 -8.56341823e-03 -1.47909613e+02] [-1.12791693e-02 1.65704178e-04 9.99936374e-01 9.13669375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.54, Y:-147.96, Z:0.09 [[ 6.57840634e-01 7.53121383e-01 7.34054280e-03 2.52544188e+02] [-7.53072682e-01 6.57881579e-01 -8.56525193e-03 -1.47955748e+02] [-1.12798823e-02 1.06608501e-04 9.99936374e-01 9.22748937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.59, Y:-148.00, Z:0.09 [[ 6.56381401e-01 7.54393534e-01 7.33840514e-03 2.52587119e+02] [-7.54344892e-01 6.56422416e-01 -8.56708301e-03 -1.48000236e+02] [-1.12800457e-02 8.75855173e-05 9.99936374e-01 9.24308131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.62, Y:-148.05, Z:0.09 [[ 6.49561765e-01 7.60273433e-01 7.33622596e-03 2.52624432e+02] [-7.60225142e-01 6.49603192e-01 -8.56894869e-03 -1.48050482e+02] [-1.12803798e-02 -1.11219861e-05 9.99936374e-01 9.24595894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.66, Y:-148.10, Z:0.09 [[ 6.44775908e-01 7.64336465e-01 7.33469278e-03 2.52662065e+02] [-7.64288419e-01 6.44817620e-01 -8.57026084e-03 -1.48100653e+02] [-1.12801020e-02 -7.99230347e-05 9.99936374e-01 8.90299074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.70, Y:-148.15, Z:0.09 [[ 6.42275976e-01 7.66438376e-01 7.33393463e-03 2.52700666e+02] [-7.66390460e-01 6.42317836e-01 -8.57090957e-03 -1.48149198e+02] [-1.12797910e-02 -1.15768225e-04 9.99936374e-01 8.57147367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:252.74, Y:-148.20, Z:0.08 [[ 6.43529790e-01 7.65385950e-01 7.33182334e-03 2.52738062e+02] [-7.65337945e-01 6.43571548e-01 -8.57271525e-03 -1.48198286e+02] [-1.12799887e-02 -9.45249599e-05 9.99936374e-01 8.09323663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.77, Y:-148.25, Z:0.09 [[ 6.49487359e-01 7.60337061e-01 7.32970544e-03 2.52774051e+02] [-7.60288710e-01 6.49528717e-01 -8.57452568e-03 -1.48248354e+02] [-1.12803838e-02 -3.64625338e-06 9.99936374e-01 8.56199616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.81, Y:-148.30, Z:0.09 [[ 6.54283327e-01 7.56214004e-01 7.32859426e-03 2.52814352e+02] [-7.56165383e-01 6.54324366e-01 -8.57547530e-03 -1.48295731e+02] [-1.12801723e-02 6.91612229e-05 9.99936374e-01 9.05913602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.86, Y:-148.34, Z:0.09 [[ 6.59732726e-01 7.51464605e-01 7.32649033e-03 2.52856564e+02] [-7.51415669e-01 6.59773388e-01 -8.57727242e-03 -1.48340933e+02] [-1.12793400e-02 1.53467682e-04 9.99936374e-01 9.22507250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.90, Y:-148.39, Z:0.09 [[ 6.63223375e-01 7.48385668e-01 7.32438174e-03 2.52897580e+02] [-7.48336523e-01 6.63263785e-01 -8.57907263e-03 -1.48388764e+02] [-1.12784522e-02 2.08739143e-04 9.99936374e-01 9.13542497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.94, Y:-148.43, Z:0.09 [[ 6.67910042e-01 7.44205996e-01 7.32194796e-03 2.52939111e+02] [-7.44156576e-01 6.67950114e-01 -8.58114927e-03 -1.48434580e+02] [-1.12768387e-02 2.82760049e-04 9.99936374e-01 8.81948931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.98, Y:-148.48, Z:0.09 [[ 6.70038254e-01 7.42290481e-01 7.31984733e-03 2.52981855e+02] [-7.42240926e-01 6.70078160e-01 -8.58294077e-03 -1.48479234e+02] [-1.12759051e-02 3.17808376e-04 9.99936374e-01 8.58149357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99762799999996 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:253.02, Y:-148.53, Z:0.08 [[ 6.70600874e-01 7.41782258e-01 7.31768661e-03 2.53022535e+02] [-7.41732653e-01 6.70640718e-01 -8.58478257e-03 -1.48525502e+02] [-1.12755780e-02 3.29195591e-04 9.99936374e-01 8.36173772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.06, Y:-148.57, Z:0.09 [[ 6.68097250e-01 7.44038003e-01 7.31540510e-03 2.53064753e+02] [-7.43988511e-01 6.68137235e-01 -8.58672629e-03 -1.48571190e+02] [-1.12765452e-02 2.94190873e-04 9.99936374e-01 8.78204828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.11, Y:-148.61, Z:0.09 [[ 6.63245756e-01 7.48365942e-01 7.31324046e-03 2.53108293e+02] [-7.48316691e-01 6.63286037e-01 -8.58856950e-03 -1.48613826e+02] [-1.12781632e-02 2.23712374e-04 9.99936374e-01 8.76205834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.15, Y:-148.66, Z:0.09 [[ 6.58162876e-01 7.52840072e-01 7.31126119e-03 2.53151479e+02] [-7.52791076e-01 6.58203467e-01 -8.59025408e-03 -1.48659133e+02] [-1.12793850e-02 1.49934156e-04 9.99936374e-01 8.74250938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.237628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:253.19, Y:-148.71, Z:0.09 [[ 6.53282267e-01 7.57079164e-01 7.30885037e-03 2.53192906e+02] [-7.57030408e-01 6.53323146e-01 -8.59230479e-03 -1.48706003e+02] [-1.12800960e-02 8.01783759e-05 9.99936374e-01 8.63071210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.23, Y:-148.75, Z:0.09 [[ 6.46643804e-01 7.62757108e-01 7.30646138e-03 2.53234765e+02] [-7.62708689e-01 6.46685081e-01 -8.59433578e-03 -1.48752673e+02] [-1.12803703e-02 -1.52275941e-05 9.99936374e-01 8.89107250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.28, Y:-148.80, Z:0.09 [[ 6.44526120e-01 7.64547403e-01 7.30403761e-03 2.53276337e+02] [-7.64499075e-01 6.44567503e-01 -8.59639517e-03 -1.48800538e+02] [-1.12802969e-02 -4.33287786e-05 9.99936374e-01 8.73610621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.32, Y:-148.85, Z:0.09 [[ 6.44145589e-01 7.64868058e-01 7.30163735e-03 2.53315873e+02] [-7.64819727e-01 6.44186970e-01 -8.59843343e-03 -1.48850089e+02] [-1.12802867e-02 -4.57933108e-05 9.99936374e-01 8.55265531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.35, Y:-148.90, Z:0.08 [[ 6.45685270e-01 7.63568761e-01 7.29926414e-03 2.53354426e+02] [-7.63520324e-01 6.45726526e-01 -8.60044759e-03 -1.48898383e+02] [-1.12803616e-02 -1.99541996e-05 9.99936375e-01 7.95757190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.537628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:-148.95, Z:0.07 [[ 6.47959901e-01 7.61639494e-01 7.29709505e-03 2.53392822e+02] [-7.61590914e-01 6.48000988e-01 -8.60228758e-03 -1.48946317e+02] [-1.12803668e-02 1.65361246e-05 9.99936375e-01 7.13639620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.43, Y:-149.00, Z:0.07 [[ 6.52938705e-01 7.57375613e-01 7.29587066e-03 2.53427748e+02] [-7.57326752e-01 6.52979458e-01 -8.60332589e-03 -1.48997419e+02] [-1.12800029e-02 9.20864268e-05 9.99936375e-01 7.07580359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.657628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:253.46, Y:-149.05, Z:0.07 [[ 6.58759314e-01 7.52318396e-01 7.29365136e-03 2.53462081e+02] [-7.52269202e-01 6.58799664e-01 -8.60520694e-03 -1.49051338e+02] [-1.12789106e-02 1.81970924e-04 9.99936375e-01 7.14063572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.50, Y:-149.10, Z:0.07 [[ 6.59690201e-01 7.51502280e-01 7.29124398e-03 2.53499875e+02] [-7.51453013e-01 6.59730463e-01 -8.60724624e-03 -1.49101819e+02] [-1.12786209e-02 1.99088741e-04 9.99936375e-01 7.40621055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.777628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:253.54, Y:-149.15, Z:0.07 [[ 6.56838750e-01 7.53995842e-01 7.28881488e-03 2.53542211e+02] [-7.53946706e-01 6.56879171e-01 -8.60930277e-03 -1.49148102e+02] [-1.12792492e-02 1.59545699e-04 9.99936375e-01 7.04721560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.837628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:253.58, Y:-149.19, Z:0.07 [[ 6.51624269e-01 7.58506902e-01 7.28640636e-03 2.53583382e+02] [-7.58458022e-01 6.51665001e-01 -8.61134072e-03 -1.49193595e+02] [-1.12800574e-02 8.49252505e-05 9.99936375e-01 6.89043176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.897628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:253.63, Y:-149.24, Z:0.06 [[ 6.46437776e-01 7.62931929e-01 7.28523196e-03 2.53625679e+02] [-7.62883317e-01 6.46478826e-01 -8.61233415e-03 -1.49239404e+02] [-1.12803729e-02 9.55620994e-06 9.99936375e-01 6.17387968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:-149.29, Z:0.06 [[ 6.45416615e-01 7.63796012e-01 7.28318034e-03 2.53666106e+02] [-7.63747436e-01 6.45457707e-01 -8.61406879e-03 -1.49286250e+02] [-1.12803763e-02 -2.84719235e-06 9.99936375e-01 6.04573581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.71, Y:-149.34, Z:0.06 [[ 6.46315455e-01 7.63035594e-01 7.28115508e-03 2.53705204e+02] [-7.62986950e-01 6.46356467e-01 -8.61578033e-03 -1.49335096e+02] [-1.12803687e-02 1.30856778e-05 9.99936375e-01 6.44610157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.74, Y:-149.39, Z:0.07 [[ 6.45623682e-01 7.63621029e-01 7.27905206e-03 2.53742436e+02] [-7.63572402e-01 6.45664715e-01 -8.61755670e-03 -1.49385371e+02] [-1.12803746e-02 5.61542132e-06 9.99936375e-01 6.82318107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.78, Y:-149.43, Z:0.07 [[ 6.42725930e-01 7.66061633e-01 7.27695281e-03 2.53780147e+02] [-7.66013142e-01 6.42767122e-01 -8.61932901e-03 -1.49434749e+02] [-1.12803233e-02 -3.43752346e-05 9.99936375e-01 7.16411453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.82, Y:-149.48, Z:0.07 [[ 6.42107403e-01 7.66580172e-01 7.27482674e-03 2.53819840e+02] [-7.66531694e-01 6.42148611e-01 -8.62112307e-03 -1.49483653e+02] [-1.12803019e-02 -4.06983237e-05 9.99936375e-01 7.29883829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.86, Y:-149.53, Z:0.07 [[ 6.44575617e-01 7.64505975e-01 7.27238705e-03 2.53860546e+02] [-7.64457341e-01 6.44616641e-01 -8.62318059e-03 -1.49530360e+02] [-1.12803748e-02 -1.13771748e-06 9.99936375e-01 7.06343174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.90, Y:-149.58, Z:0.07 [[ 6.50331856e-01 7.59615443e-01 7.27013355e-03 2.53901710e+02] [-7.59566480e-01 6.50372486e-01 -8.62508009e-03 -1.49578213e+02] [-1.12800389e-02 8.70145994e-05 9.99936375e-01 6.92395802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.94, Y:-149.62, Z:0.07 [[ 6.55946000e-01 7.54772831e-01 7.26765375e-03 2.53943538e+02] [-7.54723545e-01 6.55986237e-01 -8.62716910e-03 -1.49624587e+02] [-1.12790337e-02 1.73887657e-04 9.99936375e-01 6.94602095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:253.98, Y:-149.67, Z:0.06 [[ 6.58766981e-01 7.52311958e-01 7.26519240e-03 2.53984893e+02] [-7.52262498e-01 6.58807005e-01 -8.62924138e-03 -1.49671187e+02] [-1.12782411e-02 2.19327510e-04 9.99936375e-01 6.45477986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49762799999996 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:254.03, Y:-149.72, Z:0.06 [[ 6.56667597e-01 7.54145156e-01 7.26292167e-03 2.54026335e+02] [-7.54095787e-01 6.56707733e-01 -8.63115215e-03 -1.49718887e+02] [-1.12787584e-02 1.90859309e-04 9.99936375e-01 6.19174129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.07, Y:-149.76, Z:0.06 [[ 6.55016229e-01 7.55579926e-01 7.26052130e-03 2.54069562e+02] [-7.55530623e-01 6.55056445e-01 -8.63317086e-03 -1.49764299e+02] [-1.12791019e-02 1.69320840e-04 9.99936375e-01 6.18320461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.11, Y:-149.81, Z:0.06 [[ 6.47418574e-01 7.62100068e-01 7.25788662e-03 2.54107551e+02] [-7.62051144e-01 6.47459252e-01 -8.63538527e-03 -1.49812831e+02] [-1.12802135e-02 5.98280121e-05 9.99936375e-01 6.30589307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:-149.86, Z:0.06 [[ 6.41737313e-01 7.66890200e-01 7.25545683e-03 2.54149310e+02] [-7.66841558e-01 6.41778327e-01 -8.63742629e-03 -1.49860192e+02] [-1.12803525e-02 -2.08270744e-05 9.99936375e-01 6.35980811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.19, Y:-149.91, Z:0.06 [[ 6.39624400e-01 7.68653381e-01 7.25300773e-03 2.54189031e+02] [-7.68604829e-01 6.39665520e-01 -8.63948236e-03 -1.49908842e+02] [-1.12802663e-02 -4.86730395e-05 9.99936375e-01 6.21803844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.23, Y:-149.96, Z:0.06 [[ 6.39363095e-01 7.68870771e-01 7.25054012e-03 2.54228073e+02] [-7.68822209e-01 6.39404203e-01 -8.64155277e-03 -1.49958716e+02] [-1.12802632e-02 -4.92863442e-05 9.99936375e-01 5.97017755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.27, Y:-150.01, Z:0.06 [[ 6.40039634e-01 7.68307707e-01 7.24807712e-03 2.54267005e+02] [-7.68259085e-01 6.40080672e-01 -8.64361811e-03 -1.50007633e+02] [-1.12803125e-02 -3.61429240e-05 9.99936375e-01 5.73030010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.917628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:-150.05, Z:0.05 [[ 6.40844807e-01 7.67636261e-01 7.24595744e-03 2.54308569e+02] [-7.67587576e-01 6.40885770e-01 -8.64539468e-03 -1.50053797e+02] [-1.12803495e-02 -2.15506248e-05 9.99936375e-01 5.19886033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.35, Y:-150.10, Z:0.05 [[ 6.43929822e-01 7.65050267e-01 7.24380904e-03 2.54352320e+02] [-7.65001397e-01 6.43970565e-01 -8.64719440e-03 -1.50097843e+02] [-1.12803382e-02 2.66623109e-05 9.99936375e-01 5.38293072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.39, Y:-150.15, Z:0.05 [[ 6.42461228e-01 7.66283975e-01 7.24157329e-03 2.54389527e+02] [-7.66235162e-01 6.42502039e-01 -8.64906632e-03 -1.50146621e+02] [-1.12803665e-02 7.94167625e-06 9.99936375e-01 5.45855795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.43, Y:-150.19, Z:0.06 [[ 6.48294680e-01 7.61355098e-01 7.24033450e-03 2.54428939e+02] [-7.61305964e-01 6.48335103e-01 -8.65010321e-03 -1.50194097e+02] [-1.12799632e-02 9.57060531e-05 9.99936375e-01 5.53016869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.157628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:254.47, Y:-150.24, Z:0.05 [[ 6.58505871e-01 7.52540781e-01 7.23819509e-03 2.54467509e+02] [-7.52491086e-01 6.58545602e-01 -8.65189305e-03 -1.50244400e+02] [-1.12775839e-02 2.50645082e-04 9.99936375e-01 5.25843588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.51, Y:-150.29, Z:0.05 [[ 6.66904973e-01 7.45107644e-01 7.23576165e-03 2.54512020e+02] [-7.45057484e-01 6.66944117e-01 -8.65392771e-03 -1.50288534e+02] [-1.12739563e-02 3.80289048e-04 9.99936375e-01 5.28032063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.277628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:254.55, Y:-150.34, Z:0.05 [[ 6.64179447e-01 7.47538185e-01 7.23352575e-03 2.54550442e+02] [-7.47488148e-01 6.64218748e-01 -8.65579622e-03 -1.50336165e+02] [-1.12751816e-02 3.42027182e-04 9.99936375e-01 5.08882666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.60, Y:-150.38, Z:0.05 [[ 6.60045363e-01 7.51190938e-01 7.23148159e-03 2.54595192e+02] [-7.51141100e-01 6.60084915e-01 -8.65750367e-03 -1.50380686e+02] [-1.12768302e-02 2.82482114e-04 9.99936375e-01 5.23934796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.397628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:254.64, Y:-150.43, Z:0.05 [[ 6.57126029e-01 7.53746061e-01 7.22900546e-03 2.54636901e+02] [-7.53696354e-01 6.57165746e-01 -8.65957075e-03 -1.50426145e+02] [-1.12777721e-02 2.41954277e-04 9.99936375e-01 4.86979966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.68, Y:-150.47, Z:0.05 [[ 6.53093135e-01 7.57243113e-01 7.22671647e-03 2.54680566e+02] [-7.57193598e-01 6.53133091e-01 -8.66148056e-03 -1.50470161e+02] [-1.12788542e-02 1.84730047e-04 9.99936375e-01 5.13711223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:-150.51, Z:0.05 [[ 6.53029958e-01 7.57297617e-01 7.22455969e-03 2.54726588e+02] [-7.57248085e-01 6.53069893e-01 -8.66327917e-03 -1.50512224e+02] [-1.12788231e-02 1.86596830e-04 9.99936375e-01 4.74907627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.76, Y:-150.56, Z:0.05 [[ 6.47892396e-01 7.61697631e-01 7.22231874e-03 2.54762090e+02] [-7.61648350e-01 6.47932640e-01 -8.66514698e-03 -1.50562864e+02] [-1.12797980e-02 1.13215691e-04 9.99936375e-01 4.91352271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:254.81, Y:-150.61, Z:0.04 [[ 6.50609257e-01 7.59378341e-01 7.22012427e-03 2.54805272e+02] [-7.59328896e-01 6.50649300e-01 -8.66697511e-03 -1.50608904e+02] [-1.12792820e-02 1.56365242e-04 9.99936375e-01 4.36771852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.84, Y:-150.66, Z:0.05 [[ 6.45679376e-01 7.63574522e-01 7.21755351e-03 2.54838564e+02] [-7.63525313e-01 6.45719709e-01 -8.66911542e-03 -1.50660397e+02] [-1.12800322e-02 8.66842278e-05 9.99936375e-01 4.58231788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:254.88, Y:-150.71, Z:0.05 [[ 6.45095778e-01 7.64067650e-01 7.21551188e-03 2.54876418e+02] [-7.64018454e-01 6.45136125e-01 -8.67081439e-03 -1.50710974e+02] [-1.12800761e-02 8.07215193e-05 9.99936375e-01 4.54478089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.92, Y:-150.76, Z:0.05 [[ 6.46424847e-01 7.62943568e-01 7.21316095e-03 2.54915133e+02] [-7.62894279e-01 6.46465082e-01 -8.67276966e-03 -1.50760648e+02] [-1.12798905e-02 1.03414582e-04 9.99936375e-01 4.56933180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.95, Y:-150.81, Z:0.05 [[ 6.42473029e-01 7.66274373e-01 7.21060656e-03 2.54946346e+02] [-7.66225269e-01 6.42513489e-01 -8.67489288e-03 -1.50814282e+02] [-1.12802601e-02 4.84357518e-05 9.99936375e-01 4.52575383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.98, Y:-150.87, Z:0.05 [[ 6.42702754e-01 7.66081723e-01 7.20857996e-03 2.54981381e+02] [-7.66032588e-01 6.42743177e-01 -8.67657660e-03 -1.50867297e+02] [-1.12802323e-02 5.44525187e-05 9.99936375e-01 4.63517006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.02, Y:-150.91, Z:0.05 [[ 6.42195028e-01 7.66507416e-01 7.20610636e-03 2.55020964e+02] [-7.66458285e-01 6.42235455e-01 -8.67863049e-03 -1.50914420e+02] [-1.12802516e-02 5.01934295e-05 9.99936375e-01 4.76918408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.06, Y:-150.96, Z:0.05 [[ 6.43641022e-01 7.65293619e-01 7.20494293e-03 2.55062315e+02] [-7.65244401e-01 6.43681343e-01 -8.67959626e-03 -1.50961435e+02] [-1.12801270e-02 7.30019636e-05 9.99936375e-01 4.66944855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.11, Y:-151.00, Z:0.04 [[ 6.50286918e-01 7.59654559e-01 7.20248127e-03 2.55108872e+02] [-7.59604969e-01 6.50326780e-01 -8.68163851e-03 -1.51004984e+02] [-1.12790127e-02 1.74515383e-04 9.99936375e-01 4.34071939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.14, Y:-151.06, Z:0.04 [[ 6.49433250e-01 7.60384518e-01 7.19990385e-03 2.55144348e+02] [-7.60334949e-01 6.49473139e-01 -8.68377550e-03 -1.51055174e+02] [-1.12791526e-02 1.65194025e-04 9.99936375e-01 4.27678223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.19, Y:-151.10, Z:0.04 [[ 6.55758982e-01 7.54935990e-01 7.19786635e-03 2.55190374e+02] [-7.54886071e-01 6.55798431e-01 -8.68546403e-03 -1.51097049e+02] [-1.12773188e-02 2.62001996e-04 9.99936375e-01 3.68113284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.23, Y:-151.15, Z:0.04 [[ 6.51524818e-01 7.58593195e-01 7.19556497e-03 2.55225380e+02] [-7.58543476e-01 6.51564520e-01 -8.68737021e-03 -1.51147160e+02] [-1.12785548e-02 2.01888430e-04 9.99936375e-01 3.73414148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.27, Y:-151.19, Z:0.04 [[ 6.51480745e-01 7.58631065e-01 7.19347862e-03 2.55270815e+02] [-7.58581330e-01 6.51520426e-01 -8.68909745e-03 -1.51189617e+02] [-1.12785175e-02 2.03941110e-04 9.99936375e-01 3.52284422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.30, Y:-151.24, Z:0.04 [[ 6.41859722e-01 7.66788355e-01 7.19139929e-03 2.55304698e+02] [-7.66739105e-01 6.41900003e-01 -8.69081804e-03 -1.51240417e+02] [-1.12801773e-02 6.43589906e-05 9.99936375e-01 4.02342089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.34, Y:-151.29, Z:0.04 [[ 6.37203891e-01 7.70661738e-01 7.18936811e-03 2.55342323e+02] [-7.70612714e-01 6.37244447e-01 -8.69249798e-03 -1.51288607e+02] [-1.12803605e-02 -1.32493359e-06 9.99936375e-01 4.23913247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.38, Y:-151.34, Z:0.04 [[ 6.34589437e-01 7.72816012e-01 7.18742541e-03 2.55380358e+02] [-7.72767107e-01 6.34630137e-01 -8.69410401e-03 -1.51338653e+02] [-1.12802996e-02 -3.70193719e-05 9.99936375e-01 4.36771725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.42, Y:-151.39, Z:0.04 [[ 6.30985291e-01 7.75761522e-01 7.18495841e-03 2.55416582e+02] [-7.75712784e-01 6.31026191e-01 -8.69614231e-03 -1.51390683e+02] [-1.12800295e-02 -8.63262015e-05 9.99936375e-01 4.23991221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.46, Y:-151.44, Z:0.04 [[ 6.33160847e-01 7.73986921e-01 7.18246100e-03 2.55456963e+02] [-7.73938045e-01 6.33201582e-01 -8.69820452e-03 -1.51439477e+02] [-1.12802422e-02 -5.14172794e-05 9.99936375e-01 3.89309839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.50, Y:-151.49, Z:0.04 [[ 6.29953988e-01 7.76599268e-01 7.17983398e-03 2.55495011e+02] [-7.76550537e-01 6.29994895e-01 -8.70037242e-03 -1.51486965e+02] [-1.12799616e-02 -9.46696259e-05 9.99936375e-01 3.82250286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.54, Y:-151.53, Z:0.04 [[ 6.31744251e-01 7.75143644e-01 7.17854951e-03 2.55539201e+02] [-7.75094807e-01 6.31785031e-01 -8.70143209e-03 -1.51531423e+02] [-1.12801599e-02 -6.69767412e-05 9.99936375e-01 3.69663750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.58, Y:-151.58, Z:0.04 [[ 6.34944535e-01 7.72524394e-01 7.17626178e-03 2.55577350e+02] [-7.72475366e-01 6.34985087e-01 -8.70331842e-03 -1.51580742e+02] [-1.12803450e-02 -1.73609876e-05 9.99936375e-01 3.96750838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.897628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:255.61, Y:-151.63, Z:0.04 [[ 6.38588346e-01 7.69515079e-01 7.17408275e-03 2.55614903e+02] [-7.69465840e-01 6.38628642e-01 -8.70511421e-03 -1.51630616e+02] [-1.12802914e-02 3.87728820e-05 9.99936375e-01 3.74046453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.65, Y:-151.68, Z:0.04 [[ 6.41514779e-01 7.67077143e-01 7.17254621e-03 2.55653445e+02] [-7.67027737e-01 6.41554869e-01 -8.70638005e-03 -1.51680059e+02] [-1.12800471e-02 8.37295873e-05 9.99936375e-01 3.63198839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.69, Y:-151.73, Z:0.03 [[ 6.43182198e-01 7.65679599e-01 7.17020739e-03 2.55693659e+02] [-7.65630085e-01 6.43222154e-01 -8.70830578e-03 -1.51727570e+02] [-1.12798083e-02 1.11300767e-04 9.99936375e-01 3.28885356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.73, Y:-151.77, Z:0.03 [[ 6.42899183e-01 7.65917266e-01 7.16809493e-03 2.55733798e+02] [-7.65867747e-01 6.42939133e-01 -8.71004427e-03 -1.51774864e+02] [-1.12798220e-02 1.09867629e-04 9.99936375e-01 3.16989164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:255.77, Y:-151.82, Z:0.03 [[ 6.41063624e-01 7.67454284e-01 7.16597363e-03 2.55774358e+02] [-7.67404841e-01 6.41103669e-01 -8.71178917e-03 -1.51822445e+02] [-1.12800319e-02 8.56082819e-05 9.99936375e-01 2.93172073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.82, Y:-151.87, Z:0.03 [[ 6.38106886e-01 7.69914464e-01 7.16383580e-03 2.55815312e+02] [-7.69865156e-01 6.38147096e-01 -8.71354678e-03 -1.51869084e+02] [-1.12802667e-02 4.49866351e-05 9.99936375e-01 3.18632087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.86, Y:-151.92, Z:0.03 [[ 6.36084563e-01 7.71586119e-01 7.16170468e-03 2.55856521e+02] [-7.71536897e-01 6.36124878e-01 -8.71529800e-03 -1.51915481e+02] [-1.12803415e-02 1.81471191e-05 9.99936375e-01 3.20486161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.90, Y:-151.97, Z:0.03 [[ 6.37308018e-01 7.70575908e-01 7.15957361e-03 2.55895293e+02] [-7.70526602e-01 6.37348232e-01 -8.71704832e-03 -1.51965329e+02] [-1.12802890e-02 3.88028687e-05 9.99936375e-01 3.12620860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.94, Y:-152.01, Z:0.03 [[ 6.39495400e-01 7.68761607e-01 7.15716594e-03 2.55936088e+02] [-7.68712165e-01 6.39535446e-01 -8.71902470e-03 -1.52013805e+02] [-1.12801127e-02 7.39756690e-05 9.99936375e-01 3.06464351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.97, Y:-152.06, Z:0.03 [[ 6.39968314e-01 7.68367989e-01 7.15478850e-03 2.55973123e+02] [-7.68318500e-01 6.40008302e-01 -8.72097518e-03 -1.52062924e+02] [-1.12800422e-02 8.39914131e-05 9.99936375e-01 2.94081799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.01, Y:-152.11, Z:0.03 [[ 6.34283966e-01 7.73067064e-01 7.15289622e-03 2.56008789e+02] [-7.73017855e-01 6.34324297e-01 -8.72252694e-03 -1.52113753e+02] [-1.12803542e-02 3.24249771e-06 9.99936375e-01 2.91232960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55762799999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:256.05, Y:-152.16, Z:0.02 [[ 6.30972426e-01 7.75772302e-01 7.15077704e-03 2.56051246e+02] [-7.75723245e-01 6.31012943e-01 -8.72426391e-03 -1.52158298e+02] [-1.12802752e-02 -4.22540175e-05 9.99936375e-01 2.21030723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61762799999997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:256.09, Y:-152.20, Z:0.02 [[ 6.28566751e-01 7.77722787e-01 7.14882685e-03 2.56093100e+02] [-7.77673838e-01 6.28607398e-01 -8.72586164e-03 -1.52204938e+02] [-1.12801069e-02 -7.46691127e-05 9.99936375e-01 2.06116517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.13, Y:-152.25, Z:0.02 [[ 6.30933905e-01 7.75803672e-01 7.14637980e-03 2.56131280e+02] [-7.75754577e-01 6.30974374e-01 -8.72786529e-03 -1.52254511e+02] [-1.12802925e-02 -3.71307114e-05 9.99936375e-01 2.39827751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.17, Y:-152.31, Z:0.02 [[ 6.36302685e-01 7.71406415e-01 7.14389559e-03 2.56168781e+02] [-7.71357017e-01 6.36342786e-01 -8.72989817e-03 -1.52305215e+02] [-1.12802659e-02 4.43636548e-05 9.99936375e-01 2.32417904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.21, Y:-152.35, Z:0.02 [[ 6.37641137e-01 7.70300448e-01 7.14142847e-03 2.56207119e+02] [-7.70250958e-01 6.37681123e-01 -8.73191592e-03 -1.52354658e+02] [-1.12801529e-02 6.71366672e-05 9.99936375e-01 2.33655560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.857628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:256.25, Y:-152.40, Z:0.02 [[ 6.36128528e-01 7.71550083e-01 7.13894402e-03 2.56250124e+02] [-7.71500649e-01 6.36168584e-01 -8.73394666e-03 -1.52400072e+02] [-1.12802492e-02 4.82126921e-05 9.99936375e-01 2.06497405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.29, Y:-152.45, Z:0.02 [[ 6.32437801e-01 7.74578270e-01 7.13661974e-03 2.56291377e+02] [-7.74529007e-01 6.32478065e-01 -8.73584544e-03 -1.52445796e+02] [-1.12803515e-02 -2.64011829e-06 9.99936375e-01 2.32746359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.33, Y:-152.49, Z:0.02 [[ 6.28792601e-01 7.77540331e-01 7.13433071e-03 2.56334170e+02] [-7.77491236e-01 6.28833071e-01 -8.73771443e-03 -1.52492615e+02] [-1.12802285e-02 -5.26694188e-05 9.99936375e-01 2.06154139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.96, Y:-152.04, Z:0.98 [[ 6.95745329e-01 7.18253128e-01 7.13311339e-03 2.56962637e+02] [-7.18200604e-01 6.95781236e-01 -8.73870809e-03 -1.52035901e+02] [-1.12396909e-02 9.56908993e-04 9.99936375e-01 9.82626303e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 301.