+ python -m lidar_slam --result /working/result.json --no-model /working/f5d9b053-cb01-4ee7-9660-7228cd122273 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/f5d9b053-cb01-4ee7-9660-7228cd122273 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 0.007552018 Adjusted end_distance from 9.223372036854776e+18 to 113.457552018 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.007552018 meters Centerline goodness : 0.993416 with order 1 Centerline is valid? [0, True] SLAMing on 0.06755201799999999 meters Centerline goodness : 0.989831 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:0.00 [[ 0.99999092 0.00426253 0. 0.05959624] [-0.00426253 0.99999092 0. -0.00740083] [ 0. 0. 1. 0.00293565] [ 0. 0. 0. 1. ]] SLAMing on 0.127552018 meters Centerline goodness : 0.991412 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 9.99999704e-01 7.68833596e-04 0.00000000e+00 1.19052217e-01] [-7.68833596e-04 9.99999704e-01 0.00000000e+00 -6.38794213e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26793164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18755201799999996 meters Centerline goodness : 0.990827 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:0.00 [[ 0.99999761 0.00218418 0. 0.17906765] [-0.00218418 0.99999761 0. -0.01009807] [ 0. 0. 1. 0.00322562] [ 0. 0. 0. 1. ]] SLAMing on 0.24755201799999996 meters Centerline goodness : 0.990237 with order 1 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.01, Z:0.00 [[ 9.99999746e-01 7.12157658e-04 0.00000000e+00 2.38594043e-01] [-7.12157658e-04 9.99999746e-01 0.00000000e+00 -1.14033029e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36824348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3075520179999999 meters Centerline goodness : 0.990436 with order 1 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:0.00 [[ 9.99999741e-01 7.19087372e-04 0.00000000e+00 2.98758834e-01] [-7.19087372e-04 9.99999741e-01 0.00000000e+00 -1.38643270e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29591505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3675520179999999 meters Centerline goodness : 0.990849 with order 1 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.02, Z:0.00 [[ 0.99999899 0.00142193 0. 0.35967903] [-0.00142193 0.99999899 0. -0.01507811] [ 0. 0. 1. 0.00253145] [ 0. 0. 0. 1. ]] SLAMing on 0.4275520179999999 meters Centerline goodness : 0.990339 with order 1 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.02, Z:0.00 [[ 0.9999972 0.00236612 0. 0.41892343] [-0.00236612 0.9999972 0. -0.01687115] [ 0. 0. 1. 0.00331321] [ 0. 0. 0. 1. ]] SLAMing on 0.4875520179999999 meters Centerline goodness : 0.990759 with order 1 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.02, Z:0.01 [[ 0.99999505 0.00314749 0. 0.47909123] [-0.00314749 0.99999505 0. -0.01741426] [ 0. 0. 1. 0.00538429] [ 0. 0. 0. 1. ]] SLAMing on 0.547552018 meters Centerline goodness : 0.990548 with order 1 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.02, Z:0.01 [[ 0.99999476 0.00323864 0. 0.53899069] [-0.00323864 0.99999476 0. -0.01995502] [ 0. 0. 1. 0.00839729] [ 0. 0. 0. 1. ]] SLAMing on 0.6075520179999999 meters Centerline goodness : 0.990248 with order 1 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.02, Z:0.01 [[ 0.99999791 0.00204657 0. 0.59823166] [-0.00204657 0.99999791 0. -0.02271833] [ 0. 0. 1. 0.00734501] [ 0. 0. 0. 1. ]] SLAMing on 0.667552018 meters Centerline goodness : 0.990129 with order 1 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.03, Z:0.00 [[ 9.99999589e-01 9.06213535e-04 0.00000000e+00 6.57492870e-01] [-9.06213535e-04 9.99999589e-01 0.00000000e+00 -2.74386405e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27041499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7275520179999999 meters Centerline goodness : 0.989451 with order 1 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.03, Z:0.01 [[ 0.99999108 -0.00422286 0. 0.71781597] [ 0.00422286 0.99999108 0. -0.03284328] [ 0. 0. 1. 0.00562161] [ 0. 0. 0. 1. ]] SLAMing on 0.787552018 meters Centerline goodness : 0.990351 with order 1 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.04, Z:0.01 [[ 0.99999327 -0.00366899 0. 0.77878443] [ 0.00366899 0.99999327 0. -0.03735333] [ 0. 0. 1. 0.00694308] [ 0. 0. 0. 1. ]] SLAMing on 0.8475520179999999 meters Centerline goodness : 0.990134 with order 1 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.04, Z:0.01 [[ 0.99997684 -0.00680643 0. 