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.00, Y:-152.08, Z:0.98 [[ 6.97627867e-01 7.16417073e-01 7.86995742e-03 2.57004292e+02] [-7.16372236e-01 6.97672255e-01 -8.01522718e-03 -1.52081925e+02] [-1.12328965e-02 -4.61731515e-05 9.99936908e-01 9.76311548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.05, Y:-152.13, Z:0.97 [[ 6.98670717e-01 7.15400114e-01 7.86798560e-03 2.57046170e+02] [-7.15355191e-01 6.98715018e-01 -8.01716231e-03 -1.52127650e+02] [-1.12329585e-02 -2.70478031e-05 9.99936908e-01 9.73987491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.217628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:257.09, Y:-152.17, Z:0.97 [[ 6.98227920e-01 7.15832311e-01 7.86603124e-03 2.57091875e+02] [-7.15787394e-01 6.98272226e-01 -8.01907937e-03 -1.52170400e+02] [-1.12329473e-02 -3.12608940e-05 9.99936908e-01 9.71846268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.14, Y:-152.21, Z:0.98 [[ 6.98084672e-01 7.15972030e-01 7.86399422e-03 2.57136038e+02] [-7.15927099e-01 6.98128965e-01 -8.02107649e-03 -1.52213180e+02] [-1.12329486e-02 -3.06560156e-05 9.99936908e-01 9.77303917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.18, Y:-152.26, Z:0.98 [[ 6.98821166e-01 7.15253217e-01 7.86213483e-03 2.57177758e+02] [-7.15208220e-01 6.98865391e-01 -8.02289863e-03 -1.52258468e+02] [-1.12329780e-02 -1.64920763e-05 9.99936908e-01 9.80144942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.22, Y:-152.31, Z:0.98 [[ 7.00162574e-01 7.13940183e-01 7.86030981e-03 2.57219250e+02] [-7.13895083e-01 7.00206694e-01 -8.02468626e-03 -1.52305793e+02] [-1.12329875e-02 7.14845901e-06 9.99936908e-01 9.81386424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.26, Y:-152.35, Z:0.98 [[ 6.99239575e-01 7.14844227e-01 7.85806421e-03 2.57262744e+02] [-7.14799159e-01 6.99283728e-01 -8.02688463e-03 -1.52351637e+02] [-1.12329886e-02 -4.22228971e-06 9.99936908e-01 9.80439389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.31, Y:-152.39, Z:0.98 [[ 6.95484734e-01 7.18497926e-01 7.85585343e-03 2.57308172e+02] [-7.18453066e-01 6.95529098e-01 -8.02904772e-03 -1.52394902e+02] [-1.12328288e-02 -5.99818651e-05 9.99936908e-01 9.79931999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.35, Y:-152.44, Z:0.98 [[ 6.93241926e-01 7.20662162e-01 7.85367181e-03 2.57354683e+02] [-7.20617416e-01 6.93286405e-01 -8.03118113e-03 -1.52437035e+02] [-1.12326123e-02 -9.19412129e-05 9.99936908e-01 9.77770013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.40, Y:-152.48, Z:0.97 [[ 6.94838651e-01 7.19122785e-01 7.85295949e-03 2.57397796e+02] [-7.19077932e-01 6.94883023e-01 -8.03187758e-03 -1.52480177e+02] [-1.12327944e-02 -6.60308840e-05 9.99936908e-01 9.69363785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.44, Y:-152.53, Z:0.97 [[ 6.98257367e-01 7.15803743e-01 7.85184146e-03 2.57439605e+02] [-7.15758667e-01 6.98301512e-01 -8.03297040e-03 -1.52526949e+02] [-1.12329830e-02 -1.09428227e-05 9.99936908e-01 9.69766987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757628 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:257.48, Y:-152.57, Z:0.97 [[ 7.03187126e-01 7.10961496e-01 7.84961731e-03 2.57481833e+02] [-7.10916093e-01 7.03230933e-01 -8.03514319e-03 -1.52573191e+02] [-1.12327711e-02 6.97899794e-05 9.99936908e-01 9.67851633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:257.53, Y:-152.62, Z:0.97 [[ 7.04772819e-01 7.09389662e-01 7.84734755e-03 2.57526343e+02] [-7.09344136e-01 7.04816500e-01 -8.03735929e-03 -1.52615069e+02] [-1.12325596e-02 9.80424021e-05 9.99936908e-01 9.69528745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.57, Y:-152.66, Z:0.97 [[ 7.04708192e-01 7.09453883e-01 7.84553620e-03 2.57571680e+02] [-7.09408341e-01 7.04751856e-01 -8.03912702e-03 -1.52659218e+02] [-1.12325461e-02 9.95498494e-05 9.99936908e-01 9.72193136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.62, Y:-152.70, Z:0.97 [[ 7.04325492e-01 7.09833843e-01 7.84325918e-03 2.57617100e+02] [-7.09788300e-01 7.04369155e-01 -8.04134796e-03 -1.52701559e+02] [-1.12325708e-02 9.66727601e-05 9.99936908e-01 9.72611152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.66, Y:-152.75, Z:0.97 [[ 7.02383539e-01 7.11755492e-01 7.84115667e-03 2.57661431e+02] [-7.11710045e-01 7.02427302e-01 -8.04339760e-03 -1.52746882e+02] [-1.12327749e-02 6.89201036e-05 9.99936908e-01 9.70249082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05762799999997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:258.25, Y:-152.23, Z:1.94 [[ 7.47286580e-01 6.64455643e-01 7.84005334e-03 2.58250087e+02] [-6.64407429e-01 7.47327274e-01 -8.04447289e-03 -1.52230014e+02] [-1.12042811e-02 8.02536955e-04 9.99936908e-01 1.94117439e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 302.11762799999997 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:258.30, Y:-152.27, Z:1.94 [[ 7.47259324e-01 6.64480375e-01 8.32663232e-03 2.58295335e+02] [-6.64438000e-01 7.47305711e-01 -7.50459987e-03 -1.52270815e+02] [-1.12091992e-02 7.53513033e-05 9.99937172e-01 1.93636476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.34, Y:-152.31, Z:1.94 [[ 7.46163050e-01 6.65711197e-01 8.32495058e-03 2.58341517e+02] [-6.65668878e-01 7.46209487e-01 -7.50646497e-03 -1.52313393e+02] [-1.12092949e-02 5.93862899e-05 9.99937172e-01 1.93689612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.237628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:258.39, Y:-152.35, Z:1.93 [[ 7.45418499e-01 6.66544815e-01 8.32290942e-03 2.58389118e+02] [-6.66502522e-01 7.45464961e-01 -7.50872746e-03 -1.52353660e+02] [-1.12093407e-02 4.99042443e-05 9.99937172e-01 1.93478507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.297628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:258.44, Y:-152.39, Z:1.93 [[ 7.44983736e-01 6.67030729e-01 8.32103659e-03 2.58437433e+02] [-6.66988444e-01 7.45030203e-01 -7.51080232e-03 -1.52393205e+02] [-1.12093595e-02 4.53903288e-05 9.99937172e-01 1.93158057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.48, Y:-152.43, Z:1.93 [[ 7.46969517e-01 6.64806238e-01 8.31905784e-03 2.58484480e+02] [-6.64763789e-01 7.47015836e-01 -7.51299337e-03 -1.52434066e+02] [-1.12091528e-02 8.17686108e-05 9.99937172e-01 1.93314639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.417628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:258.53, Y:-152.48, Z:1.93 [[ 7.51549820e-01 6.59623901e-01 8.31723361e-03 2.58529333e+02] [-6.59581111e-01 7.51595824e-01 -7.51501234e-03 -1.52478093e+02] [-1.12082798e-02 1.62015988e-04 9.99937172e-01 1.93216078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:-152.52, Z:1.93 [[ 7.53005421e-01 6.57961773e-01 8.31507819e-03 2.58575904e+02] [-6.57918855e-01 7.53051306e-01 -7.51739647e-03 -1.52520882e+02] [-1.12078400e-02 1.89993581e-04 9.99937172e-01 1.93167845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.62, Y:-152.56, Z:1.94 [[ 7.50412646e-01 6.60917359e-01 8.31292851e-03 2.58621172e+02] [-6.60874596e-01 7.50458674e-01 -7.51977289e-03 -1.52562840e+02] [-1.12084578e-02 1.49129408e-04 9.99937172e-01 1.93657342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.597628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:258.67, Y:-152.60, Z:1.92 [[ 7.49915440e-01 6.61481469e-01 8.31251321e-03 2.58673945e+02] [-6.61438735e-01 7.49961496e-01 -7.52023194e-03 -1.52595435e+02] [-1.12085589e-02 1.41319826e-04 9.99937172e-01 1.92404272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.72, Y:-152.64, Z:1.93 [[ 7.47913068e-01 6.63744661e-01 8.31074860e-03 2.58720377e+02] [-6.63702044e-01 7.47959232e-01 -7.52218154e-03 -1.52635814e+02] [-1.12089090e-02 1.10077031e-04 9.99937172e-01 1.92930764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.77, Y:-152.67, Z:1.93 [[ 7.50489922e-01 6.60829640e-01 8.31048229e-03 2.58769311e+02] [-6.60786841e-01 7.50535918e-01 -7.52247575e-03 -1.52673728e+02] [-1.12083904e-02 1.54084900e-04 9.99937172e-01 1.93133910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.82, Y:-152.71, Z:1.93 [[ 7.53307802e-01 6.57615635e-01 8.30856737e-03 2.58817542e+02] [-6.57572616e-01 7.53353592e-01 -7.52459018e-03 -1.52710966e+02] [-1.12075772e-02 2.04846107e-04 9.99937172e-01 1.92542447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.837628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:258.87, Y:-152.75, Z:1.93 [[ 7.56251300e-01 6.54228516e-01 8.30787112e-03 2.58865706e+02] [-6.54185284e-01 7.56296888e-01 -7.52535883e-03 -1.52751226e+02] [-1.12065214e-02 2.56175372e-04 9.99937172e-01 1.92580217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.91, Y:-152.79, Z:1.93 [[ 7.57072923e-01 6.53277585e-01 8.30576569e-03 2.58912797e+02] [-6.53234271e-01 7.57118433e-01 -7.52768189e-03 -1.52792040e+02] [-1.12061142e-02 2.73393342e-04 9.99937172e-01 1.93207756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.96, Y:-152.83, Z:1.93 [[ 7.52225508e-01 6.58853423e-01 8.30377382e-03 2.58958371e+02] [-6.58810421e-01 7.52271314e-01 -7.52987847e-03 -1.52833943e+02] [-1.12077770e-02 1.93553927e-04 9.99937172e-01 1.92980410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017628 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.01, Y:-152.87, Z:1.93 [[ 7.48524014e-01 6.63055716e-01 8.30167405e-03 2.59007531e+02] [-6.63012946e-01 7.48570036e-01 -7.53219276e-03 -1.52872141e+02] [-1.12086479e-02 1.33909788e-04 9.99937172e-01 1.92539673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.05, Y:-152.91, Z:1.93 [[ 7.43950169e-01 6.68183553e-01 8.29973466e-03 2.59053833e+02] [-6.68141076e-01 7.43996463e-01 -7.53432916e-03 -1.52914389e+02] [-1.12092881e-02 5.97718102e-05 9.99937172e-01 1.92677446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.10, Y:-152.96, Z:1.93 [[ 7.37811468e-01 6.74955842e-01 8.29751342e-03 2.59096729e+02] [-6.74913763e-01 7.37858123e-01 -7.53677461e-03 -1.52958687e+02] [-1.12093777e-02 -3.93872696e-05 9.99937172e-01 1.93081156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.14, Y:-153.00, Z:1.93 [[ 7.35369853e-01 6.77615203e-01 8.29547299e-03 2.59143490e+02] [-6.77573268e-01 7.35416637e-01 -7.53901977e-03 -1.53000164e+02] [-1.12091833e-02 -7.68228749e-05 9.99937172e-01 1.93240551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.19, Y:-153.04, Z:1.93 [[ 7.35389678e-01 6.77593716e-01 8.29318477e-03 2.59190767e+02] [-6.77551750e-01 7.35436436e-01 -7.54153606e-03 -1.53042105e+02] [-1.12092077e-02 -7.30940812e-05 9.99937172e-01 1.93116534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.24, Y:-153.09, Z:1.93 [[ 7.36720750e-01 6.76146282e-01 8.29101580e-03 2.59236402e+02] [-6.76104198e-01 7.36767401e-01 -7.54391982e-03 -1.53085418e+02] [-1.12093435e-02 -4.78283200e-05 9.99937172e-01 1.93204191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.28, Y:-153.13, Z:1.93 [[ 7.37010152e-01 6.75830844e-01 8.28887133e-03 2.59282421e+02] [-6.75788714e-01 7.37056760e-01 -7.54627532e-03 -1.53128316e+02] [-1.12093743e-02 -3.98441703e-05 9.99937172e-01 1.93203797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.33, Y:-153.17, Z:1.93 [[ 7.35161403e-01 6.77841458e-01 8.28672405e-03 2.59329142e+02] [-6.77799428e-01 7.35208102e-01 -7.54863256e-03 -1.53169969e+02] [-1.12092428e-02 -6.72735163e-05 9.99937172e-01 1.93010299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.38, Y:-153.21, Z:1.93 [[ 7.33648872e-01 6.79478255e-01 8.28457717e-03 2.59375286e+02] [-6.79436302e-01 7.33695641e-01 -7.55098801e-03 -1.53212213e+02] [-1.12090903e-02 -8.90686415e-05 9.99937172e-01 1.92650377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.42, Y:-153.25, Z:1.92 [[ 7.37406220e-01 6.75398729e-01 8.28390187e-03 2.59424192e+02] [-6.75356510e-01 7.37452748e-01 -7.55172878e-03 -1.53252087e+02] [-1.12094142e-02 -2.58952749e-05 9.99937172e-01 1.92452978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.47, Y:-153.30, Z:1.92 [[ 7.37128917e-01 6.75701396e-01 8.28154683e-03 2.59466336e+02] [-6.75659166e-01 7.37175436e-01 -7.55431054e-03 -1.53296629e+02] [-1.12094111e-02 -2.70022755e-05 9.99937172e-01 1.92225404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67762799999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:259.51, Y:-153.34, Z:1.92 [[ 7.41822398e-01 6.70545283e-01 8.27974732e-03 2.59511429e+02] [-6.70502708e-01 7.41868601e-01 -7.55628235e-03 -1.53337601e+02] [-1.12093140e-02 5.38264881e-05 9.99937172e-01 1.91890771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.56, Y:-153.38, Z:1.92 [[ 7.46148523e-01 6.65728065e-01 8.27802451e-03 2.59558114e+02] [-6.65685171e-01 7.46194430e-01 -7.55816924e-03 -1.53379834e+02] [-1.12087012e-02 1.28958643e-04 9.99937172e-01 1.91931995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.60, Y:-153.42, Z:1.92 [[ 7.47101591e-01 6.64658350e-01 8.27586799e-03 2.59604212e+02] [-6.64615365e-01 7.47147412e-01 -7.56052980e-03 -1.53422808e+02] [-1.12084626e-02 1.48214817e-04 9.99937172e-01 1.91991972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.65, Y:-153.46, Z:1.92 [[ 7.50178277e-01 6.61183861e-01 8.27369057e-03 2.59648918e+02] [-6.61140637e-01 7.50223873e-01 -7.56291185e-03 -1.53464577e+02] [-1.12075954e-02 2.03459123e-04 9.99937172e-01 1.92182965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.70, Y:-153.51, Z:1.92 [[ 7.49756316e-01 6.61662332e-01 8.27195228e-03 2.59695129e+02] [-6.61619116e-01 7.49801920e-01 -7.56481263e-03 -1.53506011e+02] [-1.12076773e-02 1.98884294e-04 9.99937172e-01 1.92459204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.977628 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.74, Y:-153.55, Z:1.93 [[ 7.46815009e-01 6.64980412e-01 8.27006333e-03 2.59741756e+02] [-6.64937376e-01 7.46860782e-01 -7.56687713e-03 -1.53545924e+02] [-1.12084110e-02 1.51983196e-04 9.99937172e-01 1.92571529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.79, Y:-153.59, Z:1.93 [[ 7.40115176e-01 6.72429298e-01 8.26833970e-03 2.59788001e+02] [-6.72386702e-01 7.40161359e-01 -7.56876007e-03 -1.53586569e+02] [-1.12093616e-02 4.22325233e-05 9.99937172e-01 1.92521117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.84, Y:-153.62, Z:1.92 [[ 7.37363443e-01 6.75445646e-01 8.26637898e-03 2.59838013e+02] [-6.75403214e-01 7.37409777e-01 -7.57090091e-03 -1.53624995e+02] [-1.12094407e-02 -6.33375032e-07 9.99937172e-01 1.92251737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.88, Y:-153.67, Z:1.92 [[ 7.32559494e-01 6.80652843e-01 8.26414266e-03 2.59882773e+02] [-6.80610713e-01 7.32606103e-01 -7.57334121e-03 -1.53668681e+02] [-1.12091776e-02 -7.67410280e-05 9.99937172e-01 1.92147584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.93, Y:-153.71, Z:1.92 [[ 7.29937684e-01 6.83463751e-01 8.26307794e-03 2.59925904e+02] [-6.83421788e-01 7.29984443e-01 -7.57450273e-03 -1.53712710e+02] [-1.12088164e-02 -1.18252520e-04 9.99937172e-01 1.92096173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.97, Y:-153.76, Z:1.92 [[ 7.29305660e-01 6.84138150e-01 8.26110690e-03 2.59971906e+02] [-6.84096205e-01 7.29352436e-01 -7.57665182e-03 -1.53755922e+02] [-1.12087350e-02 -1.25696820e-04 9.99937172e-01 1.92109372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.02, Y:-153.80, Z:1.92 [[ 7.30707315e-01 6.82640908e-01 8.25893974e-03 2.60016674e+02] [-6.82598841e-01 7.30753981e-01 -7.57901340e-03 -1.53798827e+02] [-1.12089977e-02 -9.95021633e-05 9.99937172e-01 1.92241324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.06, Y:-153.84, Z:1.92 [[ 7.36131347e-01 6.76788343e-01 8.25705495e-03 2.60059492e+02] [-6.76745882e-01 7.36177654e-01 -7.58106626e-03 -1.53843928e+02] [-1.12094366e-02 -7.26742049e-06 9.99937172e-01 1.92336400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.10, Y:-153.89, Z:1.92 [[ 7.40746452e-01 6.71733984e-01 8.25519862e-03 2.60104067e+02] [-6.71691184e-01 7.40792447e-01 -7.58308712e-03 -1.53888613e+02] [-1.12092061e-02 7.22007442e-05 9.99937172e-01 1.92280842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.15, Y:-153.93, Z:1.92 [[ 7.47574228e-01 6.64126991e-01 8.25307600e-03 2.60147444e+02] [-6.64083698e-01 7.47619759e-01 -7.58539657e-03 -1.53932327e+02] [-1.12078293e-02 1.89913750e-04 9.99937172e-01 1.92170700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:-153.97, Z:1.92 [[ 7.54720258e-01 6.55994856e-01 8.25111827e-03 2.60194062e+02] [-6.55951049e-01 7.54765295e-01 -7.58752552e-03 -1.53973937e+02] [-1.12050354e-02 3.14129536e-04 9.99937172e-01 1.91800433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:-154.02, Z:1.92 [[ 7.53850580e-01 6.56994108e-01 8.24888450e-03 2.60232661e+02] [-6.56950335e-01 7.53895649e-01 -7.58995322e-03 -1.54021671e+02] [-1.12053527e-02 3.02583204e-04 9.99937172e-01 1.91559287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:-154.07, Z:1.92 [[ 7.52118341e-01 6.58976469e-01 8.24711406e-03 2.60277414e+02] [-6.58932793e-01 7.52163505e-01 -7.59187646e-03 -1.54065877e+02] [-1.12060462e-02 2.75695624e-04 9.99937172e-01 1.91564321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:260.32, Y:-154.11, Z:1.91 [[ 7.47449982e-01 6.64266923e-01 8.24499234e-03 2.60322682e+02] [-6.64223541e-01 7.47495428e-01 -7.59418001e-03 -1.54109406e+02] [-1.12076567e-02 1.99751693e-04 9.99937172e-01 1.91448437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:-154.15, Z:1.91 [[ 7.45465338e-01 6.66493425e-01 8.24287947e-03 2.60368335e+02] [-6.66450154e-01 7.45510889e-01 -7.59647267e-03 -1.54149624e+02] [-1.12081555e-02 1.69438768e-04 9.99937172e-01 1.91192261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.41, Y:-154.19, Z:1.91 [[ 7.40541361e-01 6.71960240e-01 8.24189291e-03 2.60411275e+02] [-6.71917293e-01 7.40587219e-01 -7.59754290e-03 -1.54194930e+02] [-1.12090873e-02 8.84243906e-05 9.99937172e-01 1.91456096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:260.45, Y:-154.24, Z:1.91 [[ 7.35103453e-01 6.77904873e-01 8.23992565e-03 2.60450443e+02] [-6.77862274e-01 7.35149633e-01 -7.59967590e-03 -1.54242084e+02] [-1.12094356e-02 1.01326385e-06 9.99937172e-01 1.91225521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:-154.29, Z:1.91 [[ 7.33445093e-01 6.79698778e-01 8.23814241e-03 2.60491855e+02] [-6.79656270e-01 7.33491357e-01 -7.60160846e-03 -1.54290029e+02] [-1.12094102e-02 -2.37427120e-05 9.99937172e-01 1.91421182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.53, Y:-154.34, Z:1.91 [[ 7.32516383e-01 6.80699578e-01 8.23611487e-03 2.60534366e+02] [-6.80657108e-01 7.32562682e-01 -7.60380460e-03 -1.54336098e+02] [-1.12093770e-02 -3.60586895e-05 9.99937172e-01 1.91242846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.58, Y:-154.38, Z:1.91 [[ 7.29994748e-01 6.83403149e-01 8.23434144e-03 2.60577513e+02] [-6.83360829e-01 7.30041184e-01 -7.60572461e-03 -1.54379770e+02] [-1.12091845e-02 -7.48873782e-05 9.99937172e-01 1.90832968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.63, Y:-154.42, Z:1.90 [[ 7.27740669e-01 6.85802990e-01 8.23271593e-03 2.60625475e+02] [-6.85760803e-01 7.27787227e-01 -7.60748372e-03 -1.54419630e+02] [-1.12089006e-02 -1.09398592e-04 9.99937172e-01 1.90493947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.67, Y:-154.46, Z:1.90 [[ 7.28695505e-01 6.84788371e-01 8.23095545e-03 2.60673090e+02] [-6.84746098e-01 7.28741984e-01 -7.60938800e-03 -1.54459108e+02] [-1.12090632e-02 -9.11877959e-05 9.99937172e-01 1.90343705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.297628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:260.72, Y:-154.50, Z:1.90 [[ 7.32420649e-01 6.80802669e-01 8.22911756e-03 2.60718058e+02] [-6.80760121e-01 7.32466876e-01 -7.61137505e-03 -1.54500662e+02] [-1.12094005e-02 -2.73268102e-05 9.99937172e-01 1.90313076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.357628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:-154.54, Z:1.90 [[ 7.38268507e-01 6.74456760e-01 8.22743777e-03 2.60761074e+02] [-6.74413794e-01 7.38314346e-01 -7.61319037e-03 -1.54543448e+02] [-1.12092030e-02 7.18811693e-05 9.99937172e-01 1.90138987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.80, Y:-154.59, Z:1.91 [[ 7.40842591e-01 6.71628314e-01 8.22578431e-03 2.60804686e+02] [-6.71585153e-01 7.40888247e-01 -7.61497646e-03 -1.54587807e+02] [-1.12088207e-02 1.17184274e-04 9.99937172e-01 1.90571602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.85, Y:-154.63, Z:1.91 [[ 7.41779370e-01 6.70593568e-01 8.22392092e-03 2.60851692e+02] [-6.70550321e-01 7.41824945e-01 -7.61698833e-03 -1.54630336e+02] [-1.12086131e-02 1.35571995e-04 9.99937172e-01 1.90644715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.537628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:260.90, Y:-154.67, Z:1.91 [[ 7.40667298e-01 6.71821670e-01 8.22178310e-03 2.60898680e+02] [-6.71778473e-01 7.40712920e-01 -7.61929519e-03 -1.54672775e+02] [-1.12087886e-02 1.20145879e-04 9.99937172e-01 1.90526378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.94, Y:-154.72, Z:1.91 [[ 7.37384076e-01 6.75423691e-01 8.21963548e-03 2.60943626e+02] [-6.75380691e-01 7.37429884e-01 -7.62161132e-03 -1.54715432e+02] [-1.12092217e-02 6.86717285e-05 9.99937172e-01 1.90535285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.99, Y:-154.76, Z:1.90 [[ 7.36758568e-01 6.76105970e-01 8.21765060e-03 2.60988494e+02] [-6.76062989e-01 7.36804393e-01 -7.62375083e-03 -1.54758133e+02] [-1.12092645e-02 6.12143181e-05 9.99937172e-01 1.90453724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.03, Y:-154.80, Z:1.90 [[ 7.35640838e-01 6.77321976e-01 8.21575640e-03 2.61032521e+02] [-6.77279048e-01 7.35686712e-01 -7.62579157e-03 -1.54800504e+02] [-1.12093390e-02 4.54840226e-05 9.99937172e-01 1.90205697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.777628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:261.08, Y:-154.84, Z:1.90 [[ 7.34267719e-01 6.78810317e-01 8.21402738e-03 2.61078696e+02] [-6.78767461e-01 7.34313661e-01 -7.62765351e-03 -1.54842162e+02] [-1.12094024e-02 2.53252345e-05 9.99937172e-01 1.90001314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.837628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:261.12, Y:-154.88, Z:1.90 [[ 7.33406375e-01 6.79740869e-01 8.21214414e-03 2.61122732e+02] [-6.79698049e-01 7.33452351e-01 -7.62968052e-03 -1.54884419e+02] [-1.12094221e-02 1.38779956e-05 9.99937172e-01 1.90148163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.17, Y:-154.93, Z:1.90 [[ 7.31920013e-01 6.81341083e-01 8.21112557e-03 2.61168613e+02] [-6.81298351e-01 7.31966070e-01 -7.63077656e-03 -1.54925778e+02] [-1.12094269e-02 -9.10823204e-06 9.99937172e-01 1.90498430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.21, Y:-154.97, Z:1.90 [[ 7.31621021e-01 6.81662152e-01 8.20924787e-03 2.61213694e+02] [-6.81619417e-01 7.31667076e-01 -7.63279607e-03 -1.54967143e+02] [-1.12094246e-02 -1.12686953e-05 9.99937172e-01 1.90274431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.26, Y:-155.01, Z:1.90 [[ 7.31520676e-01 6.81769848e-01 8.20820356e-03 2.61258025e+02] [-6.81727108e-01 7.31566725e-01 -7.63391894e-03 -1.55011168e+02] [-1.12094244e-02 -1.13853320e-05 9.99937172e-01 1.89982337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:261.30, Y:-155.06, Z:1.90 [[ 7.31175071e-01 6.82140507e-01 8.20633388e-03 2.61301310e+02] [-6.82097768e-01 7.31221121e-01 -7.63592828e-03 -1.55055327e+02] [-1.12094207e-02 -1.43216161e-05 9.99937172e-01 1.89765972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.35, Y:-155.10, Z:1.90 [[ 7.28575163e-01 6.84916724e-01 8.20446371e-03 2.61347410e+02] [-6.84874137e-01 7.28621354e-01 -7.63793717e-03 -1.55096080e+02] [-1.12092984e-02 -5.42136899e-05 9.99937172e-01 1.89837997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:-155.14, Z:1.90 [[ 7.26179649e-01 6.87456059e-01 8.20275246e-03 2.61394310e+02] [-6.87413612e-01 7.26225970e-01 -7.63977452e-03 -1.55138147e+02] [-1.12090611e-02 -9.08349174e-05 9.99937172e-01 1.89847149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.44, Y:-155.18, Z:1.90 [[ 7.27299095e-01 6.86271648e-01 8.20064548e-03 2.61438217e+02] [-6.86229101e-01 7.27345324e-01 -7.64203552e-03 -1.55183167e+02] [-1.12092134e-02 -6.94760562e-05 9.99937172e-01 1.89926700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.48, Y:-155.23, Z:1.90 [[ 7.32667811e-01 6.80537039e-01 8.19856427e-03 2.61481699e+02] [-6.80494105e-01 7.32713681e-01 -7.64426763e-03 -1.55227535e+02] [-1.12094075e-02 2.16341789e-05 9.99937172e-01 1.89890903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.53, Y:-155.27, Z:1.90 [[ 7.38501201e-01 6.74202337e-01 8.19664287e-03 2.61527333e+02] [-6.74158986e-01 7.38546677e-01 -7.64632732e-03 -1.55268865e+02] [-1.12087751e-02 1.20981457e-04 9.99937172e-01 1.89913982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.57, Y:-155.31, Z:1.90 [[ 7.40720050e-01 6.71763834e-01 8.19501105e-03 2.61574962e+02] [-6.71720315e-01 7.40765364e-01 -7.64807583e-03 -1.55309392e+02] [-1.12082811e-02 1.60327709e-04 9.99937172e-01 1.89807375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.62, Y:-155.35, Z:1.90 [[ 7.41578872e-01 6.70815661e-01 8.19302562e-03 2.61621394e+02] [-6.70772061e-01 7.41624108e-01 -7.65020215e-03 -1.55351006e+02] [-1.12080207e-02 1.77575596e-04 9.99937172e-01 1.89717772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.67, Y:-155.39, Z:1.90 [[ 7.40635190e-01 6.71857440e-01 8.19119221e-03 2.61667735e+02] [-6.71813881e-01 7.40680466e-01 -7.65216471e-03 -1.55391430e+02] [-1.12082199e-02 1.64505832e-04 9.99937172e-01 1.89618802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.72, Y:-155.43, Z:1.90 [[ 7.37905398e-01 6.74854464e-01 8.18999054e-03 2.61716485e+02] [-6.74811075e-01 7.37950837e-01 -7.65345061e-03 -1.55430714e+02] [-1.12087757e-02 1.20826204e-04 9.99937172e-01 1.89578335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67762799999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:261.76, Y:-155.47, Z:1.89 [[ 7.35477864e-01 6.77499278e-01 8.18783543e-03 2.61762310e+02] [-6.77456026e-01 7.35523434e-01 -7.65575551e-03 -1.55471437e+02] [-1.12091137e-02 8.37402566e-05 9.99937172e-01 1.89281240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.81, Y:-155.51, Z:1.89 [[ 7.33086598e-01 6.80086044e-01 8.18611232e-03 2.61807760e+02] [-6.80042933e-01 7.33132301e-01 -7.65759754e-03 -1.55514739e+02] [-1.12093286e-02 4.67742961e-05 9.99937172e-01 1.89443642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.85, Y:-155.56, Z:1.90 [[ 7.31374162e-01 6.81927312e-01 8.18392854e-03 2.61852903e+02] [-6.81884290e-01 7.31419949e-01 -7.65993071e-03 -1.55555862e+02] [-1.12094045e-02 2.17831074e-05 9.99937172e-01 1.89541468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.90, Y:-155.60, Z:1.90 [[ 7.31537909e-01 6.81751662e-01 8.18290391e-03 2.61900299e+02] [-6.81708616e-01 7.31583673e-01 -7.66102514e-03 -1.55596079e+02] [-1.12093955e-02 2.59742007e-05 9.99937172e-01 1.89730803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.94, Y:-155.64, Z:1.90 [[ 7.28261575e-01 6.85250430e-01 8.18090516e-03 2.61941171e+02] [-6.85207580e-01 7.28307523e-01 -7.66315892e-03 -1.55642875e+02] [-1.12093977e-02 -2.48340466e-05 9.99937172e-01 1.89913336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.98, Y:-155.69, Z:1.90 [[ 7.26696514e-01 6.86909945e-01 8.17950333e-03 2.61984472e+02] [-6.86867184e-01 7.26742544e-01 -7.66465492e-03 -1.55687992e+02] [-1.12093207e-02 -4.83544122e-05 9.99937172e-01 1.89797909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.03, Y:-155.73, Z:1.89 [[ 7.25905289e-01 6.87746060e-01 8.17728543e-03 2.62030381e+02] [-6.87703325e-01 7.25951344e-01 -7.66702044e-03 -1.55731469e+02] [-1.12092744e-02 -5.80156869e-05 9.99937172e-01 1.89448224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.097628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:-155.78, Z:1.89 [[ 7.28130854e-01 6.85389399e-01 8.17506068e-03 2.62071658e+02] [-6.85346488e-01 7.28176745e-01 -7.66939186e-03 -1.55776474e+02] [-1.12094090e-02 -1.84282877e-05 9.99937172e-01 1.88858137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.157628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:262.12, Y:-155.82, Z:1.89 [[ 7.30876313e-01 6.82460988e-01 8.17397806e-03 2.62115626e+02] [-6.82417881e-01 7.30922020e-01 -7.67054554e-03 -1.55821895e+02] [-1.12093886e-02 2.81512603e-05 9.99937172e-01 1.88811951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.217628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:262.16, Y:-155.86, Z:1.89 [[ 7.30370768e-01 6.83002023e-01 8.17182681e-03 2.62164751e+02] [-6.82958923e-01 7.30416482e-01 -7.67283669e-03 -1.55861793e+02] [-1.12094000e-02 2.29935864e-05 9.99937172e-01 1.88811247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.277628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:262.21, Y:-155.90, Z:1.89 [[ 7.29102267e-01 6.84356006e-01 8.16960904e-03 2.62212715e+02] [-6.84312965e-01 7.29148035e-01 -7.67519733e-03 -1.55901953e+02] [-1.12094218e-02 5.43438735e-06 9.99937172e-01 1.88807846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.337628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:262.26, Y:-155.94, Z:1.89 [[ 7.27866229e-01 6.85670508e-01 8.16741481e-03 2.62258583e+02] [-6.85627523e-01 7.27912051e-01 -7.67753157e-03 -1.55944445e+02] [-1.12094166e-02 -1.15884366e-05 9.99937172e-01 1.88934843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.30, Y:-155.99, Z:1.89 [[ 7.27484318e-01 6.86075723e-01 8.16520675e-03 2.62303069e+02] [-6.86032737e-01 7.27530139e-01 -7.67987916e-03 -1.55987633e+02] [-1.12094126e-02 -1.46074925e-05 9.99937172e-01 1.89082458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.35, Y:-156.03, Z:1.89 [[ 7.29003647e-01 6.84461135e-01 8.16316610e-03 2.62349431e+02] [-6.84418024e-01 7.29049350e-01 -7.68204761e-03 -1.56030375e+02] [-1.12094140e-02 1.32227179e-05 9.99937172e-01 1.88802394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.40, Y:-156.07, Z:1.89 [[ 7.30017878e-01 6.83379321e-01 8.16098776e-03 2.62395289e+02] [-6.83336116e-01 7.30063492e-01 -7.68436107e-03 -1.56073941e+02] [-1.12093727e-02 3.30232846e-05 9.99937172e-01 1.88574034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.44, Y:-156.12, Z:1.88 [[ 7.30082420e-01 6.83310394e-01 8.15878926e-03 2.62440792e+02] [-6.83267159e-01 7.30128005e-01 -7.68669459e-03 -1.56117931e+02] [-1.12093588e-02 3.72878257e-05 9.99937172e-01 1.88486606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.48, Y:-156.16, Z:1.88 [[ 7.31634866e-01 6.81647925e-01 8.15658764e-03 2.62484543e+02] [-6.81604560e-01 7.31680328e-01 -7.68903009e-03 -1.56162632e+02] [-1.12092261e-02 6.59951657e-05 9.99937172e-01 1.88381585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.53, Y:-156.21, Z:1.88 [[ 7.33899115e-01 6.79209537e-01 8.15438591e-03 2.62530651e+02] [-6.79165995e-01 7.33944408e-01 -7.69136437e-03 -1.56205619e+02] [-1.12089140e-02 1.06503890e-04 9.99937172e-01 1.88218956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.58, Y:-156.25, Z:1.88 [[ 7.35080114e-01 6.77931240e-01 8.15221027e-03 2.62577229e+02] [-6.77887595e-01 7.35125307e-01 -7.69366967e-03 -1.56248372e+02] [-1.12086751e-02 1.29181371e-04 9.99937172e-01 1.88235431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.62, Y:-156.29, Z:1.88 [[ 7.37507969e-01 6.75289252e-01 8.14999092e-03 2.62623862e+02] [-6.75245418e-01 7.37552979e-01 -7.69601993e-03 -1.56290934e+02] [-1.12080896e-02 1.72632000e-04 9.99937172e-01 1.88244125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:262.67, Y:-156.33, Z:1.88 [[ 7.39304339e-01 6.73322143e-01 8.14778774e-03 2.62668782e+02] [-6.73278164e-01 7.39349207e-01 -7.69835174e-03 -1.56333708e+02] [-1.12075311e-02 2.05697278e-04 9.99937172e-01 1.87996608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.72, Y:-156.38, Z:1.88 [[ 7.38221082e-01 6.74509659e-01 8.14575545e-03 2.62715531e+02] [-6.74465729e-01 7.38265997e-01 -7.70050154e-03 -1.56376085e+02] [-1.12077969e-02 1.90639690e-04 9.99937173e-01 1.88034545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.76, Y:-156.42, Z:1.88 [[ 7.34764129e-01 6.78273807e-01 8.14356133e-03 2.62763271e+02] [-6.78230080e-01 7.34809244e-01 -7.70282120e-03 -1.56417465e+02] [-1.12085860e-02 1.36548454e-04 9.99937173e-01 1.87871618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.81, Y:-156.46, Z:1.88 [[ 7.30060884e-01 6.83333610e-01 8.14139997e-03 2.62809268e+02] [-6.83290171e-01 7.30106275e-01 -7.70510494e-03 -1.56460008e+02] [-1.12092444e-02 6.22571468e-05 9.99937173e-01 1.87806482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.86, Y:-156.50, Z:1.88 [[ 7.27235874e-01 6.86339375e-01 8.13918870e-03 2.62855502e+02] [-6.86296097e-01 7.27281419e-01 -7.70744009e-03 -1.56503040e+02] [-1.12094003e-02 1.92334887e-05 9.99937173e-01 1.87703815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17762799999997 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:262.90, Y:-156.55, Z:1.87 [[ 7.24248792e-01 6.89490737e-01 8.13700503e-03 2.62900654e+02] [-6.89447632e-01 7.24294500e-01 -7.70974477e-03 -1.56546236e+02] [-1.12093856e-02 -2.62655073e-05 9.99937173e-01 1.87471141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.95, Y:-156.59, Z:1.88 [[ 7.22950683e-01 6.90851746e-01 8.13480693e-03 2.62945011e+02] [-6.90808701e-01 7.22996447e-01 -7.71206336e-03 -1.56590399e+02] [-1.12093290e-02 -4.41539372e-05 9.99937173e-01 1.87816106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.99, Y:-156.64, Z:1.88 [[ 7.22654871e-01 6.91161192e-01 8.13290966e-03 2.62988687e+02] [-6.91118144e-01 7.22700633e-01 -7.71406365e-03 -1.56636108e+02] [-1.12093204e-02 -4.61957638e-05 9.99937173e-01 1.87763911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.03, Y:-156.68, Z:1.88 [[ 7.22733694e-01 6.91078794e-01 8.13070624e-03 2.63032633e+02] [-6.91035714e-01 7.22779426e-01 -7.71638538e-03 -1.56681578e+02] [-1.12093375e-02 -4.17166770e-05 9.99937173e-01 1.87562024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.08, Y:-156.72, Z:1.87 [[ 7.21526961e-01 6.92338625e-01 8.12852647e-03 2.63077042e+02] [-6.92295600e-01 7.21572744e-01 -7.71868089e-03 -1.56724445e+02] [-1.12092641e-02 -5.81067493e-05 9.99937173e-01 1.86977729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.13, Y:-156.76, Z:1.87 [[ 7.19446618e-01 6.94500196e-01 8.12662886e-03 2.63125509e+02] [-6.94457285e-01 7.19492509e-01 -7.72067828e-03 -1.56763662e+02] [-1.12090612e-02 -8.89807378e-05 9.99937173e-01 1.86589618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.17, Y:-156.80, Z:1.86 [[ 7.19136341e-01 6.94821496e-01 8.12474715e-03 2.63173516e+02] [-6.94778584e-01 7.19182230e-01 -7.72265796e-03 -1.56803745e+02] [-1.12090425e-02 -9.12563328e-05 9.99937173e-01 1.86484015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.22, Y:-156.85, Z:1.87 [[ 7.22228458e-01 6.91606881e-01 8.12262520e-03 2.63218592e+02] [-6.91563739e-01 7.22274132e-01 -7.72488917e-03 -1.56846071e+02] [-1.12093486e-02 -3.81782599e-05 9.99937173e-01 1.86693306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.26, Y:-156.89, Z:1.87 [[ 7.27556881e-01 6.85999299e-01 8.12080852e-03 2.63263328e+02] [-6.85955784e-01 7.27602199e-01 -7.72679849e-03 -1.56890284e+02] [-1.12092965e-02 5.11698361e-05 9.99937173e-01 1.86695431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.31, Y:-156.93, Z:1.87 [[ 7.31802635e-01 6.81468262e-01 8.11863752e-03 2.63307684e+02] [-6.81424441e-01 7.31847657e-01 -7.72907890e-03 -1.56934421e+02] [-1.12087278e-02 1.23922270e-04 9.99937173e-01 1.86514747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.777628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:263.35, Y:-156.98, Z:1.86 [[ 7.36845081e-01 6.76012906e-01 8.11646298e-03 2.63351551e+02] [-6.75968727e-01 7.36889752e-01 -7.73136176e-03 -1.56979799e+02] [-1.12074387e-02 2.10340745e-04 9.99937173e-01 1.86309186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.40, Y:-157.02, Z:1.87 [[ 7.37033006e-01 6.75808040e-01 8.11425571e-03 2.63395634e+02] [-6.75763823e-01 7.37077639e-01 -7.73367765e-03 -1.57022827e+02] [-1.12073180e-02 2.16655227e-04 9.99937173e-01 1.86644832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.44, Y:-157.06, Z:1.87 [[ 7.32212810e-01 6.81027601e-01 8.11222101e-03 2.63442448e+02] [-6.80983678e-01 7.32257733e-01 -7.73581135e-03 -1.57064563e+02] [-1.12085376e-02 1.39970065e-04 9.99937173e-01 1.86717360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.49, Y:-157.11, Z:1.87 [[ 7.24486649e-01 6.89241121e-01 8.11006876e-03 2.63488415e+02] [-6.89197682e-01 7.24532040e-01 -7.73806707e-03 -1.57107767e+02] [-1.12093987e-02 1.66856900e-05 9.99937173e-01 1.86605501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.53, Y:-157.15, Z:1.86 [[ 7.20637511e-01 6.93264624e-01 8.10792106e-03 2.63534700e+02] [-6.93221414e-01 7.20683120e-01 -7.74031677e-03 -1.57149684e+02] [-1.12093296e-02 -4.26218886e-05 9.99937173e-01 1.86385230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.58, Y:-157.19, Z:1.86 [[ 7.18526782e-01 6.95452051e-01 8.10601386e-03 2.63582107e+02] [-6.95408957e-01 7.18572501e-01 -7.74231356e-03 -1.57191719e+02] [-1.12091665e-02 -7.39349975e-05 9.99937173e-01 1.86240269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.63, Y:-157.24, Z:1.86 [[ 7.20365052e-01 6.93547777e-01 8.10381302e-03 2.63625862e+02] [-6.93504536e-01 7.20410632e-01 -7.74461647e-03 -1.57236391e+02] [-1.12093346e-02 -4.10800422e-05 9.99937173e-01 1.86482560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.67, Y:-157.28, Z:1.87 [[ 7.23262605e-01 6.90525571e-01 8.10188925e-03 2.63669438e+02] [-6.90482117e-01 7.23307981e-01 -7.74662848e-03 -1.57281276e+02] [-1.12094062e-02 8.63705338e-06 9.99937173e-01 1.86612258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.71, Y:-157.33, Z:1.87 [[ 7.27341191e-01 6.86228233e-01 8.09967954e-03 2.63713636e+02] [-6.86184485e-01 7.27386284e-01 -7.74893821e-03 -1.57326023e+02] [-1.12091360e-02 7.82475119e-05 9.99937173e-01 1.86522554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.76, Y:-157.37, Z:1.87 [[ 7.29234745e-01 6.84215695e-01 8.09747682e-03 2.63757055e+02] [-6.84171797e-01 7.29279693e-01 -7.75123932e-03 -1.57372110e+02] [-1.12088450e-02 1.12407765e-04 9.99937173e-01 1.86690477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.80, Y:-157.42, Z:1.87 [[ 7.28588451e-01 6.84903888e-01 8.09527643e-03 2.63799622e+02] [-6.84860007e-01 7.28633415e-01 -7.75353669e-03 -1.57417399e+02] [-1.12089163e-02 1.05006211e-04 9.99937173e-01 1.86911050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:-157.46, Z:1.87 [[ 7.25540599e-01 6.88131773e-01 8.09334825e-03 2.63843819e+02] [-6.88088070e-01 7.25585735e-01 -7.75554885e-03 -1.57460411e+02] [-1.12092576e-02 5.80291746e-05 9.99937173e-01 1.86800834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.89, Y:-157.50, Z:1.86 [[ 7.23191919e-01 6.90599724e-01 8.09130910e-03 2.63890978e+02] [-6.90556152e-01 7.23237181e-01 -7.75767570e-03 -1.57502245e+02] [-1.12093843e-02 2.27850988e-05 9.99937173e-01 1.86386233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.94, Y:-157.55, Z:1.86 [[ 7.18468598e-01 6.95512360e-01 8.08899331e-03 2.63935451e+02] [-6.95469069e-01 7.18514130e-01 -7.76008964e-03 -1.57545456e+02] [-1.12092942e-02 -5.02639295e-05 9.99937173e-01 1.86099347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.98, Y:-157.58, Z:1.85 [[ 7.16177306e-01 6.97871528e-01 8.08685264e-03 2.63983540e+02] [-6.97828362e-01 7.16222957e-01 -7.76231981e-03 -1.57584502e+02] [-1.12090915e-02 -8.40378380e-05 9.99937173e-01 1.85420933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.03, Y:-157.62, Z:1.86 [[ 7.16946973e-01 6.97080822e-01 8.08493098e-03 2.64032645e+02] [-6.97037583e-01 7.16992554e-01 -7.76432082e-03 -1.57623818e+02] [-1.12091945e-02 -6.88944525e-05 9.99937173e-01 1.85529640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.08, Y:-157.67, Z:1.86 [[ 7.19680330e-01 6.94258520e-01 8.08269457e-03 2.64077993e+02] [-6.94215076e-01 7.19725716e-01 -7.76664823e-03 -1.57666999e+02] [-1.12093849e-02 -2.16244670e-05 9.99937173e-01 1.85712706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.12, Y:-157.71, Z:1.86 [[ 7.23453499e-01 6.90325822e-01 8.08048517e-03 2.64121266e+02] [-6.90282106e-01 7.23498624e-01 -7.76894623e-03 -1.57713263e+02] [-1.12093241e-02 4.26570180e-05 9.99937173e-01 1.85881409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.17, Y:-157.76, Z:1.86 [[ 7.26010176e-01 6.87636508e-01 8.07822775e-03 2.64165805e+02] [-6.87592598e-01 7.26055112e-01 -7.77129282e-03 -1.57756983e+02] [-1.12090632e-02 8.75080591e-05 9.99937173e-01 1.85674604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.917628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.21, Y:-157.80, Z:1.85 [[ 7.29651210e-01 6.83771811e-01 8.07597843e-03 2.64210916e+02] [-6.83727638e-01 7.29695887e-01 -7.77362962e-03 -1.57799919e+02] [-1.12083970e-02 1.50268606e-04 9.99937173e-01 1.85015605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.977628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:264.25, Y:-157.84, Z:1.84 [[ 7.28985994e-01 6.84480987e-01 8.07459318e-03 2.64254727e+02] [-6.84436841e-01 7.29030698e-01 -7.77506824e-03 -1.57842367e+02] [-1.12085127e-02 1.41366798e-04 9.99937173e-01 1.84421995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.30, Y:-157.88, Z:1.84 [[ 7.27394431e-01 6.86172114e-01 8.07283895e-03 2.64304915e+02] [-6.86128053e-01 7.27439218e-01 -7.77688922e-03 -1.57879752e+02] [-1.12087842e-02 1.17864642e-04 9.99937173e-01 1.84472744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.35, Y:-157.92, Z:1.84 [[ 7.21395979e-01 6.92475778e-01 8.07087024e-03 2.64353209e+02] [-6.92432085e-01 7.21441125e-01 -7.77893181e-03 -1.57918836e+02] [-1.12093796e-02 2.31606219e-05 9.99937173e-01 1.84183463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.157628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:264.39, Y:-157.97, Z:1.84 [[ 7.17679813e-01 6.96326482e-01 8.06948405e-03 2.64393079e+02] [-6.96283015e-01 7.17725177e-01 -7.78036952e-03 -1.57967075e+02] [-1.12093492e-02 -3.48305364e-05 9.99937173e-01 1.84469011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.217628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:264.44, Y:-158.01, Z:1.84 [[ 7.19592133e-01 6.94350111e-01 8.06752663e-03 2.64435988e+02] [-6.94306497e-01 7.19637355e-01 -7.78239865e-03 -1.58011345e+02] [-1.12094029e-02 -1.18330858e-06 9.99937173e-01 1.84257840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.277628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:-158.06, Z:1.84 [[ 7.21907752e-01 6.91942300e-01 8.06545413e-03 2.64479037e+02] [-6.91898510e-01 7.21952805e-01 -7.78454594e-03 -1.58056963e+02] [-1.12093338e-02 3.92483610e-05 9.99937173e-01 1.84246860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.52, Y:-158.10, Z:1.85 [[ 7.22308895e-01 6.91523567e-01 8.06327462e-03 2.64522047e+02] [-6.91479727e-01 7.22353898e-01 -7.78680283e-03 -1.58101886e+02] [-1.12092955e-02 4.88860145e-05 9.99937173e-01 1.84725925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.397628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.57, Y:-158.14, Z:1.85 [[ 7.25293841e-01 6.88392228e-01 8.06133467e-03 2.64568782e+02] [-6.88348170e-01 7.25338632e-01 -7.78881066e-03 -1.58143646e+02] [-1.12089542e-02 1.00171426e-04 9.99937173e-01 1.84666465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.61, Y:-158.19, Z:1.85 [[ 7.23160160e-01 6.90633357e-01 8.05911460e-03 2.64609716e+02] [-6.90589412e-01 7.23205062e-01 -7.79110710e-03 -1.58190616e+02] [-1.12091909e-02 6.86790423e-05 9.99937173e-01 1.84771445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.66, Y:-158.23, Z:1.85 [[ 7.27124844e-01 6.86457970e-01 8.05707796e-03 2.64656077e+02] [-6.86413745e-01 7.27169469e-01 -7.79321269e-03 -1.58233162e+02] [-1.12085741e-02 1.36149503e-04 9.99937173e-01 1.84876147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577628 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:264.70, Y:-158.28, Z:1.84 [[ 7.28465912e-01 6.85034697e-01 8.05476088e-03 2.64698759e+02] [-6.84990358e-01 7.28510424e-01 -7.79560680e-03 -1.58277761e+02] [-1.12082384e-02 1.61400275e-04 9.99937173e-01 1.84222461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.75, Y:-158.32, Z:1.84 [[ 7.33088998e-01 6.80085050e-01 8.05263535e-03 2.64745199e+02] [-6.80040387e-01 7.33133185e-01 -7.79780180e-03 -1.58320135e+02] [-1.12068226e-02 2.40365453e-04 9.99937173e-01 1.84438158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.79, Y:-158.36, Z:1.84 [[ 7.35280725e-01 6.77714870e-01 8.05044496e-03 2.64793437e+02] [-6.77670039e-01 7.35324742e-01 -7.80006250e-03 -1.58360932e+02] [-1.12059097e-02 2.79690265e-04 9.99937173e-01 1.84228851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:264.84, Y:-158.40, Z:1.84 [[ 7.35324663e-01 6.77667223e-01 8.04827772e-03 2.64840574e+02] [-6.77622365e-01 7.35368652e-01 -7.80229807e-03 -1.58402312e+02] [-1.12058128e-02 2.83529215e-04 9.99937173e-01 1.83915987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.89, Y:-158.44, Z:1.84 [[ 7.33673336e-01 6.79454706e-01 8.04605021e-03 2.64890393e+02] [-6.79409930e-01 7.33717409e-01 -7.80459449e-03 -1.58440872e+02] [-1.12063956e-02 2.59456462e-04 9.99937173e-01 1.83891767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:264.94, Y:-158.48, Z:1.84 [[ 7.32492941e-01 6.80727102e-01 8.04383002e-03 2.64937729e+02] [-6.80682378e-01 7.32537066e-01 -7.80688206e-03 -1.58482117e+02] [-1.12067598e-02 2.43192651e-04 9.99937173e-01 1.83596548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:264.99, Y:-158.52, Z:1.84 [[ 7.30176184e-01 6.83211587e-01 8.04162362e-03 2.64986928e+02] [-6.83166988e-01 7.30220435e-01 -7.80915414e-03 -1.58521105e+02] [-1.12074625e-02 2.08286591e-04 9.99937173e-01 1.83678466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.03, Y:-158.56, Z:1.84 [[ 7.29229387e-01 6.84222090e-01 8.03940625e-03 2.65033705e+02] [-6.84177527e-01 7.29273675e-01 -7.81143622e-03 -1.58562171e+02] [-1.12076846e-02 1.95947767e-04 9.99937173e-01 1.83869996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.08, Y:-158.60, Z:1.84 [[ 7.29593799e-01 6.83833524e-01 8.03735660e-03 2.65081453e+02] [-6.83788914e-01 7.29638040e-01 -7.81354459e-03 -1.58603283e+02] [-1.12075248e-02 2.04858343e-04 9.99937173e-01 1.84022007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.13, Y:-158.65, Z:1.84 [[ 7.30692556e-01 6.82659377e-01 8.03516473e-03 2.65128220e+02] [-6.82614671e-01 7.30736700e-01 -7.81579798e-03 -1.58645201e+02] [-1.12071175e-02 2.26024080e-04 9.99937173e-01 1.83952717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.18, Y:-158.69, Z:1.84 [[ 7.31165688e-01 6.82152628e-01 8.03293944e-03 2.65175999e+02] [-6.82107867e-01 7.31209776e-01 -7.81808442e-03 -1.58686816e+02] [-1.12068907e-02 2.36983897e-04 9.99937173e-01 1.83752337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.22, Y:-158.73, Z:1.84 [[ 7.31295331e-01 6.82013671e-01 8.03067089e-03 2.65221622e+02] [-6.81968876e-01 7.31339384e-01 -7.82041396e-03 -1.58728827e+02] [-1.12067751e-02 2.42364623e-04 9.99937173e-01 1.83606198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.27, Y:-158.77, Z:1.83 [[ 7.32444742e-01 6.80779143e-01 8.02857976e-03 2.65269135e+02] [-6.80734250e-01 7.32488695e-01 -7.82256017e-03 -1.58769473e+02] [-1.12062797e-02 2.64263844e-04 9.99937173e-01 1.83303915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.32, Y:-158.81, Z:1.83 [[ 7.31356432e-01 6.81948200e-01 8.02639467e-03 2.65318106e+02] [-6.81903352e-01 7.31400431e-01 -7.82480155e-03 -1.58808633e+02] [-1.12066179e-02 2.49493502e-04 9.99937173e-01 1.83013333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.36, Y:-158.85, Z:1.83 [[ 7.30006155e-01 6.83393464e-01 8.02417422e-03 2.65364078e+02] [-6.83348679e-01 7.30050218e-01 -7.82707792e-03 -1.58850815e+02] [-1.12070240e-02 2.30506201e-04 9.99937173e-01 1.82719982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.477628 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:265.41, Y:-158.89, Z:1.83 [[ 7.27973784e-01 6.85558031e-01 8.02222909e-03 2.65410572e+02] [-6.85513355e-01 7.28017957e-01 -7.82907103e-03 -1.58893280e+02] [-1.12076094e-02 2.00013283e-04 9.99937173e-01 1.82548678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.46, Y:-158.93, Z:1.82 [[ 7.25582605e-01 6.88088340e-01 8.01997071e-03 2.65456896e+02] [-6.88043792e-01 7.25626908e-01 -7.83138380e-03 -1.58933782e+02] [-1.12081904e-02 1.64224794e-04 9.99937173e-01 1.82446620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.50, Y:-158.98, Z:1.82 [[ 7.24222723e-01 6.89519514e-01 8.01788933e-03 2.65502705e+02] [-6.89475030e-01 7.24267091e-01 -7.83351417e-03 -1.58976511e+02] [-1.12084543e-02 1.45074471e-04 9.99937173e-01 1.82207510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.55, Y:-159.02, Z:1.82 [[ 7.21613972e-01 6.92249232e-01 8.01720503e-03 2.65547695e+02] [-6.92204908e-01 7.21658500e-01 -7.83421445e-03 -1.59021041e+02] [-1.12089131e-02 1.03729942e-04 9.99937173e-01 1.82201607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.59, Y:-159.07, Z:1.82 [[ 7.20192601e-01 6.93727885e-01 8.01496898e-03 2.65591149e+02] [-6.93683627e-01 7.20237194e-01 -7.83650143e-03 -1.59066317e+02] [-1.12090783e-02 8.39375948e-05 9.99937173e-01 1.82184128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.63, Y:-159.11, Z:1.82 [[ 7.20831654e-01 6.93063866e-01 8.01270591e-03 2.65633919e+02] [-6.93019542e-01 7.20876181e-01 -7.83881470e-03 -1.59111133e+02] [-1.12089681e-02 9.75039978e-05 9.99937173e-01 1.82060419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.67, Y:-159.16, Z:1.82 [[ 7.21371208e-01 6.92502282e-01 8.01061690e-03 2.65674013e+02] [-6.92457899e-01 7.21415676e-01 -7.84094891e-03 -1.59160095e+02] [-1.12088596e-02 1.09219837e-04 9.99937173e-01 1.82106498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.72, Y:-159.21, Z:1.82 [[ 7.19841879e-01 6.94091878e-01 8.00837531e-03 2.65716276e+02] [-6.94047568e-01 7.19886419e-01 -7.84323770e-03 -1.59206757e+02] [-1.12090482e-02 8.76975500e-05 9.99937173e-01 1.81984287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.76, Y:-159.25, Z:1.82 [[ 7.17470922e-01 6.96542445e-01 8.00615374e-03 2.65757377e+02] [-6.96498262e-01 7.17515588e-01 -7.84550476e-03 -1.59253055e+02] [-1.12092672e-02 5.26493611e-05 9.99937173e-01 1.81606986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:-159.30, Z:1.81 [[ 7.17705102e-01 6.96301170e-01 8.00421803e-03 2.65800504e+02] [-6.96256949e-01 7.17749732e-01 -7.84747913e-03 -1.59298495e+02] [-1.12092342e-02 5.91833769e-05 9.99937173e-01 1.81217347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.84, Y:-159.35, Z:1.81 [[ 7.19084796e-01 6.94876248e-01 8.00351244e-03 2.65837321e+02] [-6.94831931e-01 7.19129330e-01 -7.84819868e-03 -1.59348031e+02] [-1.12090874e-02 8.24243453e-05 9.99937173e-01 1.81414971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137628 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:265.88, Y:-159.39, Z:1.81 [[ 7.23173600e-01 6.90619951e-01 8.00170861e-03 2.65879852e+02] [-6.90575352e-01 7.23217851e-01 -7.85003736e-03 -1.59392736e+02] [-1.12083709e-02 1.51157044e-04 9.99937173e-01 1.81460580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:-159.45, Z:1.82 [[ 7.20557759e-01 6.93348773e-01 7.99969309e-03 2.65916098e+02] [-6.93304318e-01 7.20602156e-01 -7.85209077e-03 -1.59445403e+02] [-1.12088336e-02 1.11663165e-04 9.99937173e-01 1.82260414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:265.95, Y:-159.49, Z:1.82 [[ 7.17950215e-01 6.96048494e-01 7.99897386e-03 2.65954199e+02] [-6.96004198e-01 7.17994770e-01 -7.85282339e-03 -1.59493657e+02] [-1.12091673e-02 7.06168479e-05 9.99937173e-01 1.81505979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.00, Y:-159.54, Z:1.82 [[ 7.14583756e-01 6.99504173e-01 7.99796899e-03 2.65996041e+02] [-6.99460081e-01 7.14628513e-01 -7.85384670e-03 -1.59540831e+02] [-1.12093752e-02 1.79712437e-05 9.99937173e-01 1.81641191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:266.04, Y:-159.58, Z:1.81 [[ 7.07836703e-01 7.06330850e-01 7.99572065e-03 2.66041652e+02] [-7.06287165e-01 7.07881856e-01 -7.85613499e-03 -1.59582956e+02] [-1.12090561e-02 -8.64141699e-05 9.99937173e-01 1.81295612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.09, Y:-159.62, Z:1.81 [[ 7.04478796e-01 7.09680017e-01 7.99377621e-03 2.66089247e+02] [-7.09636523e-01 7.04524134e-01 -7.85811300e-03 -1.59624601e+02] [-1.12085540e-02 -1.36801576e-04 9.99937173e-01 1.81244149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.14, Y:-159.67, Z:1.81 [[ 7.04777257e-01 7.09383644e-01 7.99153472e-03 2.66137110e+02] [-7.09340105e-01 7.04822552e-01 -7.86039189e-03 -1.59665451e+02] [-1.12086473e-02 -1.28890646e-04 9.99937173e-01 1.81131804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.18, Y:-159.71, Z:1.81 [[ 7.08112461e-01 7.06054469e-01 7.98932379e-03 2.66181569e+02] [-7.06010692e-01 7.08157526e-01 -7.86263844e-03 -1.59710305e+02] [-1.12091508e-02 -7.29157690e-05 9.99937173e-01 1.81145609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.22, Y:-159.76, Z:1.81 [[ 7.15604433e-01 6.98460093e-01 7.98713917e-03 2.66223341e+02] [-6.98415813e-01 7.15649004e-01 -7.86485702e-03 -1.59756130e+02] [-1.12092770e-02 4.97822468e-05 9.99937173e-01 1.81100473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67762799999997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:266.27, Y:-159.80, Z:1.81 [[ 7.21442952e-01 6.92427833e-01 7.98512569e-03 2.66267709e+02] [-6.92383158e-01 7.21487127e-01 -7.86690076e-03 -1.59799542e+02] [-1.12084264e-02 1.46753568e-04 9.99937173e-01 1.81059253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.737628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:266.31, Y:-159.84, Z:1.81 [[ 7.23597353e-01 6.90176164e-01 7.98327365e-03 2.66313283e+02] [-6.90131331e-01 7.23641367e-01 -7.86877976e-03 -1.59842970e+02] [-1.12078713e-02 1.84320939e-04 9.99937173e-01 1.80811949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.36, Y:-159.88, Z:1.81 [[ 7.23532967e-01 6.90243687e-01 7.98105982e-03 2.66357605e+02] [-6.90198834e-01 7.23576960e-01 -7.87102453e-03 -1.59884690e+02] [-1.12078360e-02 1.86427561e-04 9.99937173e-01 1.80704212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.857628 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:266.40, Y:-159.93, Z:1.80 [[ 7.22918309e-01 6.90887436e-01 7.97928865e-03 2.66403676e+02] [-6.90842602e-01 7.22962321e-01 -7.87281966e-03 -1.59926769e+02] [-1.12079572e-02 1.78972943e-04 9.99937173e-01 1.80442506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.917628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:266.45, Y:-159.97, Z:1.80 [[ 7.23045740e-01 6.90754096e-01 7.97732950e-03 2.66448105e+02] [-6.90709231e-01 7.23089722e-01 -7.87480431e-03 -1.59968868e+02] [-1.12078783e-02 1.83828580e-04 9.99937173e-01 1.80400416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.977628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:266.49, Y:-160.01, Z:1.80 [[ 7.23587933e-01 6.90186130e-01 7.97553890e-03 2.66492908e+02] [-6.90141211e-01 7.23631859e-01 -7.87661739e-03 -1.60013017e+02] [-1.12076861e-02 1.95177214e-04 9.99937173e-01 1.80097762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.037628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:266.54, Y:-160.06, Z:1.80 [[ 7.23466545e-01 6.90313392e-01 7.97359180e-03 2.66536288e+02] [-6.90268459e-01 7.23510458e-01 -7.87858798e-03 -1.60059370e+02] [-1.12076718e-02 1.95975907e-04 9.99937173e-01 1.80426060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.58, Y:-160.10, Z:1.81 [[ 7.23938883e-01 6.89818057e-01 7.97138519e-03 2.66579324e+02] [-6.89773069e-01 7.23982739e-01 -7.88081995e-03 -1.60104251e+02] [-1.12074772e-02 2.06785163e-04 9.99937173e-01 1.80793225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.157628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:266.62, Y:-160.15, Z:1.81 [[ 7.25062468e-01 6.88636991e-01 7.96946660e-03 2.66622732e+02] [-6.88591911e-01 7.25106228e-01 -7.88275964e-03 -1.60148080e+02] [-1.12070697e-02 2.27782920e-04 9.99937173e-01 1.80855819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.67, Y:-160.19, Z:1.81 [[ 7.24823910e-01 6.88888103e-01 7.96753212e-03 2.66666744e+02] [-6.88843016e-01 7.24867664e-01 -7.88471444e-03 -1.60193162e+02] [-1.12070924e-02 2.26650688e-04 9.99937173e-01 1.81171014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.277628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:266.71, Y:-160.24, Z:1.81 [[ 7.23330496e-01 6.90456043e-01 7.96533978e-03 2.66710540e+02] [-6.90411027e-01 7.23374323e-01 -7.88692858e-03 -1.60237871e+02] [-1.12074998e-02 2.05497544e-04 9.99937173e-01 1.80945746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.337628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:266.76, Y:-160.28, Z:1.81 [[ 7.20742140e-01 6.93157527e-01 7.96312193e-03 2.66755310e+02] [-6.93112650e-01 7.20786109e-01 -7.88916721e-03 -1.60280847e+02] [-1.12081433e-02 1.66714708e-04 9.99937173e-01 1.80735679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.80, Y:-160.32, Z:1.81 [[ 7.15971618e-01 6.98083995e-01 7.96107379e-03 2.66800202e+02] [-6.98039398e-01 7.16015871e-01 -7.89123348e-03 -1.60324286e+02] [-1.12089990e-02 9.27560462e-05 9.99937173e-01 1.80795349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:-160.37, Z:1.81 [[ 7.12601639e-01 7.01523740e-01 7.95896197e-03 2.66844909e+02] [-7.01479333e-01 7.12646083e-01 -7.89336286e-03 -1.60368725e+02] [-1.12093045e-02 4.17759772e-05 9.99937173e-01 1.80666935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.89, Y:-160.41, Z:1.80 [[ 7.07454835e-01 7.06713765e-01 7.95687359e-03 2.66888211e+02] [-7.06669660e-01 7.07499578e-01 -7.89546748e-03 -1.60414149e+02] [-1.12093203e-02 -3.71945151e-05 9.99937173e-01 1.80489138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.93, Y:-160.46, Z:1.80 [[ 7.04532759e-01 7.09626885e-01 7.95463723e-03 2.66931518e+02] [-7.09582939e-01 7.04577660e-01 -7.89771995e-03 -1.60460473e+02] [-1.12090941e-02 -8.02724451e-05 9.99937173e-01 1.80418046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.97, Y:-160.51, Z:1.80 [[ 7.02920622e-01 7.11223845e-01 7.95241716e-03 2.66973323e+02] [-7.11179977e-01 7.02965598e-01 -7.89995477e-03 -1.60507407e+02] [-1.12089119e-02 -1.02558724e-04 9.99937173e-01 1.80459238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.02, Y:-160.55, Z:1.80 [[ 7.04121752e-01 7.10034755e-01 7.95015506e-03 2.67016886e+02] [-7.09990785e-01 7.04166628e-01 -7.90223059e-03 -1.60552292e+02] [-1.12090922e-02 -8.04043803e-05 9.99937173e-01 1.80492133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.06, Y:-160.60, Z:1.80 [[ 7.04755454e-01 7.09405795e-01 7.94791264e-03 2.67062237e+02] [-7.09361759e-01 7.04800265e-01 -7.90448532e-03 -1.60595977e+02] [-1.12091786e-02 -6.72161552e-05 9.99937173e-01 1.80464347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.11, Y:-160.64, Z:1.80 [[ 7.06143895e-01 7.08023775e-01 7.94566822e-03 2.67108805e+02] [-7.07979626e-01 7.06188595e-01 -7.90674079e-03 -1.60637034e+02] [-1.12093007e-02 -4.20744780e-05 9.99937173e-01 1.80239243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.15, Y:-160.68, Z:1.80 [[ 7.07902231e-01 7.06265764e-01 7.94367080e-03 2.67154623e+02] [-7.06221482e-01 7.07946799e-01 -7.90874703e-03 -1.60679237e+02] [-1.12093736e-02 -1.13712943e-05 9.99937173e-01 1.80033990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.20, Y:-160.72, Z:1.80 [[ 7.13668982e-01 7.00438089e-01 7.94156081e-03 2.67200018e+02] [-7.00393419e-01 7.13713162e-01 -7.91086522e-03 -1.60722244e+02] [-1.12090678e-02 8.35222009e-05 9.99937173e-01 1.79778588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99762799999996 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:267.24, Y:-160.77, Z:1.79 [[ 7.20348409e-01 6.93566967e-01 7.93932970e-03 2.67242867e+02] [-6.93521851e-01 7.20392133e-01 -7.91310372e-03 -1.60766783e+02] [-1.12076980e-02 1.94093044e-04 9.99937173e-01 1.79332121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.29, Y:-160.81, Z:1.80 [[ 7.22968002e-01 6.90835920e-01 7.93727214e-03 2.67287476e+02] [-6.90790616e-01 7.23011531e-01 -7.91516702e-03 -1.60811157e+02] [-1.12068210e-02 2.39419363e-04 9.99937173e-01 1.79697544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.33, Y:-160.85, Z:1.80 [[ 7.22184822e-01 6.91654623e-01 7.93507134e-03 2.67334422e+02] [-6.91609345e-01 7.22228377e-01 -7.91737274e-03 -1.60853471e+02] [-1.12070212e-02 2.29836933e-04 9.99937173e-01 1.79627969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17762799999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:267.38, Y:-160.90, Z:1.79 [[ 7.18157537e-01 6.95835341e-01 7.93288837e-03 2.67377858e+02] [-6.95790292e-01 7.18201330e-01 -7.91955939e-03 -1.60896635e+02] [-1.12081203e-02 1.67864549e-04 9.99937173e-01 1.79370129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.42, Y:-160.94, Z:1.80 [[ 7.13683662e-01 7.00423249e-01 7.93114355e-03 2.67422187e+02] [-7.00378462e-01 7.13727723e-01 -7.92130637e-03 -1.60939829e+02] [-1.12089442e-02 9.85048124e-05 9.99937173e-01 1.79846243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.297628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:267.46, Y:-160.98, Z:1.79 [[ 7.10696878e-01 7.03453679e-01 7.92903898e-03 2.67463543e+02] [-7.03409056e-01 7.10741106e-01 -7.92341244e-03 -1.60984982e+02] [-1.12092476e-02 5.37866602e-05 9.99937173e-01 1.79119558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.51, Y:-161.03, Z:1.79 [[ 7.07736336e-01 7.06432190e-01 7.92714935e-03 2.67506701e+02] [-7.06387732e-01 7.07780730e-01 -7.92530251e-03 -1.61030746e+02] [-1.12093724e-02 9.38350421e-06 9.99937173e-01 1.79476509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.55, Y:-161.08, Z:1.80 [[ 7.05846929e-01 7.08320061e-01 7.92492803e-03 2.67551020e+02] [-7.08275697e-01 7.05891416e-01 -7.92752310e-03 -1.61076151e+02] [-1.12093623e-02 -1.74160942e-05 9.99937173e-01 1.80317350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.60, Y:-161.12, Z:1.80 [[ 7.06021225e-01 7.08146357e-01 7.92259094e-03 2.67595354e+02] [-7.08101956e-01 7.06065675e-01 -7.92985804e-03 -1.61118301e+02] [-1.12093696e-02 -1.13540518e-05 9.99937173e-01 1.80106257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.64, Y:-161.16, Z:1.80 [[ 7.07977015e-01 7.06191048e-01 7.92150640e-03 2.67637787e+02] [-7.06146512e-01 7.08021330e-01 -7.93094130e-03 -1.61162750e+02] [-1.12093552e-02 2.11800341e-05 9.99937173e-01 1.79946428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.68, Y:-161.21, Z:1.80 [[ 7.09496529e-01 7.04664420e-01 7.92023495e-03 2.67682116e+02] [-7.04619775e-01 7.09540734e-01 -7.93221083e-03 -1.61207505e+02] [-1.12092761e-02 4.71218832e-05 9.99937173e-01 1.79882284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.73, Y:-161.25, Z:1.79 [[ 7.11362798e-01 7.02780389e-01 7.91795937e-03 2.67727384e+02] [-7.02735602e-01 7.11406858e-01 -7.93448167e-03 -1.61250914e+02] [-1.12090887e-02 8.00631396e-05 9.99937173e-01 1.79459303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.77, Y:-161.29, Z:1.79 [[ 7.11423513e-01 7.02718953e-01 7.91571501e-03 2.67771147e+02] [-7.02674136e-01 7.11467544e-01 -7.93672009e-03 -1.61294666e+02] [-1.12090579e-02 8.42010849e-05 9.99937173e-01 1.79123005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.82, Y:-161.34, Z:1.79 [[ 7.10460662e-01 7.03692418e-01 7.91376947e-03 2.67816704e+02] [-7.03647641e-01 7.10504733e-01 -7.93865953e-03 -1.61338546e+02] [-1.12091452e-02 7.16000918e-05 9.99937173e-01 1.78974025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.837628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:267.86, Y:-161.38, Z:1.79 [[ 7.07745452e-01 7.06423232e-01 7.91155089e-03 2.67861137e+02] [-7.06378600e-01 7.07789670e-01 -7.94086992e-03 -1.61382771e+02] [-1.12093290e-02 3.15643312e-05 9.99937173e-01 1.78734759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.91, Y:-161.43, Z:1.79 [[ 7.05266218e-01 7.08898445e-01 7.90930224e-03 2.67905712e+02] [-7.08853943e-01 7.05310566e-01 -7.94310900e-03 -1.61426767e+02] [-1.12093721e-02 -4.53363206e-06 9.99937173e-01 1.79088564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.95, Y:-161.47, Z:1.79 [[ 7.02363222e-01 7.11774812e-01 7.90706505e-03 2.67952308e+02] [-7.11730466e-01 7.02407727e-01 -7.94533541e-03 -1.61469361e+02] [-1.12092732e-02 -4.71877152e-05 9.99937173e-01 1.78816951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.00, Y:-161.51, Z:1.79 [[ 7.00948974e-01 7.13167617e-01 7.90482779e-03 2.67995695e+02] [-7.13123335e-01 7.00993542e-01 -7.94756064e-03 -1.61514641e+02] [-1.12091761e-02 -6.62826812e-05 9.99937173e-01 1.78568336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.04, Y:-161.56, Z:1.78 [[ 7.01534023e-01 7.12592144e-01 7.90258935e-03 2.68038844e+02] [-7.12547800e-01 7.01578530e-01 -7.94978579e-03 -1.61560800e+02] [-1.12092419e-02 -5.39274505e-05 9.99937173e-01 1.78390949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.08, Y:-161.61, Z:1.79 [[ 7.03948544e-01 7.10207034e-01 7.90035275e-03 2.68078727e+02] [-7.10162515e-01 7.03992875e-01 -7.95200787e-03 -1.61607907e+02] [-1.12093640e-02 -1.27300061e-05 9.99937173e-01 1.78627429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.12, Y:-161.65, Z:1.79 [[ 7.04107277e-01 7.10049685e-01 7.89856409e-03 2.68122373e+02] [-7.10005136e-01 7.04151578e-01 -7.95378411e-03 -1.61653520e+02] [-1.12093683e-02 -7.70380471e-06 9.99937173e-01 1.78609370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.17, Y:-161.70, Z:1.78 [[ 7.04750820e-01 7.09410974e-01 7.89627033e-03 2.68165823e+02] [-7.09366359e-01 7.04795055e-01 -7.95606063e-03 -1.61697237e+02] [-1.12093690e-02 5.69171064e-06 9.99937173e-01 1.78372434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.21, Y:-161.74, Z:1.78 [[ 7.05474941e-01 7.08690891e-01 7.89485451e-03 2.68208597e+02] [-7.08646215e-01 7.05519114e-01 -7.95746531e-03 -1.61742800e+02] [-1.12093539e-02 1.91335937e-05 9.99937173e-01 1.78155515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.25, Y:-161.79, Z:1.78 [[ 7.07872564e-01 7.06296069e-01 7.89283640e-03 2.68249476e+02] [-7.06251221e-01 7.07916563e-01 -7.95946652e-03 -1.61788672e+02] [-1.12092095e-02 5.99626265e-05 9.99937173e-01 1.77878947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.29, Y:-161.83, Z:1.78 [[ 7.08590956e-01 7.05575360e-01 7.89099206e-03 2.68292115e+02] [-7.05530447e-01 7.08634889e-01 -7.96129458e-03 -1.61834556e+02] [-1.12091256e-02 7.39661745e-05 9.99937173e-01 1.77947261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.34, Y:-161.88, Z:1.78 [[ 7.07776370e-01 7.06392510e-01 7.88874674e-03 2.68335934e+02] [-7.06347623e-01 7.07820329e-01 -7.96351882e-03 -1.61878575e+02] [-1.12091854e-02 6.41929282e-05 9.99937173e-01 1.78310656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.38, Y:-161.92, Z:1.79 [[ 7.06416135e-01 7.07752811e-01 7.88680070e-03 2.68381250e+02] [-7.07707988e-01 7.06460159e-01 -7.96544564e-03 -1.61922923e+02] [-1.12092770e-02 4.53674724e-05 9.99937173e-01 1.78693650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.43, Y:-161.97, Z:1.79 [[ 7.04475026e-01 7.09684981e-01 7.88455310e-03 2.68426064e+02] [-7.09640253e-01 7.04519146e-01 -7.96766980e-03 -1.61966536e+02] [-1.12093542e-02 1.78281291e-05 9.99937173e-01 1.78588871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.47, Y:-162.01, Z:1.78 [[ 7.01919959e-01 7.12212216e-01 7.88232454e-03 2.68472927e+02] [-7.12167622e-01 7.01964215e-01 -7.96987388e-03 -1.62009241e+02] [-1.12093513e-02 -1.93227778e-05 9.99937173e-01 1.78053006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.52, Y:-162.05, Z:1.78 [[ 7.00513775e-01 7.13595372e-01 7.88004979e-03 2.68518126e+02] [-7.13550841e-01 7.00558094e-01 -7.97212236e-03 -1.62052375e+02] [-1.12093023e-02 -3.82346173e-05 9.99937173e-01 1.77762345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.56, Y:-162.09, Z:1.77 [[ 7.00641851e-01 7.13469646e-01 7.87780030e-03 2.68563550e+02] [-7.13425082e-01 7.00686137e-01 -7.97434461e-03 -1.62093557e+02] [-1.12093183e-02 -3.30607499e-05 9.99937173e-01 1.77445027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.61, Y:-162.14, Z:1.77 [[ 7.00977986e-01 7.13139412e-01 7.87670967e-03 2.68606256e+02] [-7.13094815e-01 7.01022238e-01 -7.97542174e-03 -1.62138138e+02] [-1.12093362e-02 -2.62457568e-05 9.99937173e-01 1.77312808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.65, Y:-162.18, Z:1.77 [[ 7.01386844e-01 7.12737317e-01 7.87476332e-03 2.68649216e+02] [-7.12692673e-01 7.01431049e-01 -7.97734306e-03 -1.62184288e+02] [-1.12093536e-02 -1.70826457e-05 9.99937173e-01 1.77277764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.69, Y:-162.23, Z:1.77 [[ 7.04658349e-01 7.09503090e-01 7.87253503e-03 2.68691709e+02] [-7.09458218e-01 7.04702323e-01 -7.97954147e-03 -1.62229711e+02] [-1.12093031e-02 3.76158471e-05 9.99937173e-01 1.77455014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.037628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:268.74, Y:-162.27, Z:1.77 [[ 7.07152721e-01 7.07017032e-01 7.87058639e-03 2.68735439e+02] [-7.06971984e-01 7.07196514e-01 -7.98146305e-03 -1.62274686e+02] [-1.12090816e-02 7.98292342e-05 9.99937173e-01 1.77207317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.78, Y:-162.32, Z:1.77 [[ 7.09317173e-01 7.04845541e-01 7.86837464e-03 2.68776707e+02] [-7.04800335e-01 7.09360803e-01 -7.98364286e-03 -1.62320553e+02] [-1.12087516e-02 1.17301902e-04 9.99937173e-01 1.77328981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.82, Y:-162.36, Z:1.77 [[ 7.09524381e-01 7.04636980e-01 7.86633170e-03 2.68822487e+02] [-7.04591738e-01 7.09567975e-01 -7.98565528e-03 -1.62364302e+02] [-1.12086851e-02 1.23464798e-04 9.99937173e-01 1.77318066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.87, Y:-162.41, Z:1.77 [[ 7.07883160e-01 7.06285768e-01 7.86420278e-03 2.68867913e+02] [-7.06240605e-01 7.07926835e-01 -7.98775127e-03 -1.62408369e+02] [-1.12089152e-02 1.00375286e-04 9.99937173e-01 1.77433865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.91, Y:-162.45, Z:1.77 [[ 7.06652457e-01 7.07517134e-01 7.86194335e-03 2.68911746e+02] [-7.07472022e-01 7.06696185e-01 -7.98997449e-03 -1.62453118e+02] [-1.12090492e-02 8.40301376e-05 9.99937173e-01 1.77495767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.96, Y:-162.50, Z:1.78 [[ 7.05818701e-01 7.08348915e-01 7.85969353e-03 2.68955345e+02] [-7.08303831e-01 7.05862457e-01 -7.99218701e-03 -1.62497671e+02] [-1.12091196e-02 7.39840247e-05 9.99937173e-01 1.77529672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.00, Y:-162.54, Z:1.77 [[ 7.03443781e-01 7.10707468e-01 7.85761591e-03 2.69000527e+02] [-7.10662507e-01 7.03487664e-01 -7.99422913e-03 -1.62541193e+02] [-1.12092942e-02 3.93777470e-05 9.99937173e-01 1.77380222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.05, Y:-162.59, Z:1.77 [[ 7.01305009e-01 7.12818054e-01 7.85533250e-03 2.69045800e+02] [-7.12773200e-01 7.01349001e-01 -7.99647224e-03 -1.62585503e+02] [-1.12093594e-02 8.89554980e-06 9.99937173e-01 1.77091121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.09, Y:-162.63, Z:1.77 [[ 7.00835164e-01 7.13280030e-01 7.85305637e-03 2.69091953e+02] [-7.13235180e-01 7.00879161e-01 -7.99870692e-03 -1.62628572e+02] [-1.12093615e-02 4.69900575e-06 9.99937173e-01 1.76897882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.14, Y:-162.67, Z:1.77 [[ 6.99989869e-01 7.14109620e-01 7.85076715e-03 2.69135774e+02] [-7.14064797e-01 7.00033893e-01 -8.00095317e-03 -1.62673566e+02] [-1.12093607e-02 -5.37029432e-06 9.99937173e-01 1.76985146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.18, Y:-162.72, Z:1.77 [[ 6.99361879e-01 7.14724677e-01 7.84847500e-03 2.69179166e+02] [-7.14679867e-01 6.99405917e-01 -8.00320100e-03 -1.62717739e+02] [-1.12093551e-02 -1.20133795e-05 9.99937173e-01 1.77127554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.23, Y:-162.76, Z:1.77 [[ 7.00004258e-01 7.14095563e-01 7.84635944e-03 2.69225087e+02] [-7.14050691e-01 7.00048232e-01 -8.00527457e-03 -1.62760327e+02] [-1.12093611e-02 1.02791190e-06 9.99937173e-01 1.77102699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.27, Y:-162.80, Z:1.77 [[ 7.00184224e-01 7.13919129e-01 7.84410420e-03 2.69269691e+02] [-7.13874220e-01 7.00228161e-01 -8.00748380e-03 -1.62804959e+02] [-1.12093585e-02 7.01006171e-06 9.99937173e-01 1.76911505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.31, Y:-162.85, Z:1.77 [[ 7.02393332e-01 7.11745820e-01 7.84183670e-03 2.69312538e+02] [-7.11700751e-01 7.02437104e-01 -8.00970378e-03 -1.62847939e+02] [-1.12092702e-02 4.49214615e-05 9.99937173e-01 1.76506227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.36, Y:-162.89, Z:1.76 [[ 7.05201038e-01 7.08964054e-01 7.84002234e-03 2.69355826e+02] [-7.08918793e-01 7.05244611e-01 -8.01147930e-03 -1.62892868e+02] [-1.12089844e-02 9.17643465e-05 9.99937173e-01 1.76320728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:269.40, Y:-162.94, Z:1.76 [[ 7.09881023e-01 7.04277998e-01 7.83809035e-03 2.69399557e+02] [-7.04232428e-01 7.09924273e-01 -8.01336903e-03 -1.62938181e+02] [-1.12080901e-02 1.68701212e-04 9.99937173e-01 1.76175536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99762799999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:269.44, Y:-162.98, Z:1.76 [[ 7.12743520e-01 7.01380976e-01 7.83588962e-03 2.69442503e+02] [-7.01335207e-01 7.12786559e-01 -8.01552045e-03 -1.62983259e+02] [-1.12072504e-02 2.17424996e-04 9.99937173e-01 1.76389326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.49, Y:-163.03, Z:1.76 [[ 7.19568367e-01 6.94377416e-01 7.83390263e-03 2.69487974e+02] [-6.94331207e-01 7.19610934e-01 -8.01746195e-03 -1.63025049e+02] [-1.12045065e-02 3.29788934e-04 9.99937173e-01 1.76328117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.53, Y:-163.07, Z:1.77 [[ 7.19542328e-01 6.94404422e-01 7.83180944e-03 2.69528942e+02] [-6.94358193e-01 7.19584872e-01 -8.01950615e-03 -1.63071084e+02] [-1.12044321e-02 3.32293073e-04 9.99937173e-01 1.76719863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.57, Y:-163.11, Z:1.76 [[ 7.22678263e-01 6.91140236e-01 7.82960344e-03 2.69572716e+02] [-6.91093791e-01 7.22720572e-01 -8.02165933e-03 -1.63114465e+02] [-1.12027070e-02 3.86088507e-04 9.99937173e-01 1.76439719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.237628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:269.62, Y:-163.16, Z:1.76 [[ 7.22327221e-01 6.91507135e-01 7.82737304e-03 2.69619094e+02] [-6.91460688e-01 7.22369528e-01 -8.02383512e-03 -1.63156730e+02] [-1.12027950e-02 3.83513784e-04 9.99937173e-01 1.76081813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.67, Y:-163.20, Z:1.76 [[ 7.16531001e-01 6.97511357e-01 7.82506084e-03 2.69666385e+02] [-6.97465240e-01 7.16573667e-01 -8.02608940e-03 -1.63196819e+02] [-1.12055211e-02 2.93233939e-04 9.99937173e-01 1.75925473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.357628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:269.71, Y:-163.24, Z:1.76 [[ 7.12801313e-01 7.01322372e-01 7.82427860e-03 2.69712142e+02] [-7.01276475e-01 7.12844216e-01 -8.02685190e-03 -1.63237614e+02] [-1.12069026e-02 2.34568058e-04 9.99937173e-01 1.75614182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.417628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:269.76, Y:-163.28, Z:1.76 [[ 7.06776734e-01 7.07393427e-01 7.82224715e-03 2.69758728e+02] [-7.07347877e-01 7.06820005e-01 -8.02883108e-03 -1.63279432e+02] [-1.12084631e-02 1.41541098e-04 9.99937173e-01 1.75696128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.80, Y:-163.32, Z:1.76 [[ 6.98428038e-01 7.15637563e-01 7.82016975e-03 2.69804471e+02] [-7.15592501e-01 6.98471817e-01 -8.03085399e-03 -1.63321683e+02] [-1.12093489e-02 1.29187662e-05 9.99937173e-01 1.75921377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.537628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:269.85, Y:-163.36, Z:1.76 [[ 6.94018778e-01 7.19914442e-01 7.81870884e-03 2.69850309e+02] [-7.19869633e-01 6.94062817e-01 -8.03227604e-03 -1.63364504e+02] [-1.12092266e-02 -5.39006641e-05 9.99937173e-01 1.75522524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.89, Y:-163.41, Z:1.76 [[ 6.89305647e-01 7.24428484e-01 7.81640373e-03 2.69893829e+02] [-7.24383939e-01 6.89349952e-01 -8.03451858e-03 -1.63409587e+02] [-1.12086717e-02 -1.23838288e-04 9.99937173e-01 1.75551208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.94, Y:-163.46, Z:1.75 [[ 6.88322437e-01 7.25362780e-01 7.81412688e-03 2.69936580e+02] [-7.25318269e-01 6.88366776e-01 -8.03673236e-03 -1.63456277e+02] [-1.12085319e-02 -1.35865784e-04 9.99937173e-01 1.75472942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.98, Y:-163.51, Z:1.76 [[ 6.90356852e-01 7.23426839e-01 7.81186390e-03 2.69976472e+02] [-7.23382179e-01 6.90401041e-01 -8.03893142e-03 -1.63505337e+02] [-1.12088977e-02 -1.01231742e-04 9.99937173e-01 1.75579137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.02, Y:-163.55, Z:1.76 [[ 6.96128440e-01 7.17874784e-01 7.80962031e-03 2.70016780e+02] [-7.17829747e-01 6.96172245e-01 -8.04111043e-03 -1.63554394e+02] [-1.12093513e-02 -8.33211894e-06 9.99937173e-01 1.75559132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.06, Y:-163.60, Z:1.75 [[ 7.01125646e-01 7.12995002e-01 7.80739042e-03 2.70058609e+02] [-7.12949636e-01 7.01169111e-01 -8.04327492e-03 -1.63602076e+02] [-1.12091158e-02 7.30701660e-05 9.99937173e-01 1.75365678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.10, Y:-163.65, Z:1.75 [[ 7.05904403e-01 7.08264113e-01 7.80507523e-03 2.70097494e+02] [-7.08218432e-01 7.05947535e-01 -8.04552092e-03 -1.63649168e+02] [-1.12083274e-02 1.51670511e-04 9.99937173e-01 1.75227772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.14, Y:-163.70, Z:1.75 [[ 7.12550796e-01 7.01577125e-01 7.80395014e-03 2.70139758e+02] [-7.01531026e-01 7.12593482e-01 -8.04661208e-03 -1.63696385e+02] [-1.12063630e-02 2.58906689e-04 9.99937173e-01 1.75081736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.18, Y:-163.74, Z:1.75 [[ 7.19375063e-01 6.94578039e-01 7.80169237e-03 2.70182415e+02] [-6.94531502e-01 7.19417271e-01 -8.04880053e-03 -1.63742646e+02] [-1.12031923e-02 3.71585268e-04 9.99937173e-01 1.74914305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.22, Y:-163.79, Z:1.75 [[ 7.21968990e-01 6.91881454e-01 7.79942904e-03 2.70223837e+02] [-6.91834736e-01 7.22010997e-01 -8.05099315e-03 -1.63789838e+02] [-1.12016064e-02 4.16651464e-04 9.99937173e-01 1.74937807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:270.27, Y:-163.83, Z:1.74 [[ 7.21693771e-01 6.92168552e-01 7.79717306e-03 2.70267788e+02] [-6.92121827e-01 7.21735771e-01 -8.05317741e-03 -1.63833201e+02] [-1.12016549e-02 4.15334306e-04 9.99937173e-01 1.74473042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:270.31, Y:-163.88, Z:1.74 [[ 7.19764587e-01 6.94174455e-01 7.79520775e-03 2.70313652e+02] [-6.94127826e-01 7.19806694e-01 -8.05507932e-03 -1.63875708e+02] [-1.12026730e-02 3.86890231e-04 9.99937173e-01 1.74058120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:270.36, Y:-163.92, Z:1.74 [[ 7.13220353e-01 7.00896564e-01 7.79326482e-03 2.70356728e+02] [-7.00850312e-01 7.13262873e-01 -8.05695865e-03 -1.63920678e+02] [-1.12057411e-02 2.84474809e-04 9.99937173e-01 1.73975044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.40, Y:-163.96, Z:1.74 [[ 7.06688953e-01 7.07481463e-01 7.79121116e-03 2.70401235e+02] [-7.07435586e-01 7.06731876e-01 -8.05894409e-03 -1.63964869e+02] [-1.12078508e-02 1.83386729e-04 9.99937173e-01 1.74146731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.45, Y:-164.01, Z:1.74 [[ 6.95960291e-01 7.18038024e-01 7.78905571e-03 2.70445757e+02] [-7.17992774e-01 6.96003877e-01 -8.06102681e-03 -1.64008444e+02] [-1.12093367e-02 1.76688466e-05 9.99937173e-01 1.74301897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.49, Y:-164.05, Z:1.74 [[ 6.87505953e-01 7.26136988e-01 7.78713952e-03 2.70489932e+02] [-7.26092231e-01 6.87550043e-01 -8.06287747e-03 -1.64051347e+02] [-1.12088017e-02 -1.10905248e-04 9.99937173e-01 1.74429413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.53, Y:-164.10, Z:1.75 [[ 6.84781949e-01 7.28706437e-01 7.78538170e-03 2.70530119e+02] [-7.28661826e-01 6.84826187e-01 -8.06457443e-03 -1.64099184e+02] [-1.12083406e-02 -1.50435451e-04 9.99937173e-01 1.74784810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.57, Y:-164.15, Z:1.75 [[ 6.86106623e-01 7.27459360e-01 7.78340440e-03 2.70571076e+02] [-7.27414647e-01 6.86150758e-01 -8.06648235e-03 -1.64146838e+02] [-1.12086269e-02 -1.27295404e-04 9.99937173e-01 1.75009358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.61, Y:-164.19, Z:1.75 [[ 6.88616858e-01 7.25083635e-01 7.78112020e-03 2.70614039e+02] [-7.25038744e-01 6.88660813e-01 -8.06868514e-03 -1.64193137e+02] [-1.12090241e-02 -8.53810085e-05 9.99937173e-01 1.74866783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.65, Y:-164.24, Z:1.74 [[ 6.92885127e-01 7.21006028e-01 7.77878867e-03 2.70654513e+02] [-7.20960853e-01 6.92928790e-01 -8.07093228e-03 -1.64241071e+02] [-1.12093374e-02 -1.59731842e-05 9.99937173e-01 1.74440268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.737628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:270.69, Y:-164.29, Z:1.74 [[ 6.95938180e-01 7.18059573e-01 7.77806990e-03 2.70693238e+02] [-7.18014206e-01 6.95981644e-01 -8.07162490e-03 -1.64288793e+02] [-1.12093014e-02 3.25872601e-05 9.99937173e-01 1.73887758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.797628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:270.73, Y:-164.34, Z:1.74 [[ 6.96504762e-01 7.17510033e-01 7.77623702e-03 2.70734332e+02] [-7.17464612e-01 6.96548168e-01 -8.07339032e-03 -1.64335686e+02] [-1.12092622e-02 4.39799239e-05 9.99937173e-01 1.73777803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.78, Y:-164.38, Z:1.74 [[ 6.94298174e-01 7.19645473e-01 7.77417479e-03 2.70779693e+02] [-7.19600164e-01 6.94341697e-01 -8.07537564e-03 -1.64377203e+02] [-1.12093412e-02 1.24211137e-05 9.99937173e-01 1.73648581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.83, Y:-164.42, Z:1.74 [[ 6.91687763e-01 7.22154852e-01 7.77228997e-03 2.70825653e+02] [-7.22109680e-01 6.91731429e-01 -8.07718930e-03 -1.64420131e+02] [-1.12093187e-02 -2.55528191e-05 9.99937173e-01 1.73616661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.977628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:270.87, Y:-164.46, Z:1.73 [[ 6.91297405e-01 7.22528564e-01 7.76994450e-03 2.70870570e+02] [-7.22483390e-01 6.91341069e-01 -8.07944493e-03 -1.64463736e+02] [-1.12093115e-02 -2.83565231e-05 9.99937173e-01 1.73243750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.037628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:270.91, Y:-164.51, Z:1.73 [[ 6.91937066e-01 7.21916022e-01 7.76884849e-03 2.70913858e+02] [-7.21870797e-01 6.91980677e-01 -8.08049867e-03 -1.64509687e+02] [-1.12093345e-02 -1.69083121e-05 9.99937173e-01 1.73293083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.097628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:270.96, Y:-164.56, Z:1.73 [[ 6.95673069e-01 7.18316547e-01 7.76655975e-03 2.70955274e+02] [-7.18271072e-01 6.95716420e-01 -8.08269789e-03 -1.64556544e+02] [-1.12092588e-02 4.44200438e-05 9.99937173e-01 1.72994161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.157628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:271.00, Y:-164.60, Z:1.73 [[ 6.96290187e-01 7.17718389e-01 7.76457623e-03 2.70996600e+02] [-7.17672856e-01 6.96333477e-01 -8.08460289e-03 -1.64602418e+02] [-1.12092025e-02 5.68040588e-05 9.99937173e-01 1.72877407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.04, Y:-164.64, Z:1.73 [[ 6.92804729e-01 7.21083456e-01 7.76257932e-03 2.71041097e+02] [-7.21038112e-01 6.92848215e-01 -8.08651981e-03 -1.64644690e+02] [-1.12093449e-02 5.26362687e-06 9.99937173e-01 1.72858190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.09, Y:-164.69, Z:1.73 [[ 6.92212503e-01 7.21652009e-01 7.76075448e-03 2.71087367e+02] [-7.21606681e-01 6.92256006e-01 -8.08827075e-03 -1.64687417e+02] [-1.12093457e-02 -1.41013986e-06 9.99937173e-01 1.72710461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.337628 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:271.13, Y:-164.73, Z:1.73 [[ 6.95512269e-01 7.18472330e-01 7.75852788e-03 2.71129679e+02] [-7.18426779e-01 6.95555539e-01 -8.09040601e-03 -1.64734377e+02] [-1.12092199e-02 5.30424464e-05 9.99937173e-01 1.72534824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.17, Y:-164.78, Z:1.73 [[ 7.03171247e-01 7.10978226e-01 7.75633036e-03 2.71170448e+02] [-7.10932191e-01 7.03214001e-01 -8.09251225e-03 -1.64782387e+02] [-1.12079601e-02 1.76196997e-04 9.99937173e-01 1.72849069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.21, Y:-164.83, Z:1.73 [[ 7.09277250e-01 7.04886981e-01 7.75414923e-03 2.71213706e+02] [-7.04840556e-01 7.09319581e-01 -8.09460164e-03 -1.64827691e+02] [-1.12059492e-02 2.75877935e-04 9.99937173e-01 1.73367159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:271.26, Y:-164.87, Z:1.73 [[ 7.10919708e-01 7.03230441e-01 7.75340715e-03 2.71256333e+02] [-7.03183910e-01 7.10961922e-01 -8.09531238e-03 -1.64870797e+02] [-1.12052473e-02 3.03045951e-04 9.99937173e-01 1.72659814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:271.30, Y:-164.92, Z:1.73 [[ 7.09540177e-01 7.04622337e-01 7.75238513e-03 2.71298942e+02] [-7.04575877e-01 7.09582471e-01 -8.09629098e-03 -1.64915445e+02] [-1.12057841e-02 2.82500181e-04 9.99937173e-01 1.72544053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:271.34, Y:-164.96, Z:1.73 [[ 7.03674224e-01 7.10480484e-01 7.75039429e-03 2.71342433e+02] [-7.10434356e-01 7.03716878e-01 -8.09819632e-03 -1.64959387e+02] [-1.12076937e-02 1.92345636e-04 9.99937173e-01 1.72809407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:271.39, Y:-165.00, Z:1.73 [[ 6.96040573e-01 7.17960642e-01 7.74837954e-03 2.71386965e+02] [-7.17914951e-01 6.96083695e-01 -8.10012358e-03 -1.65003339e+02] [-1.12090906e-02 7.53371384e-05 9.99937173e-01 1.72924953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.43, Y:-165.05, Z:1.73 [[ 6.91139990e-01 7.22679398e-01 7.74602861e-03 2.71429597e+02] [-7.22633977e-01 6.91183396e-01 -8.10237112e-03 -1.65047731e+02] [-1.12093430e-02 2.32924411e-06 9.99937173e-01 1.73112113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.47, Y:-165.09, Z:1.73 [[ 6.87602214e-01 7.26046298e-01 7.74385584e-03 2.71471457e+02] [-7.26001066e-01 6.87645817e-01 -8.10444722e-03 -1.65093316e+02] [-1.12092340e-02 -4.94117378e-05 9.99937173e-01 1.73195507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.51, Y:-165.14, Z:1.73 [[ 6.86596835e-01 7.26997146e-01 7.74184499e-03 2.71513520e+02] [-7.26951952e-01 6.86640478e-01 -8.10636764e-03 -1.65139649e+02] [-1.12091703e-02 -6.21429629e-05 9.99937173e-01 1.73204030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:271.55, Y:-165.19, Z:1.73 [[ 6.87901206e-01 7.25763068e-01 7.73953131e-03 2.71554473e+02] [-7.25717771e-01 6.87944742e-01 -8.10857602e-03 -1.65187890e+02] [-1.12092749e-02 -3.88161850e-05 9.99937173e-01 1.72931203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.59, Y:-165.24, Z:1.73 [[ 6.88821914e-01 7.24889306e-01 7.73724082e-03 2.71593922e+02] [-7.24843929e-01 6.88865367e-01 -8.11076103e-03 -1.65235572e+02] [-1.12093212e-02 -2.14221071e-05 9.99937173e-01 1.73369050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.64, Y:-165.28, Z:1.73 [[ 6.89504275e-01 7.24240306e-01 7.73526498e-03 2.71636262e+02] [-7.24194867e-01 6.89547663e-01 -8.11264496e-03 -1.65282617e+02] [-1.12093384e-02 -8.13580827e-06 9.99937173e-01 1.73363583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.68, Y:-165.33, Z:1.73 [[ 6.92721213e-01 7.21164005e-01 7.73298063e-03 2.71678636e+02] [-7.21118349e-01 6.92764373e-01 -8.11482182e-03 -1.65329522e+02] [-1.12092509e-02 4.49149830e-05 9.99937173e-01 1.73319830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.72, Y:-165.37, Z:1.73 [[ 6.94460826e-01 7.19488984e-01 7.73066596e-03 2.71721596e+02] [-7.19443200e-01 6.94503849e-01 -8.11702632e-03 -1.65374375e+02] [-1.12090883e-02 7.51817412e-05 9.99937173e-01 1.73036224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.237628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:271.77, Y:-165.42, Z:1.73 [[ 6.96848551e-01 7.17176663e-01 7.72865743e-03 2.71765502e+02] [-7.17130714e-01 6.96891399e-01 -8.11893829e-03 -1.65418661e+02] [-1.12087480e-02 1.15212752e-04 9.99937173e-01 1.72654042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.81, Y:-165.46, Z:1.73 [[ 6.98429623e-01 7.15637032e-01 7.72662326e-03 2.71810732e+02] [-7.15590968e-01 6.98472346e-01 -8.12087371e-03 -1.65459575e+02] [-1.12084306e-02 1.42756938e-04 9.99937173e-01 1.72972373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.86, Y:-165.50, Z:1.73 [[ 6.98892202e-01 7.15185304e-01 7.72476605e-03 2.71856342e+02] [-7.15139192e-01 6.98934874e-01 -8.12263995e-03 -1.65502674e+02] [-1.12083011e-02 1.52566768e-04 9.99937173e-01 1.72849486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.90, Y:-165.55, Z:1.73 [[ 6.98969444e-01 7.15109838e-01 7.72245658e-03 2.71900358e+02] [-7.15063698e-01 6.99012085e-01 -8.12483504e-03 -1.65547993e+02] [-1.12082399e-02 1.56963070e-04 9.99937173e-01 1.72902147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.95, Y:-165.59, Z:1.73 [[ 7.00642168e-01 7.13471059e-01 7.72013389e-03 2.71947838e+02] [-7.13424795e-01 7.00684674e-01 -8.12704144e-03 -1.65588150e+02] [-1.12077884e-02 1.86412994e-04 9.99937173e-01 1.72586338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.99, Y:-165.63, Z:1.72 [[ 6.97894053e-01 7.16159425e-01 7.71805020e-03 2.71989483e+02] [-7.16113303e-01 6.97936714e-01 -8.12901978e-03 -1.65632559e+02] [-1.12083847e-02 1.46196146e-04 9.99937173e-01 1.72393319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.03, Y:-165.68, Z:1.72 [[ 6.94216750e-01 7.19724646e-01 7.71615547e-03 2.72032030e+02] [-7.19678723e-01 6.94259624e-01 -8.13081788e-03 -1.65677480e+02] [-1.12089652e-02 9.13970489e-05 9.99937173e-01 1.72437319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.657628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:272.08, Y:-165.72, Z:1.72 [[ 6.91387954e-01 7.22442510e-01 7.71472413e-03 2.72075040e+02] [-7.22396740e-01 6.91430993e-01 -8.13217575e-03 -1.65723558e+02] [-1.12092288e-02 4.93967901e-05 9.99937173e-01 1.72322803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.12, Y:-165.77, Z:1.73 [[ 6.88502137e-01 7.25193303e-01 7.71242020e-03 2.72116662e+02] [-7.25147681e-01 6.88545331e-01 -8.13436018e-03 -1.65769200e+02] [-1.12093344e-02 7.88074198e-06 9.99937173e-01 1.72687955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.16, Y:-165.81, Z:1.73 [[ 6.87853559e-01 7.25808537e-01 7.71039325e-03 2.72160726e+02] [-7.25762932e-01 6.87896771e-01 -8.13628103e-03 -1.65814400e+02] [-1.12093368e-02 6.52249387e-07 9.99937173e-01 1.72619097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.20, Y:-165.86, Z:1.73 [[ 6.89081452e-01 7.24642904e-01 7.70807561e-03 2.72202862e+02] [-7.24597201e-01 6.89124562e-01 -8.13847609e-03 -1.65861546e+02] [-1.12093132e-02 2.28229094e-05 9.99937173e-01 1.72788036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.24, Y:-165.91, Z:1.73 [[ 6.92199606e-01 7.21664969e-01 7.70572392e-03 2.72243604e+02] [-7.21619056e-01 6.92242492e-01 -8.14070212e-03 -1.65907926e+02] [-1.12090891e-02 7.43935794e-05 9.99937173e-01 1.72769488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:272.29, Y:-165.95, Z:1.72 [[ 6.96557762e-01 7.17459365e-01 7.70355311e-03 2.72287398e+02] [-7.17413170e-01 6.96600344e-01 -8.14275585e-03 -1.65953513e+02] [-1.12083942e-02 1.45269336e-04 9.99937173e-01 1.72250579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:272.33, Y:-166.00, Z:1.72 [[ 7.01175847e-01 7.12946788e-01 7.70124050e-03 2.72331083e+02] [-7.12900295e-01 7.01218104e-01 -8.14494248e-03 -1.65997334e+02] [-1.12071598e-02 2.20820323e-04 9.99937173e-01 1.71863389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:272.37, Y:-166.04, Z:1.72 [[ 7.02311347e-01 7.11828275e-01 7.69924126e-03 2.72374146e+02] [-7.11781695e-01 7.02353507e-01 -8.14683188e-03 -1.66043752e+02] [-1.12067344e-02 2.41433475e-04 9.99937173e-01 1.71950308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.42, Y:-166.09, Z:1.73 [[ 7.01970669e-01 7.12164263e-01 7.69693375e-03 2.72416196e+02] [-7.12117678e-01 7.02012825e-01 -8.14901138e-03 -1.66089911e+02] [-1.12067809e-02 2.39244374e-04 9.99937173e-01 1.72553431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.46, Y:-166.13, Z:1.73 [[ 6.99814019e-01 7.14283647e-01 7.69489716e-03 2.72460880e+02] [-7.14237169e-01 6.99856292e-01 -8.15093403e-03 -1.66134545e+02] [-1.12074011e-02 2.08156337e-04 9.99937173e-01 1.72713565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.51, Y:-166.18, Z:1.73 [[ 6.95450791e-01 7.18532547e-01 7.69257393e-03 2.72506176e+02] [-7.18486303e-01 6.95493320e-01 -8.15312602e-03 -1.66177534e+02] [-1.12084202e-02 1.43088941e-04 9.99937173e-01 1.72848919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.55, Y:-166.22, Z:1.73 [[ 6.91102402e-01 7.22715938e-01 7.69042742e-03 2.72549016e+02] [-7.22669929e-01 6.91145185e-01 -8.15515021e-03 -1.66222089e+02] [-1.12090589e-02 7.84032582e-05 9.99937173e-01 1.72850358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.59, Y:-166.27, Z:1.73 [[ 6.89442095e-01 7.24299999e-01 7.68831717e-03 2.72594260e+02] [-7.24254066e-01 6.89484959e-01 -8.15713918e-03 -1.66265542e+02] [-1.12091949e-02 5.55801514e-05 9.99937173e-01 1.72510846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.64, Y:-166.31, Z:1.72 [[ 6.89388653e-01 7.24350888e-01 7.68608866e-03 2.72639234e+02] [-7.24304935e-01 6.89431496e-01 -8.15923845e-03 -1.66309801e+02] [-1.12091832e-02 5.78144553e-05 9.99937173e-01 1.72232239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.68, Y:-166.35, Z:1.72 [[ 6.90615673e-01 7.23181132e-01 7.68389290e-03 2.72683014e+02] [-7.23135084e-01 6.90658413e-01 -8.16130577e-03 -1.66354311e+02] [-1.12090476e-02 7.98331366e-05 9.99937173e-01 1.71913437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.73, Y:-166.40, Z:1.72 [[ 6.91990025e-01 7.21866192e-01 7.68153668e-03 2.72725329e+02] [-7.21820037e-01 6.92032651e-01 -8.16352287e-03 -1.66399671e+02] [-1.12088454e-02 1.04389305e-04 9.99937173e-01 1.71891616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61762799999997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:272.77, Y:-166.44, Z:1.72 [[ 6.94176396e-01 7.19763960e-01 7.67936274e-03 2.72769073e+02] [-7.19717655e-01 6.94218857e-01 -8.16556737e-03 -1.66444482e+02] [-1.12084395e-02 1.41371194e-04 9.99937173e-01 1.71812678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67762799999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:272.81, Y:-166.49, Z:1.71 [[ 6.94249316e-01 7.19693651e-01 7.67704621e-03 2.72811328e+02] [-7.19647316e-01 6.94291746e-01 -8.16774473e-03 -1.66489400e+02] [-1.12083838e-02 1.45685481e-04 9.99937173e-01 1.71485145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.85, Y:-166.54, Z:1.72 [[ 6.90505816e-01 7.23286121e-01 7.67490783e-03 2.72853109e+02] [-7.23239986e-01 6.90548462e-01 -8.16975358e-03 -1.66536733e+02] [-1.12089652e-02 9.04621366e-05 9.99937173e-01 1.71778119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.90, Y:-166.58, Z:1.71 [[ 6.86562057e-01 7.27030723e-01 7.67265423e-03 2.72896881e+02] [-7.26984796e-01 6.86604928e-01 -8.17186952e-03 -1.66580462e+02] [-1.12092824e-02 3.25925789e-05 9.99937173e-01 1.71192042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:-166.63, Z:1.71 [[ 6.85762556e-01 7.27784912e-01 7.67058654e-03 2.72938096e+02] [-7.27739011e-01 6.85805454e-01 -8.17380990e-03 -1.66625880e+02] [-1.12093056e-02 2.31077116e-05 9.99937173e-01 1.70833195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.98, Y:-166.67, Z:1.71 [[ 6.88961754e-01 7.24757127e-01 7.66869810e-03 2.72978478e+02] [-7.24711017e-01 6.89004428e-01 -8.17558126e-03 -1.66673259e+02] [-1.12090777e-02 7.50728073e-05 9.99937173e-01 1.70783698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.02, Y:-166.72, Z:1.71 [[ 6.88346078e-01 7.25341920e-01 7.66659067e-03 2.73017567e+02] [-7.25295824e-01 6.88388767e-01 -8.17755701e-03 -1.66721512e+02] [-1.12091198e-02 6.84430936e-05 9.99937174e-01 1.71054114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.06, Y:-166.77, Z:1.71 [[ 6.86852999e-01 7.26755952e-01 7.66447679e-03 2.73055256e+02] [-7.26709923e-01 6.86895759e-01 -8.17953779e-03 -1.66769692e+02] [-1.12092244e-02 4.82887218e-05 9.99937174e-01 1.70824314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.10, Y:-166.82, Z:1.71 [[ 6.85475970e-01 7.28054929e-01 7.66255979e-03 2.73097219e+02] [-7.28008960e-01 6.85518796e-01 -8.18133323e-03 -1.66816012e+02] [-1.12092887e-02 2.96951507e-05 9.99937174e-01 1.70634701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.14, Y:-166.86, Z:1.70 [[ 6.83148466e-01 7.30239340e-01 7.66027093e-03 2.73138861e+02] [-7.30193484e-01 6.83191413e-01 -8.18347575e-03 -1.66861450e+02] [-1.12093273e-02 -2.95101310e-06 9.99937174e-01 1.70171956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.18, Y:-166.91, Z:1.70 [[ 6.82083661e-01 7.31234046e-01 7.65826985e-03 2.73181743e+02] [-7.31188232e-01 6.82126652e-01 -8.18534798e-03 -1.66906473e+02] [-1.12093151e-02 -1.65446689e-05 9.99937174e-01 1.69935724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.22, Y:-166.95, Z:1.70 [[ 6.83672285e-01 7.29748991e-01 7.65615506e-03 2.73224267e+02] [-7.29703061e-01 6.83715153e-01 -8.18732557e-03 -1.66953525e+02] [-1.12093218e-02 1.07278004e-05 9.99937174e-01 1.70043680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.26, Y:-167.00, Z:1.70 [[ 6.83014799e-01 7.30364432e-01 7.65380692e-03 2.73263182e+02] [-7.30318517e-01 6.83057681e-01 -8.18952010e-03 -1.67000922e+02] [-1.12093258e-02 3.84650706e-06 9.99937174e-01 1.70215035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.31, Y:-167.04, Z:1.70 [[ 6.80110744e-01 7.33069453e-01 7.65194976e-03 2.73308528e+02] [-7.33023689e-01 6.80153788e-01 -8.19125499e-03 -1.67043112e+02] [-1.12092614e-02 -3.80999086e-05 9.99937174e-01 1.69848657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:273.35, Y:-167.09, Z:1.69 [[ 6.79062900e-01 7.34040229e-01 7.64987765e-03 2.73350747e+02] [-7.33994504e-01 6.79105985e-01 -8.19318970e-03 -1.67087933e+02] [-1.12092085e-02 -5.12770001e-05 9.99937174e-01 1.69347939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:273.39, Y:-167.13, Z:1.69 [[ 6.78330930e-01 7.34716721e-01 7.64783836e-03 2.73392089e+02] [-7.34671017e-01 6.78374039e-01 -8.19509280e-03 -1.67134907e+02] [-1.12091667e-02 -5.96602635e-05 9.99937174e-01 1.69429162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:-167.18, Z:1.69 [[ 6.78976523e-01 7.34120172e-01 7.64553723e-03 2.73436433e+02] [-7.34074407e-01 6.79019566e-01 -8.19723906e-03 -1.67179488e+02] [-1.12092279e-02 -4.66603298e-05 9.99937174e-01 1.69334612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.48, Y:-167.23, Z:1.70 [[ 6.80326722e-01 7.32869110e-01 7.64324217e-03 2.73478268e+02] [-7.32823242e-01 6.80369655e-01 -8.19937845e-03 -1.67225578e+02] [-1.12093012e-02 -2.28892377e-05 9.99937174e-01 1.69683021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.52, Y:-167.27, Z:1.70 [[ 6.82276467e-01 7.31054331e-01 7.64118878e-03 2.73519251e+02] [-7.31008327e-01 6.82319255e-01 -8.20129160e-03 -1.67271452e+02] [-1.12093200e-02 9.77563717e-06 9.99937174e-01 1.69768915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.56, Y:-167.32, Z:1.70 [[ 6.82264029e-01 7.31065959e-01 7.63931648e-03 2.73561201e+02] [-7.31019936e-01 6.82306796e-01 -8.20303524e-03 -1.67317809e+02] [-1.12093174e-02 1.21432338e-05 9.99937174e-01 1.69612387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.60, Y:-167.36, Z:1.69 [[ 6.81507284e-01 7.31771477e-01 7.63727057e-03 2.73602130e+02] [-7.31725476e-01 6.81550076e-01 -8.20493961e-03 -1.67363585e+02] [-1.12093231e-02 3.34066205e-06 9.99937174e-01 1.69272927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.65, Y:-167.41, Z:1.69 [[ 6.81185185e-01 7.32071330e-01 7.63612696e-03 2.73645606e+02] [-7.32025337e-01 6.81227985e-01 -8.20600379e-03 -1.67409723e+02] [-1.12093235e-02 -3.01972090e-08 9.99937174e-01 1.69227351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.69, Y:-167.45, Z:1.69 [[ 6.82806677e-01 7.30559216e-01 7.63378310e-03 2.73688786e+02] [-7.30513103e-01 6.82849348e-01 -8.20818363e-03 -1.67453649e+02] [-1.12092880e-02 2.80240083e-05 9.99937174e-01 1.69056909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99762799999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:273.73, Y:-167.50, Z:1.69 [[ 6.85121444e-01 7.28388883e-01 7.63162500e-03 2.73732194e+02] [-7.28342614e-01 6.85163944e-01 -8.21018965e-03 -1.67499305e+02] [-1.12091252e-02 6.65392912e-05 9.99937174e-01 1.68838811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.78, Y:-167.54, Z:1.69 [[ 6.88535378e-01 7.25162621e-01 7.62927471e-03 2.73776032e+02] [-7.25116128e-01 6.88577634e-01 -8.21237307e-03 -1.67543010e+02] [-1.12086539e-02 1.22399266e-04 9.99937174e-01 1.69113249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11762799999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:273.82, Y:-167.59, Z:1.69 [[ 6.91021083e-01 7.22794361e-01 7.62724990e-03 2.73819458e+02] [-7.22747702e-01 6.91063156e-01 -8.21425318e-03 -1.67588539e+02] [-1.12081273e-02 1.63644793e-04 9.99937174e-01 1.68853787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17762799999997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:273.86, Y:-167.63, Z:1.69 [[ 6.92036686e-01 7.21822060e-01 7.62490629e-03 2.73862258e+02] [-7.21775318e-01 6.92078666e-01 -8.21642807e-03 -1.67633709e+02] [-1.12078340e-02 1.82600486e-04 9.99937174e-01 1.68822417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.91, Y:-167.68, Z:1.69 [[ 6.90008401e-01 7.23761218e-01 7.62274073e-03 2.73905183e+02] [-7.23714572e-01 6.90050488e-01 -8.21843666e-03 -1.67679080e+02] [-1.12082617e-02 1.54101792e-04 9.99937174e-01 1.68903453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.95, Y:-167.73, Z:1.69 [[ 6.87728401e-01 7.25928079e-01 7.62041923e-03 2.73946048e+02] [-7.25881542e-01 6.87770608e-01 -8.22058867e-03 -1.67726051e+02] [-1.12086565e-02 1.22010637e-04 9.99937174e-01 1.68925754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.99, Y:-167.77, Z:1.69 [[ 6.87680067e-01 7.25973879e-01 7.61920301e-03 2.73986147e+02] [-7.25927332e-01 6.87722264e-01 -8.22171576e-03 -1.67771887e+02] [-1.12086464e-02 1.22922331e-04 9.99937174e-01 1.69036303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.417628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:274.03, Y:-167.82, Z:1.69 [[ 6.87627935e-01 7.26023270e-01 7.61798123e-03 2.74027872e+02] [-7.25976714e-01 6.87670121e-01 -8.22284767e-03 -1.67817858e+02] [-1.12086368e-02 1.23782783e-04 9.99937174e-01 1.69241741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.477628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:274.07, Y:-167.86, Z:1.69 [[ 6.89823683e-01 7.23937349e-01 7.61586955e-03 2.74070133e+02] [-7.23890643e-01 6.89865704e-01 -8.22480301e-03 -1.67861271e+02] [-1.12081693e-02 1.60607200e-04 9.99937174e-01 1.68829363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.11, Y:-167.91, Z:1.69 [[ 6.90604192e-01 7.23192826e-01 7.61489464e-03 2.74113486e+02] [-7.23146065e-01 6.90646152e-01 -8.22570553e-03 -1.67906721e+02] [-1.12079689e-02 1.74025628e-04 9.99937174e-01 1.69459563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.16, Y:-167.95, Z:1.69 [[ 6.88921988e-01 7.24795519e-01 7.61246565e-03 2.74156274e+02] [-7.24748831e-01 6.88964029e-01 -8.22795282e-03 -1.67952026e+02] [-1.12082983e-02 1.51292028e-04 9.99937174e-01 1.69324493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.20, Y:-168.00, Z:1.69 [[ 6.87134638e-01 7.26490243e-01 7.61023524e-03 2.74200379e+02] [-7.26443636e-01 6.87176768e-01 -8.23001527e-03 -1.67996852e+02] [-1.12086026e-02 1.26721609e-04 9.99937174e-01 1.69287864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.25, Y:-168.04, Z:1.69 [[ 6.84927118e-01 7.28571865e-01 7.60797044e-03 2.74245372e+02] [-7.28525362e-01 6.84969363e-01 -8.23210836e-03 -1.68040604e+02] [-1.12089092e-02 9.57948299e-05 9.99937174e-01 1.69072108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.29, Y:-168.09, Z:1.69 [[ 6.84200801e-01 7.29254015e-01 7.60563045e-03 2.74287994e+02] [-7.29207530e-01 6.84243067e-01 -8.23426970e-03 -1.68086106e+02] [-1.12089741e-02 8.78109295e-05 9.99937174e-01 1.68936416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.837628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:274.33, Y:-168.13, Z:1.69 [[ 6.84934555e-01 7.28564920e-01 7.60346839e-03 2.74329414e+02] [-7.28518371e-01 6.84976749e-01 -8.23626564e-03 -1.68134035e+02] [-1.12088533e-02 1.02036532e-04 9.99937174e-01 1.68701491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.37, Y:-168.18, Z:1.69 [[ 6.85767136e-01 7.27781312e-01 7.60245170e-03 2.74372538e+02] [-7.27734704e-01 6.85809266e-01 -8.23720399e-03 -1.68180317e+02] [-1.12087149e-02 1.16235850e-04 9.99937174e-01 1.68816480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.42, Y:-168.23, Z:1.69 [[ 6.86563882e-01 7.27029764e-01 7.59989994e-03 2.74415153e+02] [-7.26983084e-01 6.86605932e-01 -8.23955765e-03 -1.68226391e+02] [-1.12085400e-02 1.31983999e-04 9.99937174e-01 1.68836657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.46, Y:-168.27, Z:1.69 [[ 6.86894380e-01 7.26717543e-01 7.59753418e-03 2.74459697e+02] [-7.26670820e-01 6.86936382e-01 -8.24173849e-03 -1.68270962e+02] [-1.12084386e-02 1.40297458e-04 9.99937174e-01 1.68678460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.50, Y:-168.32, Z:1.69 [[ 6.84108664e-01 7.29340558e-01 7.59511134e-03 2.74500567e+02] [-7.29293972e-01 6.84150817e-01 -8.24397064e-03 -1.68318609e+02] [-1.12088638e-02 1.00702833e-04 9.99937174e-01 1.68735207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.54, Y:-168.37, Z:1.68 [[ 6.83290179e-01 7.30107446e-01 7.59265398e-03 2.74540699e+02] [-7.30060882e-01 6.83332356e-01 -8.24623324e-03 -1.68365329e+02] [-1.12089424e-02 9.14705279e-05 9.99937174e-01 1.68456569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.58, Y:-168.41, Z:1.68 [[ 6.83434950e-01 7.29971955e-01 7.59039624e-03 2.74582483e+02] [-7.29925359e-01 6.83477092e-01 -8.24831089e-03 -1.68412970e+02] [-1.12088976e-02 9.67612379e-05 9.99937174e-01 1.68225792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:274.62, Y:-168.46, Z:1.68 [[ 6.84025326e-01 7.29418792e-01 7.58806258e-03 2.74623438e+02] [-7.29372138e-01 6.84067404e-01 -8.25045719e-03 -1.68459518e+02] [-1.12087848e-02 1.09000243e-04 9.99937174e-01 1.67821148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.66, Y:-168.51, Z:1.68 [[ 6.80192068e-01 7.32994672e-01 7.58690714e-03 2.74663434e+02] [-7.32948228e-01 6.80234377e-01 -8.25151956e-03 -1.68506627e+02] [-1.12091949e-02 5.18080107e-05 9.99937174e-01 1.67606671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:274.71, Y:-168.55, Z:1.67 [[ 6.78527782e-01 7.34535575e-01 7.58537633e-03 2.74705506e+02] [-7.34489211e-01 6.78570179e-01 -8.25292655e-03 -1.68552483e+02] [-1.12092783e-02 2.84628738e-05 9.99937174e-01 1.67110235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.75, Y:-168.60, Z:1.67 [[ 6.75500692e-01 7.37320356e-01 7.58331424e-03 2.74748785e+02] [-7.37274146e-01 6.75543257e-01 -8.25482089e-03 -1.68598544e+02] [-1.12093043e-02 -1.48443010e-05 9.99937174e-01 1.67322760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.79, Y:-168.64, Z:1.67 [[ 6.74990653e-01 7.37787332e-01 7.58097874e-03 2.74791006e+02] [-7.37741127e-01 6.75033223e-01 -8.25696519e-03 -1.68644650e+02] [-1.12092968e-02 -1.94254722e-05 9.99937174e-01 1.67491696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55762799999997 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:274.83, Y:-168.69, Z:1.67 [[ 6.76265231e-01 7.36619238e-01 7.57862151e-03 2.74831430e+02] [-7.36572935e-01 6.76307695e-01 -8.25912820e-03 -1.68692575e+02] [-1.12093128e-02 3.15374925e-06 9.99937174e-01 1.67245981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.87, Y:-168.74, Z:1.68 [[ 6.77839392e-01 7.35170972e-01 7.57626249e-03 2.74870546e+02] [-7.35124554e-01 6.77881730e-01 -8.26129162e-03 -1.68740022e+02] [-1.12092717e-02 3.03323039e-05 9.99937174e-01 1.67593392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67762799999997 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:274.91, Y:-168.78, Z:1.67 [[ 6.79547565e-01 7.33592342e-01 7.57514827e-03 2.74913636e+02] [-7.33545814e-01 6.79589782e-01 -8.26231316e-03 -1.68784814e+02] [-1.12091630e-02 5.79164779e-05 9.99937174e-01 1.67091387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.96, Y:-168.83, Z:1.67 [[ 6.79869352e-01 7.33294151e-01 7.57311207e-03 2.74956711e+02] [-7.33247584e-01 6.79911527e-01 -8.26417910e-03 -1.68831272e+02] [-1.12091204e-02 6.55959638e-05 9.99937174e-01 1.67436234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.00, Y:-168.88, Z:1.68 [[ 6.81627197e-01 7.31660474e-01 7.57066828e-03 2.74997780e+02] [-7.31613781e-01 6.81669232e-01 -8.26641720e-03 -1.68877110e+02] [-1.12089024e-02 9.58095383e-05 9.99937174e-01 1.67555409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.04, Y:-168.92, Z:1.68 [[ 6.84573944e-01 7.28904130e-01 7.56869006e-03 2.75038170e+02] [-7.28857248e-01 6.84615768e-01 -8.26822805e-03 -1.68924121e+02] [-1.12083901e-02 1.43718884e-04 9.99937174e-01 1.67525050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.917628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:275.08, Y:-168.97, Z:1.67 [[ 6.85946839e-01 7.27612315e-01 7.56665741e-03 2.75080784e+02] [-7.27565333e-01 6.85988551e-01 -8.27008781e-03 -1.68969708e+02] [-1.12080581e-02 1.67602972e-04 9.99937174e-01 1.67176256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.977628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:275.12, Y:-169.01, Z:1.67 [[ 6.86556168e-01 7.27037419e-01 7.56434374e-03 2.75124248e+02] [-7.26990380e-01 6.86597814e-01 -8.27220350e-03 -1.69014922e+02] [-1.12078634e-02 1.80127206e-04 9.99937174e-01 1.67004098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.037628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:275.16, Y:-169.06, Z:1.68 [[ 6.84508075e-01 7.28966057e-01 7.56198157e-03 2.75163803e+02] [-7.28919111e-01 6.84549827e-01 -8.27436230e-03 -1.69063197e+02] [-1.12082824e-02 1.51794926e-04 9.99937174e-01 1.67501505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.097628 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:275.21, Y:-169.11, Z:1.67 [[ 6.83734098e-01 7.29692080e-01 7.55985119e-03 2.75207520e+02] [-7.29645157e-01 6.83775876e-01 -8.27630825e-03 -1.69105946e+02] [-1.12084005e-02 1.42785355e-04 9.99937174e-01 1.66833464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.157628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:275.25, Y:-169.15, Z:1.67 [[ 6.80687927e-01 7.32534521e-01 7.55790658e-03 2.75250179e+02] [-7.32487753e-01 6.80729877e-01 -8.27808369e-03 -1.69151426e+02] [-1.12088749e-02 9.87176199e-05 9.99937174e-01 1.67035820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.29, Y:-169.20, Z:1.68 [[ 6.77778660e-01 7.35227174e-01 7.55584756e-03 2.75290641e+02] [-7.35180551e-01 6.77820773e-01 -8.27996264e-03 -1.69199957e+02] [-1.12091640e-02 5.70698101e-05 9.99937174e-01 1.67557338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.33, Y:-169.25, Z:1.68 [[ 6.75714064e-01 7.37125124e-01 7.55349020e-03 2.75331174e+02] [-7.37078595e-01 6.75756281e-01 -8.28211261e-03 -1.69247810e+02] [-1.12092717e-02 2.88240334e-05 9.99937174e-01 1.67651481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.37, Y:-169.29, Z:1.67 [[ 6.72136063e-01 7.40389149e-01 7.55112842e-03 2.75373058e+02] [-7.40342802e-01 6.72178478e-01 -8.28426538e-03 -1.69294132e+02] [-1.12092862e-02 -2.22700496e-05 9.99937174e-01 1.67434647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.41, Y:-169.34, Z:1.67 [[ 6.70346698e-01 7.42009650e-01 7.54876340e-03 2.75414927e+02] [-7.41963381e-01 6.70389198e-01 -8.28641986e-03 -1.69340615e+02] [-1.12092129e-02 -4.61318209e-05 9.99937174e-01 1.67171694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.46, Y:-169.39, Z:1.67 [[ 6.72056136e-01 7.40461749e-01 7.54641954e-03 2.75456465e+02] [-7.40415357e-01 6.72098504e-01 -8.28855386e-03 -1.69388065e+02] [-1.12092944e-02 -1.71114379e-05 9.99937174e-01 1.66975742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:275.50, Y:-169.43, Z:1.67 [[ 6.74951074e-01 7.37823919e-01 7.54410324e-03 2.75499901e+02] [-7.37777338e-01 6.74993233e-01 -8.29066159e-03 -1.69434136e+02] [-1.12092671e-02 2.99225346e-05 9.99937174e-01 1.66630102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:275.54, Y:-169.48, Z:1.66 [[ 6.79722823e-01 7.33430301e-01 7.54173483e-03 2.75544100e+02] [-7.33383424e-01 6.79764653e-01 -8.29281548e-03 -1.69478664e+02] [-1.12088069e-02 1.05832639e-04 9.99937174e-01 1.66439746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.59, Y:-169.52, Z:1.67 [[ 6.82819989e-01 7.30547754e-01 7.53935439e-03 2.75588691e+02] [-7.30500677e-01 6.82861593e-01 -8.29497908e-03 -1.69523190e+02] [-1.12082139e-02 1.56474035e-04 9.99937174e-01 1.66588992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.63, Y:-169.57, Z:1.66 [[ 6.85950831e-01 7.27608858e-01 7.53701012e-03 2.75630597e+02] [-7.27561579e-01 6.85992206e-01 -8.29710859e-03 -1.69568264e+02] [-1.12073799e-02 2.07769542e-04 9.99937174e-01 1.66379392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.67, Y:-169.61, Z:1.66 [[ 6.86855188e-01 7.26755238e-01 7.53484655e-03 2.75673462e+02] [-7.26707886e-01 6.86896479e-01 -8.29907293e-03 -1.69614861e+02] [-1.12070543e-02 2.24628892e-04 9.99937174e-01 1.66273279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:275.72, Y:-169.66, Z:1.66 [[ 6.86730050e-01 7.26873511e-01 7.53242936e-03 2.75718923e+02] [-7.26826142e-01 6.86771321e-01 -8.30126624e-03 -1.69659120e+02] [-1.12070270e-02 2.25962406e-04 9.99937174e-01 1.65842826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.76, Y:-169.70, Z:1.66 [[ 6.84141153e-01 7.29310758e-01 7.53004710e-03 2.75762207e+02] [-7.29263512e-01 6.84182565e-01 -8.30342662e-03 -1.69702897e+02] [-1.12077053e-02 1.89327268e-04 9.99937174e-01 1.65980442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:275.80, Y:-169.75, Z:1.66 [[ 6.79746007e-01 7.33408957e-01 7.52785221e-03 2.75802114e+02] [-7.33361939e-01 6.79787678e-01 -8.30541602e-03 -1.69750070e+02] [-1.12086077e-02 1.24933079e-04 9.99937174e-01 1.65839207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.84, Y:-169.80, Z:1.66 [[ 6.75469804e-01 7.37349236e-01 7.52648054e-03 2.75844019e+02] [-7.37302448e-01 6.75511732e-01 -8.30665887e-03 -1.69797360e+02] [-1.12091345e-02 6.16047169e-05 9.99937174e-01 1.66006204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.89, Y:-169.84, Z:1.66 [[ 6.73086632e-01 7.39525371e-01 7.52408116e-03 2.75886654e+02] [-7.39478693e-01 6.73128684e-01 -8.30883162e-03 -1.69843979e+02] [-1.12092666e-02 2.86657869e-05 9.99937174e-01 1.65733231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.92, Y:-169.89, Z:1.66 [[ 6.72190229e-01 7.40340273e-01 7.52169939e-03 2.75924013e+02] [-7.40293622e-01 6.72232311e-01 -8.31098720e-03 -1.69893073e+02] [-1.12092879e-02 1.82982991e-05 9.99937174e-01 1.65657117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17762799999997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:275.96, Y:-169.94, Z:1.65 [[ 6.71341916e-01 7.41109633e-01 7.51949710e-03 2.75964435e+02] [-7.41063009e-01 6.71384027e-01 -8.31297928e-03 -1.69941176e+02] [-1.12092993e-02 8.43029169e-06 9.99937174e-01 1.65437324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.01, Y:-169.98, Z:1.65 [[ 6.69259962e-01 7.42990307e-01 7.51715265e-03 2.76010415e+02] [-7.42943777e-01 6.69302176e-01 -8.31509875e-03 -1.69984396e+02] [-1.12092844e-02 -1.98591115e-05 9.99937174e-01 1.65471114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.06, Y:-170.03, Z:1.65 [[ 6.73418948e-01 7.39222868e-01 7.51474542e-03 2.76058065e+02] [-7.39176078e-01 6.73460874e-01 -8.31727371e-03 -1.70025435e+02] [-1.12092059e-02 4.62896658e-05 9.99937174e-01 1.64958371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.357628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:276.10, Y:-170.07, Z:1.65 [[ 6.77079381e-01 7.35871643e-01 7.51237480e-03 2.76098679e+02] [-7.35824622e-01 6.77121048e-01 -8.31941436e-03 -1.70072440e+02] [-1.12088082e-02 1.05113578e-04 9.99937174e-01 1.64837132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.14, Y:-170.12, Z:1.65 [[ 6.78367991e-01 7.34683915e-01 7.51091616e-03 2.76138407e+02] [-7.34636805e-01 6.78409559e-01 -8.32073104e-03 -1.70122038e+02] [-1.12085846e-02 1.26722152e-04 9.99937174e-01 1.65192806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.477628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:276.18, Y:-170.17, Z:1.64 [[ 6.77978474e-01 7.35043407e-01 7.50855564e-03 2.76182087e+02] [-7.34996296e-01 6.78020040e-01 -8.32286061e-03 -1.70166741e+02] [-1.12086150e-02 1.23959751e-04 9.99937174e-01 1.64480554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.537628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:276.23, Y:-170.21, Z:1.64 [[ 6.76235418e-01 7.36647349e-01 7.50617518e-03 2.76225461e+02] [-7.36600313e-01 6.76277068e-01 -8.32500693e-03 -1.70212653e+02] [-1.12088484e-02 1.00613553e-04 9.99937174e-01 1.64288700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.27, Y:-170.26, Z:1.65 [[ 6.73167303e-01 7.39452145e-01 7.50379675e-03 2.76266040e+02] [-7.39405259e-01 6.73209122e-01 -8.32715019e-03 -1.70258968e+02] [-1.12091535e-02 5.72184564e-05 9.99937174e-01 1.64684893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.657628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:276.31, Y:-170.31, Z:1.64 [[ 6.72297787e-01 7.40242806e-01 7.50159664e-03 2.76308451e+02] [-7.40195947e-01 6.72339636e-01 -8.32913172e-03 -1.70305849e+02] [-1.12092006e-02 4.70053974e-05 9.99937174e-01 1.64455485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.35, Y:-170.35, Z:1.64 [[ 6.68975787e-01 7.43246365e-01 7.49920845e-03 2.76351691e+02] [-7.43199669e-01 6.69017818e-01 -8.33128138e-03 -1.70349604e+02] [-1.12092987e-02 1.62752725e-08 9.99937174e-01 1.64465090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.39, Y:-170.40, Z:1.64 [[ 6.68493372e-01 7.43680312e-01 7.49700376e-03 2.76394844e+02] [-7.43633622e-01 6.68535409e-01 -8.33326483e-03 -1.70395072e+02] [-1.12092975e-02 -4.29175127e-06 9.99937174e-01 1.64191310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.837628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:276.43, Y:-170.44, Z:1.64 [[ 6.70754829e-01 7.41641282e-01 7.49463445e-03 2.76432724e+02] [-7.41594440e-01 6.70796697e-01 -8.33539516e-03 -1.70444185e+02] [-1.12092492e-02 3.30273182e-05 9.99937174e-01 1.63805631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.897628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:276.48, Y:-170.49, Z:1.64 [[ 6.70630978e-01 7.41753296e-01 7.49259396e-03 2.76475701e+02] [-7.41706440e-01 6.70672832e-01 -8.33722893e-03 -1.70489149e+02] [-1.12092462e-02 3.38988013e-05 9.99937174e-01 1.63684692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.52, Y:-170.53, Z:1.64 [[ 6.71748333e-01 7.40741568e-01 7.49043945e-03 2.76519108e+02] [-7.40694628e-01 6.71790091e-01 -8.33916416e-03 -1.70534907e+02] [-1.12091685e-02 5.36913519e-05 9.99937174e-01 1.63734694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:276.56, Y:-170.58, Z:1.64 [[ 6.73562011e-01 7.39092785e-01 7.48810901e-03 2.76559566e+02] [-7.39045720e-01 6.73603628e-01 -8.34125624e-03 -1.70582662e+02] [-1.12089797e-02 8.42984184e-05 9.99937174e-01 1.63768931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:276.60, Y:-170.63, Z:1.64 [[ 6.76273557e-01 7.36612544e-01 7.48578166e-03 2.76600101e+02] [-7.36565302e-01 6.76314974e-01 -8.34334438e-03 -1.70630606e+02] [-1.12085584e-02 1.28616147e-04 9.99937174e-01 1.63532199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:276.64, Y:-170.68, Z:1.63 [[ 6.75323428e-01 7.37483739e-01 7.48345430e-03 2.76642373e+02] [-7.37436528e-01 6.75364880e-01 -8.34543136e-03 -1.70676007e+02] [-1.12086821e-02 1.17292760e-04 9.99937174e-01 1.63046831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:276.69, Y:-170.72, Z:1.63 [[ 6.72849455e-01 7.39741603e-01 7.48138276e-03 2.76685581e+02] [-7.39694511e-01 6.72891041e-01 -8.34728800e-03 -1.70722136e+02] [-1.12089916e-02 8.25304195e-05 9.99937174e-01 1.62976654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.73, Y:-170.77, Z:1.63 [[ 6.73079499e-01 7.39532320e-01 7.47901327e-03 2.76725119e+02] [-7.39485191e-01 6.73121044e-01 -8.34941048e-03 -1.70768109e+02] [-1.12089401e-02 8.91974680e-05 9.99937174e-01 1.63418626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.77, Y:-170.81, Z:1.64 [[ 6.73965798e-01 7.38724701e-01 7.47799178e-03 2.76766590e+02] [-7.38677512e-01 6.74007274e-01 -8.35032525e-03 -1.70814886e+02] [-1.12088124e-02 1.04009258e-04 9.99937174e-01 1.63615823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:276.81, Y:-170.86, Z:1.63 [[ 6.74434121e-01 7.38297181e-01 7.47594126e-03 2.76809189e+02] [-7.38249945e-01 6.74475544e-01 -8.35216066e-03 -1.70861507e+02] [-1.12087162e-02 1.13868908e-04 9.99937174e-01 1.63295057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.85, Y:-170.91, Z:1.63 [[ 6.74099813e-01 7.38602455e-01 7.47361029e-03 2.76850124e+02] [-7.38555215e-01 6.74141232e-01 -8.35424591e-03 -1.70909037e+02] [-1.12087354e-02 1.11921752e-04 9.99937174e-01 1.63106169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.89, Y:-170.95, Z:1.63 [[ 6.73635787e-01 7.39025714e-01 7.47128242e-03 2.76894360e+02] [-7.38978477e-01 6.73677209e-01 -8.35632723e-03 -1.70953495e+02] [-1.12087734e-02 1.08004162e-04 9.99937174e-01 1.62907746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.93, Y:-171.00, Z:1.63 [[ 6.69033431e-01 7.43194765e-01 7.47051948e-03 2.76933479e+02] [-7.43147779e-01 6.69075137e-01 -8.35700925e-03 -1.71001049e+02] [-1.12092244e-02 3.94186139e-05 9.99937174e-01 1.63011114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61762799999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:276.98, Y:-171.05, Z:1.63 [[ 6.68630940e-01 7.43556918e-01 7.46827271e-03 2.76979011e+02] [-7.43509932e-01 6.68672646e-01 -8.35901660e-03 -1.71045010e+02] [-1.12092343e-02 3.63621968e-05 9.99937174e-01 1.62779659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.02, Y:-171.09, Z:1.63 [[ 6.69919797e-01 7.42395936e-01 7.46594294e-03 2.77021531e+02] [-7.42348854e-01 6.69961395e-01 -8.36109694e-03 -1.71091281e+02] [-1.12091379e-02 5.89301775e-05 9.99937174e-01 1.62913261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.06, Y:-171.14, Z:1.63 [[ 6.73555034e-01 7.39099392e-01 7.46363465e-03 2.77058306e+02] [-7.39052083e-01 6.73596374e-01 -8.36315695e-03 -1.71140949e+02] [-1.12086815e-02 1.17031721e-04 9.99937174e-01 1.63056018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.797628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:277.10, Y:-171.19, Z:1.63 [[ 6.75153244e-01 7.37639765e-01 7.46150249e-03 2.77099334e+02] [-7.37592347e-01 6.75194458e-01 -8.36505880e-03 -1.71187815e+02] [-1.12083651e-02 1.44149448e-04 9.99937174e-01 1.62585471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.14, Y:-171.24, Z:1.63 [[ 6.72423663e-01 7.40128890e-01 7.45942074e-03 2.77140352e+02] [-7.40081604e-01 6.72465029e-01 -8.36691477e-03 -1.71235600e+02] [-1.12087949e-02 1.05531419e-04 9.99937174e-01 1.62810179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.917628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:277.18, Y:-171.28, Z:1.63 [[ 6.67385434e-01 7.44675146e-01 7.45710917e-03 2.77183848e+02] [-7.44628118e-01 6.67427094e-01 -8.36897447e-03 -1.71280560e+02] [-1.12092440e-02 3.25584897e-05 9.99937174e-01 1.62504977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.22, Y:-171.33, Z:1.63 [[ 6.67020433e-01 7.45002124e-01 7.45505452e-03 2.77224576e+02] [-7.44955096e-01 6.67062092e-01 -8.37080434e-03 -1.71326022e+02] [-1.12092513e-02 2.98166828e-05 9.99937174e-01 1.62780065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.27, Y:-171.37, Z:1.63 [[ 6.70328507e-01 7.42027050e-01 7.45317343e-03 2.77267163e+02] [-7.41979818e-01 6.70369936e-01 -8.37247889e-03 -1.71371931e+02] [-1.12089892e-02 8.22070121e-05 9.99937174e-01 1.62789667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.31, Y:-171.42, Z:1.63 [[ 6.74879986e-01 7.37889890e-01 7.45083737e-03 2.77305329e+02] [-7.37842382e-01 6.74921096e-01 -8.37455728e-03 -1.71421278e+02] [-1.12082285e-02 1.54277505e-04 9.99937174e-01 1.62815444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.35, Y:-171.47, Z:1.63 [[ 6.76231094e-01 7.36651894e-01 7.44939798e-03 2.77348165e+02] [-7.36604297e-01 6.76272102e-01 -8.37583746e-03 -1.71467118e+02] [-1.12078966e-02 1.76743173e-04 9.99937174e-01 1.62666485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.39, Y:-171.51, Z:1.63 [[ 6.75440610e-01 7.37376786e-01 7.44701862e-03 2.77392920e+02] [-7.37329209e-01 6.75481641e-01 -8.37795244e-03 -1.71511578e+02] [-1.12080320e-02 1.67904958e-04 9.99937174e-01 1.62628732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.277628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:277.44, Y:-171.56, Z:1.62 [[ 6.74417770e-01 7.38312433e-01 7.44461853e-03 2.77437482e+02] [-7.38264890e-01 6.74458840e-01 -8.38008461e-03 -1.71556257e+02] [-1.12082094e-02 1.55577503e-04 9.99937174e-01 1.62356900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.337628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:277.48, Y:-171.60, Z:1.63 [[ 6.73675379e-01 7.38989917e-01 7.44221695e-03 2.77476411e+02] [-7.38942391e-01 6.73716469e-01 -8.38221687e-03 -1.71604609e+02] [-1.12083179e-02 1.47523540e-04 9.99937174e-01 1.62557677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.52, Y:-171.65, Z:1.62 [[ 6.72438763e-01 7.40115367e-01 7.43999931e-03 2.77519040e+02] [-7.40067889e-01 6.72479907e-01 -8.38418477e-03 -1.71650333e+02] [-1.12085140e-02 1.31746256e-04 9.99937174e-01 1.62298032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:277.56, Y:-171.70, Z:1.62 [[ 6.71548104e-01 7.40923627e-01 7.43795325e-03 2.77561577e+02] [-7.40876178e-01 6.71589283e-01 -8.38599952e-03 -1.71696359e+02] [-1.12086349e-02 1.20999702e-04 9.99937174e-01 1.61918206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.60, Y:-171.74, Z:1.62 [[ 6.69993103e-01 7.42330084e-01 7.43563141e-03 2.77603289e+02] [-7.42282698e-01 6.70034355e-01 -8.38805772e-03 -1.71742682e+02] [-1.12088361e-02 1.00600270e-04 9.99937174e-01 1.62164587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.64, Y:-171.79, Z:1.62 [[ 6.68255289e-01 7.43894893e-01 7.43357254e-03 2.77644193e+02] [-7.43847583e-01 6.68296628e-01 -8.38988192e-03 -1.71791173e+02] [-1.12090218e-02 7.71379937e-05 9.99937174e-01 1.62408607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.68, Y:-171.84, Z:1.63 [[ 6.64549267e-01 7.47207500e-01 7.43119183e-03 2.77684246e+02] [-7.47160373e-01 6.64590815e-01 -8.39199006e-03 -1.71838798e+02] [-1.12092597e-02 2.45987883e-05 9.99937174e-01 1.62555015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.72, Y:-171.89, Z:1.62 [[ 6.62459073e-01 7.49061270e-01 7.42899286e-03 2.77723009e+02] [-7.49014238e-01 6.62500727e-01 -8.39393624e-03 -1.71887879e+02] [-1.12092857e-02 -3.78220009e-06 9.99937174e-01 1.62379465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.76, Y:-171.94, Z:1.62 [[ 6.60868246e-01 7.50465194e-01 7.42664968e-03 2.77763466e+02] [-7.50418226e-01 6.60909973e-01 -8.39600889e-03 -1.71935477e+02] [-1.12092593e-02 -2.44376086e-05 9.99937174e-01 1.62152283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.81, Y:-171.98, Z:1.62 [[ 6.58570840e-01 7.52482112e-01 7.42432701e-03 2.77805943e+02] [-7.52435249e-01 6.58612685e-01 -8.39806225e-03 -1.71981249e+02] [-1.12091476e-02 -5.56064430e-05 9.99937174e-01 1.62000579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.85, Y:-172.03, Z:1.62 [[ 6.57515666e-01 7.53404315e-01 7.42202617e-03 2.77848384e+02] [-7.53357489e-01 6.57557551e-01 -8.40009519e-03 -1.72026252e+02] [-1.12090773e-02 -6.82448150e-05 9.99937174e-01 1.61811761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.89, Y:-172.07, Z:1.61 [[ 6.58547767e-01 7.52502341e-01 7.42060663e-03 2.77891775e+02] [-7.52455443e-01 6.58589572e-01 -8.40134903e-03 -1.72071876e+02] [-1.12091689e-02 -5.09862079e-05 9.99937174e-01 1.61485198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.93, Y:-172.12, Z:1.61 [[ 6.60589539e-01 7.50710616e-01 7.41836979e-03 2.77932596e+02] [-7.50663582e-01 6.60631191e-01 -8.40332368e-03 -1.72119727e+02] [-1.12092708e-02 -1.75523313e-05 9.99937174e-01 1.61270274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05762799999997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:277.97, Y:-172.17, Z:1.61 [[ 6.61235860e-01 7.50141413e-01 7.41606641e-03 2.77973905e+02] [-7.50094320e-01 6.61277446e-01 -8.40535596e-03 -1.72166722e+02] [-1.12092831e-02 -4.82650951e-06 9.99937174e-01 1.60877948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.02, Y:-172.21, Z:1.61 [[ 6.60526475e-01 7.50766139e-01 7.41494787e-03 2.78017141e+02] [-7.50719074e-01 6.60568092e-01 -8.40634258e-03 -1.72211951e+02] [-1.12092753e-02 -1.39309718e-05 9.99937174e-01 1.60825385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.06, Y:-172.26, Z:1.61 [[ 6.59436009e-01 7.51724154e-01 7.41258807e-03 2.78061568e+02] [-7.51677126e-01 6.59477669e-01 -8.40842291e-03 -1.72255260e+02] [-1.12092509e-02 -2.70560485e-05 9.99937174e-01 1.60746576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.11, Y:-172.30, Z:1.61 [[ 6.58465730e-01 7.52574228e-01 7.41040994e-03 2.78105101e+02] [-7.52527233e-01 6.58507426e-01 -8.41034207e-03 -1.72300610e+02] [-1.12092167e-02 -3.86132571e-05 9.99937174e-01 1.60812010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.15, Y:-172.35, Z:1.60 [[ 6.58512450e-01 7.52533371e-01 7.40799308e-03 2.78147959e+02] [-7.52486350e-01 6.58554116e-01 -8.41247035e-03 -1.72347044e+02] [-1.12092290e-02 -3.46972128e-05 9.99937174e-01 1.60459413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.18, Y:-172.40, Z:1.60 [[ 6.57962641e-01 7.53014157e-01 7.40552573e-03 2.78184689e+02] [-7.52967141e-01 6.58004314e-01 -8.41464181e-03 -1.72397869e+02] [-1.12092123e-02 -3.95975930e-05 9.99937174e-01 1.60205569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.22, Y:-172.45, Z:1.60 [[ 6.54804032e-01 7.55762436e-01 7.40400560e-03 2.78224547e+02] [-7.55715580e-01 6.54845885e-01 -8.41597915e-03 -1.72445465e+02] [-1.12089635e-02 -8.45053084e-05 9.99937174e-01 1.60325938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.27, Y:-172.49, Z:1.60 [[ 6.52498619e-01 7.57753762e-01 7.40189271e-03 2.78268063e+02] [-7.57707013e-01 6.52540591e-01 -8.41783704e-03 -1.72490714e+02] [-1.12086831e-02 -1.15838965e-04 9.99937174e-01 1.60311046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.537628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:278.31, Y:-172.54, Z:1.60 [[ 6.51316944e-01 7.58769718e-01 7.39949817e-03 2.78310763e+02] [-7.58723011e-01 6.51358962e-01 -8.41994137e-03 -1.72535939e+02] [-1.12085260e-02 -1.30119044e-04 9.99937174e-01 1.59818359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.35, Y:-172.58, Z:1.60 [[ 6.53073020e-01 7.57258812e-01 7.39742546e-03 2.78350546e+02] [-7.57211987e-01 6.53114907e-01 -8.42176198e-03 -1.72584532e+02] [-1.12088223e-02 -1.01393697e-04 9.99937174e-01 1.59763752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.657628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:278.39, Y:-172.63, Z:1.60 [[ 6.55127315e-01 7.55482307e-01 7.39499470e-03 2.78389856e+02] [-7.55435344e-01 6.55169047e-01 -8.42389584e-03 -1.72634105e+02] [-1.12090759e-02 -6.77161034e-05 9.99937174e-01 1.59514706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.43, Y:-172.68, Z:1.60 [[ 6.57715651e-01 7.53230026e-01 7.39257936e-03 2.78431966e+02] [-7.53182896e-01 6.57757194e-01 -8.42601494e-03 -1.72680044e+02] [-1.12092497e-02 -2.60424349e-05 9.99937174e-01 1.59825034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:-172.72, Z:1.60 [[ 6.59044786e-01 7.52067385e-01 7.39043854e-03 2.78476657e+02] [-7.52020161e-01 6.59086222e-01 -8.42789224e-03 -1.72724653e+02] [-1.12092791e-02 -3.40034826e-06 9.99937174e-01 1.59889479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.52, Y:-172.77, Z:1.60 [[ 6.60652174e-01 7.50655795e-01 7.38800998e-03 2.78516255e+02] [-7.50608458e-01 6.60693482e-01 -8.43002062e-03 -1.72772763e+02] [-1.12092539e-02 2.38086736e-05 9.99937174e-01 1.60235048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.09, Y:-172.32, Z:2.61 [[ 7.14536595e-01 6.99559071e-01 7.38651188e-03 2.79093627e+02] [-6.99508786e-01 7.14574259e-01 -8.43133307e-03 -1.72324794e+02] [-1.11764268e-02 8.57566068e-04 9.99937174e-01 2.60673588e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 329.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.64, Y:-171.83, Z:3.61 [[ 7.67416588e-01 6.41099205e-01 7.97434015e-03 2.79641469e+02] [-6.41051983e-01 7.67457491e-01 -7.83289554e-03 -1.71829949e+02] [-1.11416302e-02 8.99127400e-04 9.99937526e-01 3.61397669e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 330.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.69, Y:-171.87, Z:3.61 [[ 7.63115249e-01 6.46205656e-01 8.56547783e-03 2.79691534e+02] [-6.46166416e-01 7.63163312e-01 -7.12194922e-03 -1.71868040e+02] [-1.11391023e-02 -9.98560603e-05 9.99937953e-01 3.61154254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.74, Y:-171.91, Z:3.61 [[ 7.61649194e-01 6.47933004e-01 8.56317667e-03 2.79740248e+02] [-6.47893842e-01 7.61697320e-01 -7.12471497e-03 -1.71905580e+02] [-1.11388867e-02 -1.21496024e-04 9.99937953e-01 3.60951847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.79, Y:-171.94, Z:3.61 [[ 7.61090927e-01 6.48588703e-01 8.56126797e-03 2.79789106e+02] [-6.48549557e-01 7.61139066e-01 -7.12700778e-03 -1.71944575e+02] [-1.11388122e-02 -1.28105587e-04 9.99937953e-01 3.60790811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.83, Y:-171.99, Z:3.61 [[ 7.59529784e-01 6.50416210e-01 8.55924269e-03 2.79834232e+02] [-6.50377152e-01 7.59577995e-01 -7.12943923e-03 -1.71986594e+02] [-1.11385152e-02 -1.51714444e-04 9.99937953e-01 3.61030266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.88, Y:-172.03, Z:3.61 [[ 7.60656561e-01 6.49098117e-01 8.55750000e-03 2.79881843e+02] [-6.49058952e-01 7.60704685e-01 -7.13153038e-03 -1.72025017e+02] [-1.11387933e-02 -1.29676614e-04 9.99937953e-01 3.60625403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.93, Y:-172.06, Z:3.60 [[ 7.60987792e-01 6.48709779e-01 8.55591644e-03 2.79930194e+02] [-6.48670568e-01 7.61035879e-01 -7.13342972e-03 -1.72064455e+02] [-1.11388850e-02 -1.21518239e-04 9.99937953e-01 3.60380371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.98, Y:-172.10, Z:3.60 [[ 7.61666774e-01 6.47912457e-01 8.55411718e-03 2.79980254e+02] [-6.47873172e-01 7.61714800e-01 -7.13558667e-03 -1.72101642e+02] [-1.11390331e-02 -1.07043752e-04 9.99937953e-01 3.60248562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.03, Y:-172.14, Z:3.60 [[ 7.62278821e-01 6.47192289e-01 8.55220908e-03 2.80030030e+02] [-6.47152933e-01 7.62326788e-01 -7.13787285e-03 -1.72140570e+02] [-1.11391543e-02 -9.35378916e-05 9.99937953e-01 3.60173331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.08, Y:-172.18, Z:3.60 [[ 7.62674788e-01 6.46725647e-01 8.55018272e-03 2.80077520e+02] [-6.46686234e-01 7.62722709e-01 -7.14029931e-03 -1.72181833e+02] [-1.11392332e-02 -8.35591973e-05 9.99937953e-01 3.60130351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.12, Y:-172.23, Z:3.60 [[ 7.62994162e-01 6.46348851e-01 8.54817545e-03 2.80120820e+02] [-6.46309388e-01 7.63042042e-01 -7.14270156e-03 -1.72228161e+02] [-1.11392942e-02 -7.49264549e-05 9.99937953e-01 3.60209747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.17, Y:-172.27, Z:3.60 [[ 7.59358760e-01 6.50616044e-01 8.54619506e-03 2.80171399e+02] [-6.50576823e-01 7.59406838e-01 -7.14507029e-03 -1.72266292e+02] [-1.11387363e-02 -1.34284714e-04 9.99937953e-01 3.59883708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67762799999997 meters Centerline goodness : 0.991531 with order 1 Centerline is valid? [True, True] Translation: X:280.69, Y:-171.71, Z:4.64 [[ 8.23309100e-01 5.67528963e-01 8.54414952e-03 2.80686414e+02] [-5.67484899e-01 8.23352781e-01 -7.14751554e-03 -1.71712182e+02] [-1.10912714e-02 1.03593875e-03 9.99937953e-01 4.63504060e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 330.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.14, Y:-171.11, Z:5.68 [[ 8.79492118e-01 4.75824325e-01 9.21004470e-03 2.81141006e+02] [-4.75785684e-01 8.79539741e-01 -6.15036570e-03 -1.71109927e+02] [-1.10270939e-02 1.02719074e-03 9.99938672e-01 5.67644428e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 330.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.20, Y:-171.14, Z:5.68 [[ 8.78491479e-01 4.77658308e-01 9.76024015e-03 2.81195766e+02] [-4.77631150e-01 8.78545677e-01 -5.09676526e-03 -1.71141044e+02] [-1.10093291e-02 -1.84329875e-04 9.99939379e-01 5.67747580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.25, Y:-171.17, Z:5.67 [[ 8.76424716e-01 4.81440009e-01 9.75881662e-03 2.81251292e+02] [-4.81413055e-01 8.76479016e-01 -5.09948944e-03 -1.71168052e+02] [-1.10084962e-02 -2.28703137e-04 9.99939379e-01 5.67365642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.31, Y:-171.20, Z:5.67 [[ 8.75633822e-01 4.82877004e-01 9.75750224e-03 2.81305542e+02] [-4.82850111e-01 8.75688152e-01 -5.10200319e-03 -1.71196700e+02] [-1.10081691e-02 -2.43924485e-04 9.99939379e-01 5.66952830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.36, Y:-171.22, Z:5.67 [[ 8.75711131e-01 4.82736811e-01 9.75638330e-03 2.81361519e+02] [-4.82709886e-01 8.75765445e-01 -5.10414199e-03 -1.71224155e+02] [-1.10082606e-02 -2.39748712e-04 9.99939379e-01 5.66658119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.42, Y:-171.25, Z:5.66 [[ 8.74811023e-01 4.84366091e-01 9.75518680e-03 2.81419755e+02] [-4.84339242e-01 8.74865374e-01 -5.10642776e-03 -1.71247519e+02] [-1.10078556e-02 -2.57660479e-04 9.99939379e-01 5.66313637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.48, Y:-171.27, Z:5.67 [[ 8.79100846e-01 4.76536005e-01 9.75390855e-03 2.81478624e+02] [-4.76508645e-01 8.79154942e-01 -5.10886820e-03 -1.71267172e+02] [-1.10097565e-02 -1.56611388e-04 9.99939379e-01 5.66535388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.157628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:281.53, Y:-171.31, Z:5.66 [[ 8.73977883e-01 4.85867806e-01 9.75372293e-03 2.81525947e+02] [-4.85841019e-01 8.74032265e-01 -5.10922257e-03 -1.71309142e+02] [-1.10074753e-02 -2.73411165e-04 9.99939379e-01 5.65802396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.217628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:281.58, Y:-171.33, Z:5.65 [[ 8.73491460e-01 4.86741778e-01 9.75247412e-03 2.81582738e+02] [-4.86715019e-01 8.73545856e-01 -5.11160519e-03 -1.71334939e+02] [-1.10072651e-02 -2.81732144e-04 9.99939379e-01 5.65303357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.64, Y:-171.36, Z:5.65 [[ 8.74793695e-01 4.84397465e-01 9.75124762e-03 2.81639292e+02] [-4.84370534e-01 8.74848006e-01 -5.11394386e-03 -1.71360538e+02] [-1.10080410e-02 -2.49571167e-04 9.99939379e-01 5.65492871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.69, Y:-171.39, Z:5.66 [[ 8.76428454e-01 4.81433384e-01 9.74995054e-03 2.81693532e+02] [-4.81406242e-01 8.76482660e-01 -5.11641561e-03 -1.71390680e+02] [-1.10088759e-02 -2.09514822e-04 9.99939379e-01 5.65868611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.397628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:281.75, Y:-171.43, Z:5.66 [[ 8.78339437e-01 4.77938068e-01 9.74868592e-03 2.81745620e+02] [-4.77910683e-01 8.78393520e-01 -5.11882406e-03 -1.71425069e+02] [-1.10096634e-02 -1.62936103e-04 9.99939379e-01 5.65747217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.81, Y:-171.44, Z:5.66 [[ 8.81196675e-01 4.72649350e-01 9.74741671e-03 2.81808904e+02] [-4.72621614e-01 8.81250579e-01 -5.12123978e-03 -1.71438296e+02] [-1.10104673e-02 -9.40203491e-05 9.99939379e-01 5.66100265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.87, Y:-171.47, Z:5.66 [[ 8.81967892e-01 4.71208693e-01 9.74704792e-03 2.81865131e+02] [-4.71180861e-01 8.82021747e-01 -5.12194159e-03 -1.71466167e+02] [-1.10106116e-02 -7.52344103e-05 9.99939379e-01 5.65955042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.92, Y:-171.50, Z:5.66 [[ 8.84230078e-01 4.66949882e-01 9.74558218e-03 2.81918820e+02] [-4.66921760e-01 8.84283782e-01 -5.12472895e-03 -1.71497958e+02] [-1.10108518e-02 -1.89849046e-05 9.99939379e-01 5.66297045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.97, Y:-171.53, Z:5.67 [[ 8.87668129e-01 4.60380649e-01 9.74429054e-03 2.81972157e+02] [-4.60352103e-01 8.87721608e-01 -5.12718373e-03 -1.71530846e+02] [-1.10106734e-02 6.54329490e-05 9.99939379e-01 5.66746302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.03, Y:-171.56, Z:5.67 [[ 8.90637535e-01 4.54609563e-01 9.74300797e-03 2.82027481e+02] [-4.54580643e-01 8.90690814e-01 -5.12961979e-03 -1.71557877e+02] [-1.10099819e-02 1.39649092e-04 9.99939379e-01 5.66631149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.08, Y:-171.59, Z:5.67 [[ 8.94204524e-01 4.47552628e-01 9.74234816e-03 2.82079081e+02] [-4.47523275e-01 8.94257565e-01 -5.13087262e-03 -1.71593530e+02] [-1.10085041e-02 2.28121956e-04 9.99939379e-01 5.67298857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.13, Y:-171.62, Z:5.67 [[ 8.95670375e-01 4.44611843e-01 9.74108734e-03 2.82133532e+02] [-4.44582289e-01 8.95723305e-01 -5.13326521e-03 -1.71623631e+02] [-1.10076294e-02 2.66998677e-04 9.99939379e-01 5.67350123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:-171.66, Z:5.67 [[ 8.96994280e-01 4.41934834e-01 9.73984152e-03 2.82186400e+02] [-4.41905097e-01 8.97047106e-01 -5.13562794e-03 -1.71657291e+02] [-1.10067095e-02 3.02543275e-04 9.99939379e-01 5.67350236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.23, Y:-171.70, Z:5.68 [[ 8.94379224e-01 4.47203496e-01 9.73840016e-03 2.82234000e+02] [-4.47174041e-01 8.94432208e-01 -5.13835965e-03 -1.71699078e+02] [-1.10082312e-02 2.40882367e-04 9.99939379e-01 5.67999023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99762799999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:282.29, Y:-171.72, Z:5.67 [[ 8.98099122e-01 4.39685283e-01 9.73751101e-03 2.82293083e+02] [-4.39655365e-01 8.98151847e-01 -5.14004410e-03 -1.71719435e+02] [-1.10057652e-02 3.35120131e-04 9.99939379e-01 5.67479164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.34, Y:-171.76, Z:5.68 [[ 8.95530300e-01 4.44894017e-01 9.73627527e-03 2.82341220e+02] [-4.44864381e-01 8.95583184e-01 -5.14238376e-03 -1.71759794e+02] [-1.10074602e-02 2.73838407e-04 9.99939379e-01 5.68059854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.39, Y:-171.79, Z:5.69 [[ 8.96805811e-01 4.42317266e-01 9.73515471e-03 2.82393776e+02] [-4.42287454e-01 8.96858596e-01 -5.14450425e-03 -1.71791733e+02] [-1.10065602e-02 3.07884514e-04 9.99939379e-01 5.68596818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:-171.82, Z:5.69 [[ 8.97548769e-01 4.40807731e-01 9.73404505e-03 2.82450317e+02] [-4.40777808e-01 8.97601491e-01 -5.14660301e-03 -1.71820108e+02] [-1.10059557e-02 3.28776150e-04 9.99939379e-01 5.68619592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.237628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:282.50, Y:-171.85, Z:5.68 [[ 8.97736859e-01 4.40424577e-01 9.73262535e-03 2.82504356e+02] [-4.40394603e-01 8.97789551e-01 -5.14928638e-03 -1.71849420e+02] [-1.10057216e-02 3.36508506e-04 9.99939379e-01 5.68437258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.297628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:282.56, Y:-171.88, Z:5.69 [[ 8.96097950e-01 4.43749666e-01 9.73131393e-03 2.82559392e+02] [-4.43719861e-01 8.96150738e-01 -5.15176356e-03 -1.71879602e+02] [-1.10068175e-02 2.98507501e-04 9.99939379e-01 5.68557750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.357628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:282.61, Y:-171.91, Z:5.68 [[ 8.96079622e-01 4.43786707e-01 9.72985865e-03 2.82614947e+02] [-4.43756873e-01 8.96132394e-01 -5.15451060e-03 -1.71907705e+02] [-1.10067448e-02 3.01160252e-04 9.99939379e-01 5.68337823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.417628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:282.67, Y:-171.94, Z:5.68 [[ 8.96960890e-01 4.42002848e-01 9.72851389e-03 2.82670903e+02] [-4.41972882e-01 8.97013588e-01 -5.15704741e-03 -1.71935846e+02] [-1.10060388e-02 3.25930518e-04 9.99939379e-01 5.67926650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.73, Y:-171.97, Z:5.68 [[ 8.99976011e-01 4.35830888e-01 9.72707807e-03 2.82725058e+02] [-4.35800532e-01 9.00028485e-01 -5.15975420e-03 -1.71967627e+02] [-1.10034276e-02 4.04589205e-04 9.99939379e-01 5.67616448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.78, Y:-172.00, Z:5.67 [[ 9.01742880e-01 4.32163384e-01 9.72566372e-03 2.82781195e+02] [-4.32132785e-01 9.01795212e-01 -5.16241875e-03 -1.71995176e+02] [-1.10015653e-02 4.52396201e-04 9.99939379e-01 5.67364650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.84, Y:-172.02, Z:5.67 [[ 9.04157449e-01 4.27088686e-01 9.72426904e-03 2.82836332e+02] [-4.27057766e-01 9.04209592e-01 -5.16504451e-03 -1.72024858e+02] [-1.09987094e-02 5.17188854e-04 9.99939379e-01 5.67176852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.657628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:282.89, Y:-172.05, Z:5.67 [[ 9.07947975e-01 4.18970073e-01 9.72383850e-03 2.82890658e+02] [-4.18938679e-01 9.07999833e-01 -5.16585493e-03 -1.72054129e+02] [-1.09935824e-02 6.16635472e-04 9.99939379e-01 5.66971172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.717628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:282.95, Y:-172.08, Z:5.67 [[ 9.09251087e-01 4.16134513e-01 9.72256682e-03 2.82946702e+02] [-4.16102931e-01 9.09302832e-01 -5.16824723e-03 -1.72079612e+02] [-1.09914436e-02 6.53645865e-04 9.99939379e-01 5.66924472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.00, Y:-172.11, Z:5.67 [[ 9.09283315e-01 4.16064117e-01 9.72131804e-03 2.83002855e+02] [-4.16032506e-01 9.09335042e-01 -5.17059509e-03 -1.72108188e+02] [-1.09912342e-02 6.57151536e-04 9.99939379e-01 5.67207254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.06, Y:-172.14, Z:5.68 [[ 9.09457850e-01 4.15682499e-01 9.72000449e-03 2.83057848e+02] [-4.15650840e-01 9.09509548e-01 -5.17306320e-03 -1.72137952e+02] [-1.09907887e-02 6.64554903e-04 9.99939379e-01 5.67565594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.11, Y:-172.17, Z:5.67 [[ 9.09089968e-01 4.16486469e-01 9.71857937e-03 2.83113583e+02] [-4.16454828e-01 9.09141677e-01 -5.17573917e-03 -1.72166442e+02] [-1.09911909e-02 6.57863260e-04 9.99939379e-01 5.67451762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.17, Y:-172.20, Z:5.68 [[ 9.06977705e-01 4.21066526e-01 9.71715505e-03 2.83166058e+02] [-4.21035117e-01 9.07029555e-01 -5.17841189e-03 -1.72199151e+02] [-1.09942027e-02 6.05440620e-04 9.99939379e-01 5.67527789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.22, Y:-172.23, Z:5.67 [[ 9.04796860e-01 4.25732597e-01 9.71583992e-03 2.83220064e+02] [-4.25701429e-01 9.04848856e-01 -5.18087817e-03 -1.72231097e+02] [-1.09970354e-02 5.51595369e-04 9.99939379e-01 5.67354092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.27, Y:-172.26, Z:5.67 [[ 9.00884616e-01 4.33949925e-01 9.71445697e-03 2.83272686e+02] [-4.33919204e-01 9.00936877e-01 -5.18346999e-03 -1.72264054e+02] [-1.10014789e-02 4.54418932e-04 9.99939379e-01 5.67088063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.33, Y:-172.30, Z:5.67 [[ 8.97951650e-01 4.39986919e-01 9.71317860e-03 2.83326147e+02] [-4.39956523e-01 8.98004100e-01 -5.18586440e-03 -1.72295610e+02] [-1.10041867e-02 3.83279211e-04 9.99939379e-01 5.67296811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.38, Y:-172.33, Z:5.68 [[ 8.94580925e-01 4.46800455e-01 9.71197906e-03 2.83379558e+02] [-4.46770435e-01 8.94633591e-01 -5.18810989e-03 -1.72328682e+02] [-1.10067126e-02 3.02159036e-04 9.99939379e-01 5.67534529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:283.43, Y:-172.36, Z:5.67 [[ 8.93542641e-01 4.48873295e-01 9.71153332e-03 2.83434739e+02] [-4.48843388e-01 8.93595371e-01 -5.18894413e-03 -1.72359749e+02] [-1.10073597e-02 2.77585321e-04 9.99939379e-01 5.67139396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.49, Y:-172.38, Z:5.67 [[ 8.92002043e-01 4.51927061e-01 9.71007825e-03 2.83490830e+02] [-4.51897305e-01 8.92054859e-01 -5.19166559e-03 -1.72384055e+02] [-1.10081767e-02 2.43018121e-04 9.99939379e-01 5.67269282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.55, Y:-172.41, Z:5.67 [[ 8.91850371e-01 4.52226328e-01 9.70891487e-03 2.83546312e+02] [-4.52196566e-01 8.91903184e-01 -5.19384031e-03 -1.72410953e+02] [-1.10082034e-02 2.41790444e-04 9.99939379e-01 5.66959403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.60, Y:-172.44, Z:5.66 [[ 8.92118194e-01 4.51697786e-01 9.70767299e-03 2.83602554e+02] [-4.51667967e-01 8.92170974e-01 -5.19616043e-03 -1.72438037e+02] [-1.10079982e-02 2.50944326e-04 9.99939379e-01 5.66490523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.66, Y:-172.47, Z:5.67 [[ 8.92216938e-01 4.51502737e-01 9.70644657e-03 2.83656781e+02] [-4.51472882e-01 8.92269698e-01 -5.19845039e-03 -1.72467944e+02] [-1.10078827e-02 2.55948085e-04 9.99939379e-01 5.66723903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.71, Y:-172.49, Z:5.66 [[ 8.93819565e-01 4.48321753e-01 9.70522432e-03 2.83714628e+02] [-4.48291685e-01 8.93872204e-01 -5.20073125e-03 -1.72493558e+02] [-1.10068312e-02 2.97743981e-04 9.99939379e-01 5.65939393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.77, Y:-172.52, Z:5.66 [[ 8.95335432e-01 4.45286762e-01 9.70383961e-03 2.83771439e+02] [-4.45256488e-01 8.95387952e-01 -5.20331365e-03 -1.72521590e+02] [-1.10056678e-02 3.38013530e-04 9.99939379e-01 5.65533116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.83, Y:-172.55, Z:5.65 [[ 8.95960019e-01 4.44028725e-01 9.70240839e-03 2.83826739e+02] [-4.43998348e-01 8.96012480e-01 -5.20598103e-03 -1.72549358e+02] [-1.10050841e-02 3.56497563e-04 9.99939379e-01 5.65278503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.88, Y:-172.58, Z:5.65 [[ 8.94394589e-01 4.47173578e-01 9.70108708e-03 2.83880398e+02] [-4.47143359e-01 8.94447141e-01 -5.20844206e-03 -1.72579359e+02] [-1.10061873e-02 3.20625728e-04 9.99939379e-01 5.65069233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.93, Y:-172.61, Z:5.65 [[ 8.94307330e-01 4.47348080e-01 9.70022238e-03 2.83934286e+02] [-4.47317854e-01 8.94359879e-01 -5.21005198e-03 -1.72609917e+02] [-1.10061965e-02 3.20305013e-04 9.99939379e-01 5.65339703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.99, Y:-172.64, Z:5.66 [[ 8.92508248e-01 4.50926777e-01 9.69888001e-03 2.83988003e+02] [-4.50896735e-01 8.92560902e-01 -5.21254969e-03 -1.72642109e+02] [-1.10073193e-02 2.79050263e-04 9.99939379e-01 5.65668852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.04, Y:-172.67, Z:5.65 [[ 8.91049871e-01 4.53801817e-01 9.69736005e-03 2.84040964e+02] [-4.53771914e-01 8.91102603e-01 -5.21537588e-03 -1.72671540e+02] [-1.10080898e-02 2.46770370e-04 9.99939379e-01 5.65456582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.10, Y:-172.70, Z:5.66 [[ 8.89731768e-01 4.56380712e-01 9.69670515e-03 2.84095801e+02] [-4.56350949e-01 8.89784580e-01 -5.21659321e-03 -1.72701586e+02] [-1.10087312e-02 2.16268101e-04 9.99939379e-01 5.65534054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.15, Y:-172.73, Z:5.66 [[ 8.88437029e-01 4.58896120e-01 9.69521310e-03 2.84151273e+02] [-4.58866476e-01 8.88489907e-01 -5.21936477e-03 -1.72731414e+02] [-1.10092452e-02 1.88268666e-04 9.99939379e-01 5.65538834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.21, Y:-172.76, Z:5.65 [[ 8.87472701e-01 4.60758328e-01 9.69372634e-03 2.84207423e+02] [-4.60728765e-01 8.87525625e-01 -5.22212461e-03 -1.72760106e+02] [-1.10095679e-02 1.68314475e-04 9.99939379e-01 5.65310746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.26, Y:-172.79, Z:5.65 [[ 8.86461567e-01 4.62700716e-01 9.69219759e-03 2.84261723e+02] [-4.62671237e-01 8.86514538e-01 -5.22496041e-03 -1.72789570e+02] [-1.10098670e-02 1.47425539e-04 9.99939379e-01 5.65206912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.32, Y:-172.82, Z:5.65 [[ 8.84377638e-01 4.66671494e-01 9.69078671e-03 2.84317537e+02] [-4.66642224e-01 8.84430725e-01 -5.22757588e-03 -1.72818249e+02] [-1.10103902e-02 1.01020940e-04 9.99939379e-01 5.64839457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.37, Y:-172.85, Z:5.65 [[ 8.83436722e-01 4.68450290e-01 9.68931796e-03 2.84373364e+02] [-4.68421098e-01 8.83489852e-01 -5.23029680e-03 -1.72847918e+02] [-1.10105481e-02 8.19553032e-05 9.99939379e-01 5.64711700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.43, Y:-172.88, Z:5.65 [[ 8.82583881e-01 4.70055143e-01 9.68784683e-03 2.84428064e+02] [-4.70026018e-01 8.82637048e-01 -5.23302029e-03 -1.72878098e+02] [-1.10106606e-02 6.50392915e-05 9.99939379e-01 5.64621451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.397628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:284.48, Y:-172.91, Z:5.64 [[ 8.84935228e-01 4.65613376e-01 9.68634970e-03 2.84484258e+02] [-4.65583954e-01 8.84988231e-01 -5.23579001e-03 -1.72906146e+02] [-1.10101593e-02 1.23526040e-04 9.99939379e-01 5.64447132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.54, Y:-172.94, Z:5.64 [[ 8.84767137e-01 4.65932740e-01 9.68474005e-03 2.84537039e+02] [-4.65903304e-01 8.84820132e-01 -5.23876573e-03 -1.72939024e+02] [-1.10101654e-02 1.22935371e-04 9.99939379e-01 5.64377213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:-172.97, Z:5.64 [[ 8.83561616e-01 4.68214806e-01 9.68326170e-03 2.84591692e+02] [-4.68185477e-01 8.83614670e-01 -5.24149685e-03 -1.72971098e+02] [-1.10104185e-02 9.76229299e-05 9.99939379e-01 5.64398716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:284.65, Y:-173.00, Z:5.64 [[ 8.80808595e-01 4.73373512e-01 9.68174844e-03 2.84647433e+02] [-4.73344463e-01 8.80861803e-01 -5.24429056e-03 -1.73000606e+02] [-1.10107906e-02 3.64141875e-05 9.99939379e-01 5.64153772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.70, Y:-173.03, Z:5.64 [[ 8.80657196e-01 4.73655145e-01 9.68025180e-03 2.84702801e+02] [-4.73626083e-01 8.80710396e-01 -5.24705170e-03 -1.73030358e+02] [-1.10107914e-02 3.60340903e-05 9.99939379e-01 5.64446678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:284.76, Y:-173.06, Z:5.64 [[ 8.82709522e-01 4.69819350e-01 9.67876122e-03 2.84757164e+02] [-4.69790027e-01 8.82762579e-01 -5.24979980e-03 -1.73061499e+02] [-1.10105057e-02 8.70627819e-05 9.99939379e-01 5.64393238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.81, Y:-173.09, Z:5.65 [[ 8.82348178e-01 4.70497655e-01 9.67725686e-03 2.84812153e+02] [-4.70468341e-01 8.82401241e-01 -5.25257141e-03 -1.73092119e+02] [-1.10105460e-02 8.17538267e-05 9.99939379e-01 5.64792761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:-173.12, Z:5.65 [[ 8.81014125e-01 4.72991005e-01 9.67577039e-03 2.84867541e+02] [-4.72961812e-01 8.81067254e-01 -5.25530821e-03 -1.73122395e+02] [-1.10107180e-02 5.37308703e-05 9.99939379e-01 5.64710067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.92, Y:-173.15, Z:5.65 [[ 8.80649669e-01 4.73669262e-01 9.67423719e-03 2.84922284e+02] [-4.73640079e-01 8.80702803e-01 -5.25812910e-03 -1.73151052e+02] [-1.10107419e-02 4.84631882e-05 9.99939379e-01 5.64505960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.98, Y:-173.18, Z:5.64 [[ 8.81263166e-01 4.72526901e-01 9.67268409e-03 2.84978510e+02] [-4.72497617e-01 8.81316245e-01 -5.26098458e-03 -1.73178595e+02] [-1.10106504e-02 6.59917429e-05 9.99939379e-01 5.64247214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.03, Y:-173.21, Z:5.64 [[ 8.80891534e-01 4.73219374e-01 9.67111282e-03 2.85032651e+02] [-4.73190100e-01 8.80944618e-01 -5.26387141e-03 -1.73210400e+02] [-1.10106807e-02 6.06249121e-05 9.99939379e-01 5.64262407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.09, Y:-173.24, Z:5.64 [[ 8.79598891e-01 4.75617798e-01 9.66960893e-03 2.85086814e+02] [-4.75588638e-01 8.79652039e-01 -5.26663258e-03 -1.73242023e+02] [-1.10107954e-02 3.37680290e-05 9.99939379e-01 5.64281536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.14, Y:-173.27, Z:5.64 [[ 8.78809300e-01 4.77075194e-01 9.66812012e-03 2.85142722e+02] [-4.77046093e-01 8.78862480e-01 -5.26936421e-03 -1.73269146e+02] [-1.10108310e-02 1.86273387e-05 9.99939379e-01 5.64160633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17762799999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:285.20, Y:-173.30, Z:5.64 [[ 8.78935834e-01 4.76842065e-01 9.66672320e-03 2.85197599e+02] [-4.76812921e-01 8.78988990e-01 -5.27192563e-03 -1.73297525e+02] [-1.10108192e-02 2.44658202e-05 9.99939379e-01 5.63680963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.237628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:285.25, Y:-173.33, Z:5.64 [[ 8.78935860e-01 4.76842046e-01 9.66525069e-03 2.85251624e+02] [-4.76812873e-01 8.78989000e-01 -5.27462387e-03 -1.73329649e+02] [-1.10108115e-02 2.75401197e-05 9.99939379e-01 5.63932347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.297628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:285.31, Y:-173.36, Z:5.64 [[ 8.79619732e-01 4.75579372e-01 9.66373716e-03 2.85306300e+02] [-4.75550092e-01 8.79672813e-01 -5.27739539e-03 -1.73359963e+02] [-1.10107472e-02 4.65100176e-05 9.99939379e-01 5.64000755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.36, Y:-173.39, Z:5.65 [[ 8.79471591e-01 4.75853299e-01 9.66222019e-03 2.85360499e+02] [-4.75824006e-01 8.79524664e-01 -5.28017129e-03 -1.73390725e+02] [-1.10107479e-02 4.62443251e-05 9.99939379e-01 5.64503866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.42, Y:-173.42, Z:5.64 [[ 8.78694075e-01 4.77287536e-01 9.66081756e-03 2.85415998e+02] [-4.77258300e-01 8.78747181e-01 -5.28273636e-03 -1.73421002e+02] [-1.10108004e-02 3.12037678e-05 9.99939379e-01 5.64404383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.477628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:285.47, Y:-173.45, Z:5.64 [[ 8.77452232e-01 4.79566760e-01 9.65934357e-03 2.85469709e+02] [-4.79537633e-01 8.77505397e-01 -5.28543014e-03 -1.73451715e+02] [-1.10108427e-02 5.69372168e-06 9.99939379e-01 5.63958393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.52, Y:-173.48, Z:5.64 [[ 8.75856692e-01 4.82474641e-01 9.65798160e-03 2.85524839e+02] [-4.82445663e-01 8.75909939e-01 -5.28791768e-03 -1.73479988e+02] [-1.10108082e-02 -2.79932482e-05 9.99939379e-01 5.64027734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.597628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:285.58, Y:-173.51, Z:5.63 [[ 8.75334795e-01 4.83420878e-01 9.65664387e-03 2.85580880e+02] [-4.83391931e-01 8.75388059e-01 -5.29035947e-03 -1.73509172e+02] [-1.10107810e-02 -3.71080030e-05 9.99939379e-01 5.63143749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.64, Y:-173.54, Z:5.63 [[ 8.75716163e-01 4.82729718e-01 9.65511900e-03 2.85636257e+02] [-4.82700698e-01 8.75769387e-01 -5.29314096e-03 -1.73536646e+02] [-1.10108141e-02 -2.52435843e-05 9.99939379e-01 5.63265971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:-173.57, Z:5.63 [[ 8.75189370e-01 4.83684166e-01 9.65371035e-03 2.85690993e+02] [-4.83655175e-01 8.75242610e-01 -5.29570883e-03 -1.73567029e+02] [-1.10107892e-02 -3.43188943e-05 9.99939379e-01 5.63156047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.777628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:285.75, Y:-173.60, Z:5.63 [[ 8.72611524e-01 4.88319529e-01 9.65221682e-03 2.85746657e+02] [-4.88290792e-01 8.72664901e-01 -5.29842961e-03 -1.73596434e+02] [-1.10104775e-02 -8.96178575e-05 9.99939379e-01 5.63021104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.837628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:285.80, Y:-173.63, Z:5.63 [[ 8.70188612e-01 4.92624241e-01 9.65073305e-03 2.85802012e+02] [-4.92595737e-01 8.70242114e-01 -5.30113082e-03 -1.73626657e+02] [-1.10099399e-02 -1.40926294e-04 9.99939379e-01 5.62517276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.897628 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:285.86, Y:-173.65, Z:5.62 [[ 8.70140744e-01 4.92708817e-01 9.64919410e-03 2.85857870e+02] [-4.92680287e-01 8.70194233e-01 -5.30393057e-03 -1.73654326e+02] [-1.10099664e-02 -1.38801630e-04 9.99939379e-01 5.62171246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.957628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.91, Y:-173.68, Z:5.63 [[ 8.71856169e-01 4.89666960e-01 9.64824494e-03 2.85913422e+02] [-4.89638225e-01 8.71909547e-01 -5.30565660e-03 -1.73684611e+02] [-1.10104016e-02 -9.83800922e-05 9.99939379e-01 5.62809188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.98, Y:-173.70, Z:5.63 [[ 8.80897609e-01 4.73208563e-01 9.64671661e-03 2.85978066e+02] [-4.73178800e-01 8.80950421e-01 -5.30843395e-03 -1.73696444e+02] [-1.10102755e-02 1.11564978e-04 9.99939379e-01 5.63375593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:286.02, Y:-173.74, Z:5.63 [[ 8.75664561e-01 4.82823512e-01 9.64538114e-03 2.86023910e+02] [-4.82794303e-01 8.75717681e-01 -5.31085938e-03 -1.73740942e+02] [-1.10108386e-02 -6.20371511e-06 9.99939379e-01 5.62694497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137628 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:286.08, Y:-173.77, Z:5.62 [[ 8.75239446e-01 4.83593742e-01 9.64390288e-03 2.86079880e+02] [-4.83564549e-01 8.75292576e-01 -5.31354236e-03 -1.73770318e+02] [-1.10108324e-02 -1.28276729e-05 9.99939379e-01 5.62133132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.15, Y:-173.78, Z:5.62 [[ 8.78566122e-01 4.77523394e-01 9.64243206e-03 2.86148204e+02] [-4.77493806e-01 8.78619032e-01 -5.31621012e-03 -1.73776929e+02] [-1.10106390e-02 6.64405314e-05 9.99939379e-01 5.62373385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257628 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:286.19, Y:-173.82, Z:5.62 [[ 8.69994486e-01 4.92967187e-01 9.64095070e-03 2.86193534e+02] [-4.92938507e-01 8.70047894e-01 -5.31889519e-03 -1.73824199e+02] [-1.10101297e-02 -1.24986362e-04 9.99939379e-01 5.62147022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:286.25, Y:-173.86, Z:5.62 [[ 8.69754586e-01 4.93390333e-01 9.64050064e-03 2.86247500e+02] [-4.93361671e-01 8.69808003e-01 -5.31971081e-03 -1.73855713e+02] [-1.10100785e-02 -1.29410630e-04 9.99939379e-01 5.62157467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.31, Y:-173.87, Z:5.62 [[ 8.72842960e-01 4.87905987e-01 9.63918638e-03 2.86311418e+02] [-4.87876963e-01 8.72896182e-01 -5.32209114e-03 -1.73867951e+02] [-1.10106891e-02 -5.73871931e-05 9.99939379e-01 5.62327911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:286.37, Y:-173.90, Z:5.62 [[ 8.74882298e-01 4.84239689e-01 9.63786352e-03 2.86366293e+02] [-4.84210415e-01 8.74935383e-01 -5.32448566e-03 -1.73898607e+02] [-1.10108351e-02 -8.45565060e-06 9.99939379e-01 5.61821173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49762799999996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:286.42, Y:-173.93, Z:5.62 [[ 8.74048033e-01 4.85743942e-01 9.63633986e-03 2.86418124e+02] [-4.85714729e-01 8.74101151e-01 -5.32724177e-03 -1.73932829e+02] [-1.10108112e-02 -2.42470156e-05 9.99939379e-01 5.62223149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55762799999997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:286.47, Y:-173.97, Z:5.63 [[ 8.76175218e-01 4.81896407e-01 9.63540066e-03 2.86471191e+02] [-4.81866942e-01 8.76228197e-01 -5.32893997e-03 -1.73966857e+02] [-1.10108068e-02 2.61040932e-05 9.99939379e-01 5.62620949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61762799999997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:286.52, Y:-174.01, Z:5.63 [[ 8.74134835e-01 4.85587766e-01 9.63388888e-03 2.86521669e+02] [-4.85558495e-01 8.74187921e-01 -5.33167164e-03 -1.74005198e+02] [-1.10108238e-02 -1.72166808e-05 9.99939379e-01 5.62926732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67762799999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:286.58, Y:-174.04, Z:5.63 [[ 8.77359954e-01 4.79736103e-01 9.63237146e-03 2.86575420e+02] [-4.79706447e-01 8.77412827e-01 -5.33441165e-03 -1.74035060e+02] [-1.10106761e-02 5.94884680e-05 9.99939379e-01 5.63396689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.737628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:286.63, Y:-174.07, Z:5.63 [[ 8.81577114e-01 4.71941768e-01 9.63115126e-03 2.86629169e+02] [-4.71911621e-01 8.81629708e-01 -5.33661378e-03 -1.74068462e+02] [-1.10096800e-02 1.59584372e-04 9.99939379e-01 5.63398746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.68, Y:-174.10, Z:5.63 [[ 8.82966371e-01 4.69337468e-01 9.62963563e-03 2.86684023e+02] [-4.69307136e-01 8.83018858e-01 -5.33934726e-03 -1.74098351e+02] [-1.10091056e-02 1.95207353e-04 9.99939379e-01 5.63239931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.74, Y:-174.13, Z:5.63 [[ 8.85157999e-01 4.65190941e-01 9.62832770e-03 2.86737291e+02] [-4.65160338e-01 8.85210329e-01 -5.34170478e-03 -1.74128535e+02] [-1.10080078e-02 2.49536546e-04 9.99939379e-01 5.62842400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.917628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:286.78, Y:-174.17, Z:5.63 [[ 8.90325257e-01 4.55223302e-01 9.62712998e-03 2.86784702e+02] [-4.55192090e-01 8.90377226e-01 -5.34386250e-03 -1.74171156e+02] [-1.10044280e-02 3.75582331e-04 9.99939379e-01 5.62810764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.977628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:286.85, Y:-174.19, Z:5.62 [[ 8.94689167e-01 4.46585523e-01 9.62622091e-03 2.86846915e+02] [-4.46553792e-01 8.94740821e-01 -5.34549957e-03 -1.74188736e+02] [-1.10001955e-02 4.83935109e-04 9.99939379e-01 5.62119959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.037628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:286.89, Y:-174.23, Z:5.62 [[ 9.01506382e-01 4.32658767e-01 9.62473820e-03 2.86894026e+02] [-4.32626210e-01 9.01557519e-01 -5.34816789e-03 -1.74230995e+02] [-1.09911868e-02 6.57493470e-04 9.99939379e-01 5.62207822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.097628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:286.95, Y:-174.26, Z:5.62 [[ 9.03704791e-01 4.28047942e-01 9.62338144e-03 2.86948383e+02] [-4.28015099e-01 9.03755745e-01 -5.35060811e-03 -1.74262087e+02] [-1.09875030e-02 7.16417620e-04 9.99939379e-01 5.62408147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.00, Y:-174.29, Z:5.63 [[ 9.03487163e-01 4.28507136e-01 9.62190391e-03 2.87002161e+02] [-4.28474291e-01 9.03538115e-01 -5.35326380e-03 -1.74293435e+02] [-1.09876687e-02 7.13866668e-04 9.99939379e-01 5.62692930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.217628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:287.06, Y:-174.32, Z:5.62 [[ 9.03455832e-01 4.28573219e-01 9.62054057e-03 2.87056332e+02] [-4.28540352e-01 9.03506770e-01 -5.35571279e-03 -1.74324231e+02] [-1.09875386e-02 7.15860114e-04 9.99939379e-01 5.62425372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.277628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:287.11, Y:-174.35, Z:5.62 [[ 9.05828120e-01 4.23536170e-01 9.61920294e-03 2.87114840e+02] [-4.23502994e-01 9.05878858e-01 -5.35811418e-03 -1.74346509e+02] [-1.09831877e-02 7.79769254e-04 9.99939379e-01 5.62378171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.337628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:287.16, Y:-174.39, Z:5.63 [[ 9.02839255e-01 4.29870650e-01 9.61791650e-03 2.87163120e+02] [-4.29837806e-01 9.02890207e-01 -5.36042238e-03 -1.74386833e+02] [-1.09882109e-02 7.05455623e-04 9.99939379e-01 5.62685224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.397628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:287.22, Y:-174.42, Z:5.63 [[ 9.01755487e-01 4.32139517e-01 9.61663981e-03 2.87216660e+02] [-4.32106777e-01 9.01806506e-01 -5.36271179e-03 -1.74418674e+02] [-1.09897880e-02 6.80439545e-04 9.99939379e-01 5.62774108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.457628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:287.27, Y:-174.45, Z:5.63 [[ 8.99236216e-01 4.37357718e-01 9.61536231e-03 2.87269929e+02] [-4.37325249e-01 8.99287409e-01 -5.36500138e-03 -1.74449082e+02] [-1.09933990e-02 6.19362822e-04 9.99939379e-01 5.62736320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:287.32, Y:-174.48, Z:5.63 [[ 8.98216387e-01 4.39448392e-01 9.61419246e-03 2.87324275e+02] [-4.39416020e-01 8.98267641e-01 -5.36709696e-03 -1.74478729e+02] [-1.09946801e-02 5.96184252e-04 9.99939379e-01 5.62578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:287.38, Y:-174.51, Z:5.63 [[ 8.98295267e-01 4.39287155e-01 9.61293193e-03 2.87377245e+02] [-4.39254750e-01 8.98346500e-01 -5.36935372e-03 -1.74510564e+02] [-1.09944319e-02 6.00739017e-04 9.99939379e-01 5.62670964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:287.43, Y:-174.54, Z:5.62 [[ 8.99573333e-01 4.36663982e-01 9.61168420e-03 2.87431838e+02] [-4.36631404e-01 8.99624457e-01 -5.37158635e-03 -1.74539197e+02] [-1.09924845e-02 6.35372668e-04 9.99939379e-01 5.62433687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:287.49, Y:-174.57, Z:5.62 [[ 9.00928299e-01 4.33861544e-01 9.61045107e-03 2.87486668e+02] [-4.33828784e-01 9.00979305e-01 -5.37379168e-03 -1.74567470e+02] [-1.09902991e-02 6.72110695e-04 9.99939379e-01 5.62115845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:287.54, Y:-174.60, Z:5.62 [[ 9.03339466e-01 4.28818693e-01 9.60921433e-03 2.87541510e+02] [-4.28785625e-01 9.03390274e-01 -5.37600225e-03 -1.74598537e+02] [-1.09862010e-02 7.36062033e-04 9.99939379e-01 5.62114271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:287.60, Y:-174.63, Z:5.62 [[ 9.06242639e-01 4.22648754e-01 9.60778923e-03 2.87596949e+02] [-4.22615313e-01 9.06293202e-01 -5.37854793e-03 -1.74627881e+02] [-1.09807107e-02 8.13870616e-04 9.99939379e-01 5.61899324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:287.65, Y:-174.65, Z:5.62 [[ 9.09582290e-01 4.15412779e-01 9.60633057e-03 2.87653261e+02] [-4.15378909e-01 9.09632566e-01 -5.38115192e-03 -1.74654106e+02] [-1.09736304e-02 9.04333375e-04 9.99939379e-01 5.61952394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93762799999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:287.70, Y:-174.69, Z:5.62 [[ 9.09986713e-01 4.14526145e-01 9.60505913e-03 2.87704549e+02] [-4.14492202e-01 9.10036940e-01 -5.38342040e-03 -1.74686793e+02] [-1.09725271e-02 9.17618917e-04 9.99939379e-01 5.61905481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99762799999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:287.76, Y:-174.72, Z:5.62 [[ 9.09499417e-01 4.15594243e-01 9.60390305e-03 2.87758269e+02] [-4.15560337e-01 9.09549670e-01 -5.38548204e-03 -1.74718712e+02] [-1.09734022e-02 9.07091589e-04 9.99939379e-01 5.61862276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05762799999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:287.81, Y:-174.75, Z:5.62 [[ 9.09008933e-01 4.16665992e-01 9.60262261e-03 2.87813320e+02] [-4.16632122e-01 9.09059210e-01 -5.38776416e-03 -1.74750156e+02] [-1.09742506e-02 8.96764716e-04 9.99939379e-01 5.61811622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11762799999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:287.87, Y:-174.78, Z:5.62 [[ 9.07162256e-01 4.20671437e-01 9.60116453e-03 2.87866952e+02] [-4.20637762e-01 9.07212664e-01 -5.39036126e-03 -1.74779471e+02] [-1.09778691e-02 8.51319921e-04 9.99939379e-01 5.61581595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17762799999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:287.92, Y:-174.81, Z:5.62 [[ 9.04859098e-01 4.25602929e-01 9.59999812e-03 2.87920956e+02] [-4.25569507e-01 9.04909673e-01 -5.39243778e-03 -1.74809181e+02] [-1.09821685e-02 7.93929922e-04 9.99939379e-01 5.61529651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.237628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:287.97, Y:-174.84, Z:5.62 [[ 9.01670053e-01 4.32318146e-01 9.59872730e-03 2.87974079e+02] [-4.32285077e-01 9.01720860e-01 -5.39469894e-03 -1.74839247e+02] [-1.09875989e-02 7.14851903e-04 9.99939379e-01 5.61656643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.297628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:288.03, Y:-174.87, Z:5.62 [[ 9.00315844e-01 4.35131323e-01 9.59756416e-03 2.88027047e+02] [-4.35098390e-01 9.00366740e-01 -5.39676745e-03 -1.74868973e+02] [-1.09896301e-02 6.82910526e-04 9.99939379e-01 5.61699711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.357628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:288.08, Y:-174.90, Z:5.62 [[ 8.99677043e-01 4.36450600e-01 9.59642750e-03 2.88080909e+02] [-4.36417721e-01 8.99727973e-01 -5.39878790e-03 -1.74900350e+02] [-1.09904785e-02 6.69114517e-04 9.99939379e-01 5.61547542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.417628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:288.14, Y:-174.93, Z:5.62 [[ 9.00776915e-01 4.34176097e-01 9.59512360e-03 2.88135456e+02] [-4.34143065e-01 9.00827746e-01 -5.40110428e-03 -1.74929995e+02] [-1.09885839e-02 6.99533681e-04 9.99939379e-01 5.61506974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.477628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:288.19, Y:-174.96, Z:5.61 [[ 9.01862950e-01 4.31915708e-01 9.59379760e-03 2.88189635e+02] [-4.31882523e-01 9.01913681e-01 -5.40345859e-03 -1.74960081e+02] [-1.09866160e-02 7.29785593e-04 9.99939379e-01 5.61475032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.24, Y:-174.99, Z:5.62 [[ 9.02730185e-01 4.30100221e-01 9.59239603e-03 2.88243086e+02] [-4.30066908e-01 9.02780832e-01 -5.40594555e-03 -1.74990553e+02] [-1.09849296e-02 7.54738126e-04 9.99939379e-01 5.61907667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.597628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:288.30, Y:-175.02, Z:5.61 [[ 9.03364336e-01 4.28766707e-01 9.59102608e-03 2.88298707e+02] [-4.28733294e-01 9.03414917e-01 -5.40837497e-03 -1.75018225e+02] [-1.09836072e-02 7.73740861e-04 9.99939379e-01 5.60857944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.35, Y:-175.05, Z:5.61 [[ 9.03307294e-01 4.28886897e-01 9.58971537e-03 2.88352617e+02] [-4.28853466e-01 9.03357863e-01 -5.41069803e-03 -1.75045970e+02] [-1.09835223e-02 7.74940322e-04 9.99939379e-01 5.60630976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.41, Y:-175.08, Z:5.60 [[ 9.03319592e-01 4.28861008e-01 9.58905860e-03 2.88406059e+02] [-4.28827563e-01 9.03370153e-01 -5.41186173e-03 -1.75078318e+02] [-1.09834058e-02 7.76588098e-04 9.99939379e-01 5.60457905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.777628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:288.46, Y:-175.11, Z:5.60 [[ 9.01896622e-01 4.31845527e-01 9.58772996e-03 2.88459443e+02] [-4.31812224e-01 9.01947276e-01 -5.41421455e-03 -1.75109600e+02] [-1.09857313e-02 7.42962811e-04 9.99939379e-01 5.60019307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.837628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:288.51, Y:-175.14, Z:5.60 [[ 8.98991834e-01 4.37860460e-01 9.58640310e-03 2.88514603e+02] [-4.37827472e-01 8.99042694e-01 -5.41656286e-03 -1.75139562e+02] [-1.09902844e-02 6.72255142e-04 9.99939379e-01 5.59911642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.57, Y:-175.17, Z:5.60 [[ 8.97519294e-01 4.40871009e-01 9.58489434e-03 2.88568689e+02] [-4.40838163e-01 8.97570246e-01 -5.41923137e-03 -1.75170975e+02] [-1.09922980e-02 6.38477499e-04 9.99939379e-01 5.60305252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.957628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:288.62, Y:-175.20, Z:5.60 [[ 8.95535374e-01 4.44887119e-01 9.58358148e-03 2.88621398e+02] [-4.44854477e-01 8.95586456e-01 -5.42155210e-03 -1.75204622e+02] [-1.09949045e-02 5.91892560e-04 9.99939379e-01 5.60420243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:288.68, Y:-175.23, Z:5.60 [[ 8.95093773e-01 4.45774963e-01 9.58224178e-03 2.88675597e+02] [-4.45742346e-01 8.95144872e-01 -5.42391890e-03 -1.75234872e+02] [-1.09953418e-02 5.83705098e-04 9.99939379e-01 5.60409248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:288.73, Y:-175.26, Z:5.60 [[ 8.93943292e-01 4.48077669e-01 9.58089787e-03 2.88729469e+02] [-4.48045159e-01 8.93994458e-01 -5.42629176e-03 -1.75264838e+02] [-1.09966698e-02 5.58122204e-04 9.99939379e-01 5.60283241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:288.78, Y:-175.30, Z:5.60 [[ 8.93269687e-01 4.49419067e-01 9.57956599e-03 2.88783175e+02] [-4.49386608e-01 8.93320886e-01 -5.42864205e-03 -1.75295116e+02] [-1.09973616e-02 5.44312723e-04 9.99939379e-01 5.60289794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197628 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:288.84, Y:-175.33, Z:5.60 [[ 8.92636497e-01 4.50675428e-01 9.57822755e-03 2.88836807e+02] [-4.50643016e-01 8.92687726e-01 -5.43100255e-03 -1.75326424e+02] [-1.09979856e-02 5.31549740e-04 9.99939379e-01 5.60100043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.89, Y:-175.36, Z:5.60 [[ 8.90840983e-01 4.54214295e-01 9.57689450e-03 2.88889086e+02] [-4.54182062e-01 8.90892324e-01 -5.43335219e-03 -1.75357644e+02] [-1.09998880e-02 4.90599115e-04 9.99939379e-01 5.60487398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:288.94, Y:-175.39, Z:5.60 [[ 8.90312295e-01 4.55249738e-01 9.57567625e-03 2.88943217e+02] [-4.55217541e-01 8.90363659e-01 -5.43549838e-03 -1.75386991e+02] [-1.10003434e-02 4.80275240e-04 9.99939379e-01 5.59795419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:289.00, Y:-175.42, Z:5.59 [[ 8.92172512e-01 4.51593334e-01 9.57444453e-03 2.88997010e+02] [-4.51560904e-01 8.92223729e-01 -5.43766715e-03 -1.75415194e+02] [-1.09981608e-02 5.27892331e-04 9.99939379e-01 5.59227962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43762799999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:289.05, Y:-175.45, Z:5.59 [[ 8.95926534e-01 4.44099076e-01 9.57377026e-03 2.89051382e+02] [-4.44066205e-01 8.95977469e-01 -5.43885403e-03 -1.75446247e+02] [-1.09932725e-02 6.21425815e-04 9.99939379e-01 5.59255288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49762799999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:289.10, Y:-175.48, Z:5.60 [[ 9.00626511e-01 4.34488505e-01 9.57222732e-03 2.89104512e+02] [-4.34455062e-01 9.00677072e-01 -5.44156821e-03 -1.75477554e+02] [-1.09857845e-02 7.42117975e-04 9.99939379e-01 5.59527582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55762799999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:289.16, Y:-175.51, Z:5.60 [[ 9.06520340e-01 4.22053636e-01 9.57089258e-03 2.89158304e+02] [-4.22019476e-01 9.06570419e-01 -5.44391480e-03 -1.75508401e+02] [-1.09743121e-02 8.95916416e-04 9.99939379e-01 5.59837383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61762799999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:289.21, Y:-175.54, Z:5.60 [[ 9.08713731e-01 4.17310170e-01 9.56956791e-03 2.89212874e+02] [-4.17275724e-01 9.08763615e-01 -5.44624238e-03 -1.75538863e+02] [-1.09692475e-02 9.55926860e-04 9.99939379e-01 5.59918369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67762799999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:289.27, Y:-175.57, Z:5.60 [[ 9.09032939e-01 4.16614406e-01 9.56825573e-03 2.89266284e+02] [-4.16579899e-01 9.09082780e-01 -5.44854671e-03 -1.75570925e+02] [-1.09682796e-02 9.66965431e-04 9.99939379e-01 5.60092061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.737628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:289.32, Y:-175.60, Z:5.60 [[ 9.07078331e-01 4.20853152e-01 9.56694300e-03 2.89320329e+02] [-4.20818853e-01 9.07128316e-01 -5.45085073e-03 -1.75602724e+02] [-1.09724526e-02 9.18398603e-04 9.99939379e-01 5.59946940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.797628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:289.37, Y:-175.64, Z:5.60 [[ 9.03533286e-01 4.28411138e-01 9.56544658e-03 2.89374236e+02] [-4.28377230e-01 9.03583537e-01 -5.45347545e-03 -1.75635495e+02] [-1.09795097e-02 8.29777081e-04 9.99939379e-01 5.59891273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.857628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:289.43, Y:-175.67, Z:5.60 [[ 8.96116322e-01 4.43716203e-01 9.56392092e-03 2.89427128e+02] [-4.43683126e-01 8.96167124e-01 -5.45614974e-03 -1.75667561e+02] [-1.09918535e-02 6.45994507e-04 9.99939379e-01 5.60051962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.917628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:-175.70, Z:5.60 [[ 8.92777400e-01 4.50396571e-01 9.56259707e-03 2.89482161e+02] [-4.50363850e-01 8.92828431e-01 -5.45846896e-03 -1.75696833e+02] [-1.09962342e-02 5.66549693e-04 9.99939379e-01 5.59830144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.977628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:289.54, Y:-175.73, Z:5.60 [[ 8.90683511e-01 4.54523338e-01 9.56125849e-03 2.89537055e+02] [-4.54490829e-01 8.90734678e-01 -5.46081267e-03 -1.75726542e+02] [-1.09986113e-02 5.18351510e-04 9.99939379e-01 5.59620596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.037628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:289.59, Y:-175.76, Z:5.60 [[ 8.89956378e-01 4.55945450e-01 9.55987840e-03 2.89589495e+02] [-4.55912996e-01 8.90007580e-01 -5.46322764e-03 -1.75756826e+02] [-1.09992980e-02 5.03561478e-04 9.99939379e-01 5.59889698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.097628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:289.64, Y:-175.79, Z:5.60 [[ 8.89192728e-01 4.57432960e-01 9.55930309e-03 2.89642552e+02] [-4.57400581e-01 8.89243977e-01 -5.46423409e-03 -1.75788062e+02] [-1.10000735e-02 4.86326427e-04 9.99939379e-01 5.60100006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.157628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:289.70, Y:-175.82, Z:5.60 [[ 8.89263056e-01 4.57296230e-01 9.55900425e-03 2.89695666e+02] [-4.57263838e-01 8.89314297e-01 -5.46475683e-03 -1.75816817e+02] [-1.09999718e-02 4.88619394e-04 9.99939379e-01 5.60296768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.217628 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:289.75, Y:-175.85, Z:5.60 [[ 8.89253982e-01 4.57313888e-01 9.55842090e-03 2.89749727e+02] [-4.57281486e-01 8.89305216e-01 -5.46577697e-03 -1.75847173e+02] [-1.09999293e-02 4.89575021e-04 9.99939379e-01 5.60296493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.277628 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:289.80, Y:-175.88, Z:5.60 [[ 8.88205752e-01 4.59346475e-01 9.55813074e-03 2.89804174e+02] [-4.59314185e-01 8.88257057e-01 -5.46628434e-03 -1.75877799e+02] [-1.10009955e-02 4.65000158e-04 9.99939379e-01 5.60111410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.337628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:289.86, Y:-175.91, Z:5.60 [[ 8.88920579e-01 4.57961655e-01 9.55655520e-03 2.89860189e+02] [-4.57929255e-01 8.88971815e-01 -5.46903744e-03 -1.75905473e+02] [-1.10001176e-02 4.85313724e-04 9.99939379e-01 5.59780670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.397628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:289.91, Y:-175.94, Z:5.60 [[ 8.89845427e-01 4.56162048e-01 9.55519460e-03 2.89914519e+02] [-4.56129519e-01 8.89896581e-01 -5.47141356e-03 -1.75936456e+02] [-1.09989862e-02 5.10306024e-04 9.99939379e-01 5.59692978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.457628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:289.97, Y:-175.96, Z:5.59 [[ 8.93970360e-01 4.48024240e-01 9.55385164e-03 2.89970966e+02] [-4.47991221e-01 8.94021199e-01 -5.47375755e-03 -1.75961796e+02] [-1.09937220e-02 6.13335346e-04 9.99939379e-01 5.59088108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:290.02, Y:-175.99, Z:5.59 [[ 8.94675202e-01 4.46615060e-01 9.55357946e-03 2.90023253e+02] [-4.46581956e-01 8.94725986e-01 -5.47423255e-03 -1.75992623e+02] [-1.09927105e-02 6.31203918e-04 9.99939379e-01 5.58929753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577628 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:290.08, Y:-176.02, Z:5.59 [[ 8.95330826e-01 4.45299276e-01 9.55337917e-03 2.90078742e+02] [-4.45266093e-01 8.95381559e-01 -5.47458207e-03 -1.76022180e+02] [-1.09917470e-02 6.47766265e-04 9.99939379e-01 5.58690247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637628 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:290.13, Y:-176.05, Z:5.59 [[ 8.94410788e-01 4.47144390e-01 9.55180772e-03 2.90132884e+02] [-4.47111282e-01 8.94461570e-01 -5.47732249e-03 -1.76051217e+02] [-1.09928790e-02 6.28255325e-04 9.99939379e-01 5.58673603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:290.19, Y:-176.08, Z:5.58 [[ 8.94084605e-01 4.47796267e-01 9.55106538e-03 2.90188393e+02] [-4.47763183e-01 8.94135402e-01 -5.47861664e-03 -1.76078286e+02] [-1.09932498e-02 6.21731367e-04 9.99939379e-01 5.58084519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:290.24, Y:-176.11, Z:5.58 [[ 8.94034278e-01 4.47896766e-01 9.54969308e-03 2.90243936e+02] [-4.47863662e-01 8.94085062e-01 -5.48100763e-03 -1.76107343e+02] [-1.09931635e-02 6.23248179e-04 9.99939379e-01 5.57743790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:290.30, Y:-176.14, Z:5.58 [[ 8.92991124e-01 4.49972961e-01 9.54920066e-03 2.90298020e+02] [-4.49939966e-01 8.93041979e-01 -5.48186542e-03 -1.76136220e+02] [-1.09945283e-02 5.98690140e-04 9.99939379e-01 5.57593581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877628 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:290.35, Y:-176.17, Z:5.57 [[ 8.93087641e-01 4.49781394e-01 9.54794506e-03 2.90351900e+02] [-4.49748365e-01 8.93138474e-01 -5.48405146e-03 -1.76166764e+02] [-1.09942614e-02 6.03565898e-04 9.99939379e-01 5.57356972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93762799999996 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:290.41, Y:-176.19, Z:5.57 [[ 8.97074330e-01 4.41776515e-01 9.54765522e-03 2.90410353e+02] [-4.41743028e-01 8.97124862e-01 -5.48455602e-03 -1.76187852e+02] [-1.09883869e-02 7.02444285e-04 9.99939379e-01 5.56646348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99762799999996 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:290.46, Y:-176.23, Z:5.57 [[ 8.95223474e-01 4.45515183e-01 9.54746312e-03 2.90459139e+02] [-4.45481903e-01 8.95274142e-01 -5.48489040e-03 -1.76227563e+02] [-1.09911988e-02 6.56980593e-04 9.99939379e-01 5.56555644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05762799999997 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:290.51, Y:-176.26, Z:5.56 [[ 8.95725651e-01 4.44504701e-01 9.54613758e-03 2.90513626e+02] [-4.44471340e-01 8.95776266e-01 -5.48719647e-03 -1.76257392e+02] [-1.09902881e-02 6.72038072e-04 9.99939379e-01 5.56098527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11762799999997 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:290.57, Y:-176.29, Z:5.55 [[ 8.96135667e-01 4.43677545e-01 9.54481641e-03 2.90568366e+02] [-4.43644112e-01 8.96186235e-01 -5.48949364e-03 -1.76286577e+02] [-1.09894981e-02 6.84829440e-04 9.99939379e-01 5.55393605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17762799999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:290.62, Y:-176.32, Z:5.55 [[ 8.96281808e-01 4.43382275e-01 9.54348448e-03 2.90622444e+02] [-4.43348801e-01 8.96332349e-01 -5.49180822e-03 -1.76316922e+02] [-1.09891043e-02 6.91115401e-04 9.99939379e-01 5.54774512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.237628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:290.68, Y:-176.35, Z:5.54 [[ 8.97330885e-01 4.41255290e-01 9.54214702e-03 2.90675160e+02] [-4.41221671e-01 8.97381330e-01 -5.49413111e-03 -1.76349465e+02] [-1.09872590e-02 7.19851478e-04 9.99939379e-01 5.54093374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.297628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:290.73, Y:-176.38, Z:5.55 [[ 9.00101410e-01 4.35575969e-01 9.54081807e-03 2.90730964e+02] [-4.35542008e-01 9.00151625e-01 -5.49643793e-03 -1.76375874e+02] [-1.09822992e-02 7.91924474e-04 9.99939379e-01 5.55372824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.78, Y:-176.41, Z:5.56 [[ 9.00917843e-01 4.33884797e-01 9.54063359e-03 2.90781130e+02] [-4.33850738e-01 9.00967992e-01 -5.49675812e-03 -1.76410123e+02] [-1.09807653e-02 8.12916543e-04 9.99939379e-01 5.55883860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.83, Y:-176.44, Z:5.57 [[ 9.01510572e-01 4.32651900e-01 9.54054016e-03 2.90833257e+02] [-4.32617771e-01 9.01560673e-01 -5.49692028e-03 -1.76442644e+02] [-1.09796288e-02 8.28124525e-04 9.99939379e-01 5.56526969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.477628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:290.89, Y:-176.47, Z:5.56 [[ 9.02900513e-01 4.29743696e-01 9.54035418e-03 2.90889066e+02] [-4.29709403e-01 9.02950502e-01 -5.49724304e-03 -1.76471788e+02] [-1.09768731e-02 8.63883666e-04 9.99939379e-01 5.55564744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.537628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:290.94, Y:-176.50, Z:5.55 [[ 9.04415262e-01 4.26546650e-01 9.53881925e-03 2.90941716e+02] [-4.26512152e-01 9.04465110e-01 -5.49990516e-03 -1.76502562e+02] [-1.09734953e-02 9.05775839e-04 9.99939379e-01 5.55221213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.597628 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:290.99, Y:-176.54, Z:5.54 [[ 9.03818147e-01 4.27810463e-01 9.53759280e-03 2.90994077e+02] [-4.27776013e-01 9.03868027e-01 -5.50203118e-03 -1.76536022e+02] [-1.09745517e-02 8.92882206e-04 9.99939379e-01 5.54426343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.657628 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:291.05, Y:-176.57, Z:5.53 [[ 8.99102254e-01 4.37634777e-01 9.53620928e-03 2.91046189e+02] [-4.37600847e-01 8.99152490e-01 -5.50442807e-03 -1.76566549e+02] [-1.09834355e-02 7.75990420e-04 9.99939379e-01 5.52822447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.717628 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:291.10, Y:-176.59, Z:5.54 [[ 8.98081421e-01 4.39725856e-01 9.53593421e-03 2.91104240e+02] [-4.39692038e-01 8.98131732e-01 -5.50490456e-03 -1.76589279e+02] [-1.09851740e-02 7.50978165e-04 9.99939379e-01 5.53524925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.777628 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:291.16, Y:-176.62, Z:5.53 [[ 9.01864096e-01 4.31914602e-01 9.53572815e-03 2.91159107e+02] [-4.31880345e-01 9.01914109e-01 -5.50526150e-03 -1.76619753e+02] [-1.09782106e-02 8.46704122e-04 9.99939379e-01 5.52628651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.837628 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:291.21, Y:-176.65, Z:5.53 [[ 9.01867620e-01 4.31907277e-01 9.53412875e-03 2.91211750e+02] [-4.31872990e-01 9.01917614e-01 -5.50802996e-03 -1.76651654e+02] [-1.09779569e-02 8.49981182e-04 9.99939379e-01 5.53125083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.897628 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:291.27, Y:-176.68, Z:5.53 [[ 9.01850425e-01 4.31943210e-01 9.53285371e-03 2.91265518e+02] [-4.31908902e-01 9.01900403e-01 -5.51023583e-03 -1.76684126e+02] [-1.09777936e-02 8.52084146e-04 9.99939379e-01 5.52713978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.957628 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:291.32, Y:-176.72, Z:5.53 [[ 8.99427012e-01 4.36967053e-01 9.53128123e-03 2.91317205e+02] [-4.36932996e-01 8.99477161e-01 -5.51295447e-03 -1.76716791e+02] [-1.09821493e-02 7.93968901e-04 9.99939379e-01 5.53225413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017628 meters Centerline goodness : 0.998646 with order 1 Centerline is valid? [True, True] Translation: X:291.37, Y:-176.75, Z:5.53 [[ 8.99680583e-01 4.36444758e-01 9.53002216e-03 2.91371133e+02] [-4.36410649e-01 8.99730698e-01 -5.51513010e-03 -1.76745336e+02] [-1.09815031e-02 8.02852311e-04 9.99939379e-01 5.53048828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077628 meters Centerline goodness : 0.995590 with order 1 Centerline is valid? [True, True] Translation: X:291.42, Y:-176.78, Z:5.52 [[ 8.96519573e-01 4.42901634e-01 9.52878446e-03 2.91422427e+02] [-4.42867864e-01 8.96569916e-01 -5.51726773e-03 -1.76779049e+02] [-1.09868284e-02 7.26346088e-04 9.99939379e-01 5.51970347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137628 meters Centerline goodness : 0.996981 with order 1 Centerline is valid? [True, True] Translation: X:291.48, Y:-176.81, Z:5.53 [[ 8.96393777e-01 4.43156184e-01 9.52853441e-03 2.91477151e+02] [-4.43122423e-01 8.96444127e-01 -5.51769953e-03 -1.76807049e+02] [-1.09870014e-02 7.23724271e-04 9.99939379e-01 5.52659506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197628 meters Centerline goodness : 0.994373 with order 1 Centerline is valid? [True, True] Translation: X:291.53, Y:-176.84, Z:5.52 [[ 8.95653037e-01 4.44651377e-01 9.52840722e-03 2.91528326e+02] [-4.44617698e-01 8.95703441e-01 -5.51791917e-03 -1.76841149e+02] [-1.09881775e-02 7.05642579e-04 9.99939379e-01 5.51987538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257628 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:291.58, Y:-176.87, Z:5.53 [[ 8.95677635e-01 4.44601830e-01 9.52818776e-03 2.91580039e+02] [-4.44568145e-01 8.95728035e-01 -5.51829811e-03 -1.76872526e+02] [-1.09881103e-02 7.06687446e-04 9.99939379e-01 5.53134070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317628 meters Centerline goodness : 0.994895 with order 1 Centerline is valid? [True, True] Translation: X:291.63, Y:-176.91, Z:5.54 [[ 8.94626756e-01 4.46712641e-01 9.52808293e-03 2.91631187e+02] [-4.46679073e-01 8.94677234e-01 -5.51847910e-03 -1.76906650e+02] [-1.09897333e-02 6.80983800e-04 9.99939379e-01 5.53694113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377628 meters Centerline goodness : 0.995283 with order 1 Centerline is valid? [True, True] Translation: X:291.68, Y:-176.94, Z:5.54 [[ 8.93884138e-01 4.48196793e-01 9.52794274e-03 2.91684468e+02] [-4.48163306e-01 8.93934670e-01 -5.51872114e-03 -1.76938175e+02] [-1.09908315e-02 6.63022977e-04 9.99939379e-01 5.53720462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43762799999996 meters Centerline goodness : 0.995369 with order 1 Centerline is valid? [True, True] Translation: X:291.74, Y:-176.97, Z:5.54 [[ 8.93893085e-01 4.48178978e-01 9.52660784e-03 2.91737116e+02] [-4.48145465e-01 8.93943600e-01 -5.52102452e-03 -1.76970770e+02] [-1.09906572e-02 6.65899544e-04 9.99939379e-01 5.53625164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49762799999996 meters Centerline goodness : 0.994554 with order 1 Centerline is valid? [True, True] Translation: X:291.79, Y:-177.00, Z:5.53 [[ 8.95402548e-01 4.45155642e-01 9.52528288e-03 2.91790704e+02] [-4.45121934e-01 8.95452934e-01 -5.52330950e-03 -1.76998527e+02] [-1.09881749e-02 7.05673060e-04 9.99939379e-01 5.53024579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55762799999997 meters Centerline goodness : 0.991389 with order 1 Centerline is valid? [True, True] Translation: X:291.84, Y:-177.03, Z:5.53 [[ 8.97182652e-01 4.41556972e-01 9.52521479e-03 2.91843791e+02] [-4.41523061e-01 8.97232901e-01 -5.52342692e-03 -1.77029552e+02] [-1.09852438e-02 7.49920817e-04 9.99939379e-01 5.52890459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61762799999997 meters Centerline goodness : 0.993147 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:-177.06, Z:5.53 [[ 9.00552217e-01 4.34643509e-01 9.52498682e-03 2.91896735e+02] [-4.34609208e-01 9.00602200e-01 -5.52382002e-03 -1.77062547e+02] [-1.09791166e-02 8.34841385e-04 9.99939379e-01 5.53372716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67762799999997 meters Centerline goodness : 0.992013 with order 1 Centerline is valid? [True, True] Translation: X:291.95, Y:-177.09, Z:5.53 [[ 9.03094417e-01 4.29336434e-01 9.52364656e-03 2.91950329e+02] [-4.29301816e-01 9.03144181e-01 -5.52612979e-03 -1.77091725e+02] [-1.09737948e-02 9.02098197e-04 9.99939379e-01 5.53082647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.737628 meters Centerline goodness : 0.993990 with order 1 Centerline is valid? [True, True] Translation: X:292.00, Y:-177.13, Z:5.54 [[ 9.03553568e-01 4.28369296e-01 9.52344907e-03 2.92001899e+02] [-4.28334621e-01 9.03603293e-01 -5.52647013e-03 -1.77125239e+02] [-1.09727901e-02 9.14238857e-04 9.99939379e-01 5.53979830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.797628 meters Centerline goodness : 0.991147 with order 1 Centerline is valid? [True, True] Translation: X:292.06, Y:-177.15, Z:5.53 [[ 9.06111860e-01 4.22930971e-01 9.52319863e-03 2.92057547e+02] [-4.22895993e-01 9.06161372e-01 -5.52690165e-03 -1.77148097e+02] [-1.09670526e-02 9.80668596e-04 9.99939379e-01 5.52990752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.857628 meters Centerline goodness : 0.992387 with order 1 Centerline is valid? [True, True] Translation: X:292.11, Y:-177.18, Z:5.53 [[ 9.06195798e-01 4.22751094e-01 9.52301610e-03 2.92111867e+02] [-4.22716103e-01 9.06245301e-01 -5.52721614e-03 -1.77177238e+02] [-1.09668253e-02 9.83207788e-04 9.99939379e-01 5.53158110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.917628 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:292.17, Y:-177.20, Z:5.52 [[ 9.06956050e-01 4.21117632e-01 9.52169254e-03 2.92167410e+02] [-4.21082529e-01 9.07005473e-01 -5.52949528e-03 -1.77203240e+02] [-1.09647952e-02 1.00559082e-03 9.99939379e-01 5.52442886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.977628 meters Centerline goodness : 0.994171 with order 1 Centerline is valid? [True, True] Translation: X:292.22, Y:-177.23, Z:5.52 [[ 9.07473744e-01 4.20000887e-01 9.52150055e-03 2.92222837e+02] [-4.19965719e-01 9.07523121e-01 -5.52982586e-03 -1.77232331e+02] [-1.09635137e-02 1.01946794e-03 9.99939379e-01 5.52390862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.037628 meters Centerline goodness : 0.993980 with order 1 Centerline is valid? [True, True] Translation: X:292.28, Y:-177.26, Z:5.52 [[ 9.07877086e-01 4.19128342e-01 9.51998084e-03 2.92277120e+02] [-4.19093100e-01 9.07926410e-01 -5.53244090e-03 -1.77262606e+02] [-1.09622448e-02 1.03301804e-03 9.99939379e-01 5.52472443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.097628 meters Centerline goodness : 0.993654 with order 1 Centerline is valid? [True, True] Translation: X:292.33, Y:-177.29, Z:5.53 [[ 9.09236418e-01 4.16171275e-01 9.51867228e-03 2.92329618e+02] [-4.16135849e-01 9.09285611e-01 -5.53469140e-03 -1.77294800e+02] [-1.09585713e-02 1.07128221e-03 9.99939379e-01 5.52732300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.157628 meters Centerline goodness : 0.993125 with order 1 Centerline is valid? [True, True] Translation: X:292.38, Y:-177.33, Z:5.53 [[ 9.10198557e-01 4.14062781e-01 9.51839353e-03 2.92381744e+02] [-4.14027236e-01 9.10247664e-01 -5.53517074e-03 -1.77327236e+02] [-1.09560037e-02 1.09723025e-03 9.99939379e-01 5.53069185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.217628 meters Centerline goodness : 0.993017 with order 1 Centerline is valid? [True, True] Translation: X:292.44, Y:-177.35, Z:5.53 [[ 9.11576516e-01 4.11020266e-01 9.51820897e-03 2.92437122e+02] [-4.10984554e-01 9.11625501e-01 -5.53548809e-03 -1.77353168e+02] [-1.09522398e-02 1.13418408e-03 9.99939379e-01 5.53147426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.277628 meters Centerline goodness : 0.985071 with order 1 Centerline is valid? [True, True] Translation: X:292.49, Y:-177.38, Z:5.53 [[ 9.14767771e-01 4.03867964e-01 9.51808290e-03 2.92493292e+02] [-4.03831867e-01 9.14816473e-01 -5.53570486e-03 -1.77377957e+02] [-1.09429929e-02 1.22017921e-03 9.99939379e-01 5.52713871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.337628 meters Centerline goodness : 0.978762 with order 1 Centerline is valid? [True, True] Translation: X:292.55, Y:-177.40, Z:5.54 [[ 9.16430722e-01 4.00080169e-01 9.51790099e-03 2.92550049e+02] [-4.00043868e-01 9.16479272e-01 -5.53601761e-03 -1.77401651e+02] [-1.09378098e-02 1.26579869e-03 9.99939379e-01 5.53533548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.397628 meters Centerline goodness : 0.968791 with order 1 Centerline is valid? [True, True] Translation: X:292.61, Y:-177.43, Z:5.54 [[ 9.15861086e-01 4.01382467e-01 9.51766437e-03 2.92605645e+02] [-4.01346231e-01 9.15909685e-01 -5.53642438e-03 -1.77426937e+02] [-1.09395446e-02 1.25071693e-03 9.99939379e-01 5.54062597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.457628 meters Centerline goodness : 0.964484 with order 1 Centerline is valid? [True, True] Translation: X:292.66, Y:-177.46, Z:5.55 [[ 9.12924540e-01 4.08017403e-01 9.51746367e-03 2.92658410e+02] [-4.07981517e-01 9.12973398e-01 -5.53676937e-03 -1.77457953e+02] [-1.09482894e-02 1.17170337e-03 9.99939379e-01 5.55203560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517628 meters Centerline goodness : 0.960449 with order 1 Centerline is valid? [True, True] Translation: X:292.71, Y:-177.49, Z:5.55 [[ 9.16564778e-01 3.99772973e-01 9.51726170e-03 2.92709145e+02] [-3.99736644e-01 9.16613308e-01 -5.53711652e-03 -1.77492278e+02] [-1.09372383e-02 1.27072772e-03 9.99939379e-01 5.55446348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577628 meters Centerline goodness : 0.949516 with order 1 Centerline is valid? [True, False] Translation: X:292.71, Y:-177.48, Z:5.55 [[ 9.21017910e-01 3.89516102e-01 -1.79339535e-03 2.92706115e+02] [-3.89494477e-01 9.20894313e-01 -1.57389940e-02 -1.77478722e+02] [-4.47906402e-03 1.51944130e-02 9.99874526e-01 5.55238320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.637628 meters Centerline goodness : 0.952349 with order 1 Centerline is valid? [False, True] Translation: X:292.72, Y:-177.47, Z:5.55 [[ 9.18376043e-01 3.95614881e-01 -8.62034299e-03 2.92721131e+02] [-3.95708603e-01 9.18178677e-01 -1.90425345e-02 -1.77474328e+02] [ 3.81505113e-04 2.08993513e-02 9.99781512e-01 5.54739576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697628 meters Centerline goodness : 0.956957 with order 1 Centerline is valid? [True, True] Translation: X:292.77, Y:-177.50, Z:5.55 [[ 9.15000467e-01 4.03449553e-01 1.61336997e-03 2.92774480e+02] [-4.03448567e-01 9.15001871e-01 -9.10546676e-04 -1.77500900e+02] [-1.84359619e-03 1.82238830e-04 9.99998284e-01 5.55271193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757628 meters Centerline goodness : 0.945704 with order 1 Centerline is valid? [True, False] Translation: X:292.80, Y:-177.50, Z:5.54 [[ 9.09523927e-01 4.15562160e-01 -8.62071661e-03 2.92802829e+02] [-4.15614733e-01 9.09523814e-01 -5.55206368e-03 -1.77496630e+02] [ 5.53351947e-03 8.63263159e-03 9.99947428e-01 5.53810625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817628 meters Centerline goodness : 0.947435 with order 1 Centerline is valid? [False, False] Translation: X:292.82, Y:-177.49, Z:5.53 [[ 9.08786883e-01 4.16907851e-01 -1.71535823e-02 2.92819878e+02] [-4.17120153e-01 9.08779517e-01 -1.14266196e-02 -1.77492303e+02] [ 1.08249768e-02 1.75394669e-02 9.99787571e-01 5.53048844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877628 meters Centerline goodness : 0.948347 with order 3 Centerline is valid? [False, False] Translation: X:292.84, Y:-177.49, Z:5.52 [[ 9.05491485e-01 4.23619794e-01 -2.51284982e-02 2.92842265e+02] [-4.23968476e-01 9.05616594e-01 -1.04554536e-02 -1.77485557e+02] [ 1.83276479e-02 2.01210153e-02 9.99629552e-01 5.51671794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93762799999996 meters Centerline goodness : 0.961828 with order 1 Centerline is valid? [False, True] Translation: X:292.87, Y:-177.48, Z:5.50 [[ 9.02581706e-01 4.29005598e-01 -3.60618994e-02 2.92866679e+02] [-4.29538535e-01 9.03011012e-01 -8.23153845e-03 -1.77484904e+02] [ 2.90329162e-02 2.29196114e-02 9.99315656e-01 5.50360921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2812.53 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%| | 0/11466 [00:00