0.84076418] [ 0.00680643 0.99997684 0. -0.04134934] [ 0. 0. 1. 0.00877888] [ 0. 0. 0. 1. ]] SLAMing on 0.907552018 meters Centerline goodness : 0.990426 with order 1 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.05, Z:0.01 [[ 0.99998863 -0.00476762 0. 0.90252201] [ 0.00476762 0.99998863 0. -0.04632254] [ 0. 0. 1. 0.01015365] [ 0. 0. 0. 1. ]] SLAMing on 0.9675520179999999 meters Centerline goodness : 0.989687 with order 1 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.05, Z:0.01 [[ 0.99999497 -0.00317289 0. 0.96324584] [ 0.00317289 0.99999497 0. -0.05177145] [ 0. 0. 1. 0.01070326] [ 0. 0. 0. 1. ]] SLAMing on 1.0275520179999997 meters Centerline goodness : 0.990038 with order 1 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.06, Z:0.01 [[ 0.99999851 0.00172824 0. 1.02439267] [-0.00172824 0.99999851 0. -0.05992988] [ 0. 0. 1. 0.00570573] [ 0. 0. 0. 1. ]] SLAMing on 1.0875520179999998 meters Centerline goodness : 0.989699 with order 1 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.06, Z:0.01 [[ 0.99998867 0.00475943 0. 1.08358646] [-0.00475943 0.99998867 0. -0.06417456] [ 0. 0. 1. 0.00901482] [ 0. 0. 0. 1. ]] SLAMing on 1.1475520179999998 meters Centerline goodness : 0.988543 with order 1 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.07, Z:0.01 [[ 0.99995805 0.00915975 0. 1.14229414] [-0.00915975 0.99995805 0. -0.07046756] [ 0. 0. 1. 0.01048749] [ 0. 0. 0. 1. ]] SLAMing on 1.2075520179999997 meters Centerline goodness : 0.988117 with order 1 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.08, Z:0.01 [[ 0.99988878 0.01491404 0. 1.19930703] [-0.01491404 0.99988878 0. -0.07757761] [ 0. 0. 1. 0.01237916] [ 0. 0. 0. 1. ]] SLAMing on 1.2675520179999997 meters Centerline goodness : 0.988606 with order 1 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.08, Z:0.01 [[ 0.99990402 0.01385435 0. 1.25784534] [-0.01385435 0.99990402 0. -0.08237892] [ 0. 0. 1. 0.009746 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3275520179999998 meters Centerline goodness : 0.988559 with order 1 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.09, Z:0.01 [[ 0.99992863 0.01194731 0. 1.31490721] [-0.01194731 0.99992863 0. -0.0903486 ] [ 0. 0. 1. 0.00695929] [ 0. 0. 0. 1. ]] SLAMing on 1.3875520179999998 meters Centerline goodness : 0.988059 with order 1 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.10, Z:0.01 [[ 0.99995666 0.00931037 0. 1.37245404] [-0.00931037 0.99995666 0. -0.0980562 ] [ 0. 0. 1. 0.00838523] [ 0. 0. 0. 1. ]] SLAMing on 1.4475520179999997 meters Centerline goodness : 0.988717 with order 1 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.11, Z:0.01 [[ 0.99999017 0.0044339 0. 1.431064 ] [-0.0044339 0.99999017 0. -0.10522354] [ 0. 0. 1. 0.00745393] [ 0. 0. 0. 1. ]] SLAMing on 1.5075520179999997 meters Centerline goodness : 0.989081 with order 1 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.11, Z:0.01 [[ 0.99999828 0.00185656 0. 1.48933569] [-0.00185656 0.99999828 0. -0.11151302] [ 0. 0. 1. 0.00908518] [ 0. 0. 0. 1. ]] SLAMing on 1.5675520179999998 meters Centerline goodness : 0.989895 with order 1 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.12, Z:0.01 [[ 9.99999248e-01 -1.22640688e-03 0.00000000e+00 1.54801059e+00] [ 1.22640688e-03 9.99999248e-01 0.00000000e+00 -1.21696652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31724978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6275520179999996 meters Centerline goodness : 0.990424 with order 1 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.13, Z:0.01 [[ 0.99999597 -0.00283989 0. 1.60827883] [ 0.00283989 0.99999597 0. -0.12828688] [ 0. 0. 1. 0.00987486] [ 0. 0. 0. 1. ]] SLAMing on 1.6875520179999997 meters Centerline goodness : 0.989010 with order 1 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.13, Z:0.01 [[ 0.99998529 -0.00542396 0. 1.66956085] [ 0.00542396 0.99998529 0. -0.13386381] [ 0. 0. 1. 0.01123398] [ 0. 0. 0. 1. ]] SLAMing on 1.7475520179999997 meters Centerline goodness : 0.990026 with order 1 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.14, Z:0.01 [[ 0.9999781 -0.00661753 0. 1.73004263] [ 0.00661753 0.9999781 0. -0.1418959 ] [ 0. 0. 1. 0.00885571] [ 0. 0. 0. 1. ]] SLAMing on 1.8075520179999998 meters Centerline goodness : 0.989604 with order 1 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.15, Z:0.01 [[ 0.99996894 -0.00788218 0. 1.79230939] [ 0.00788218 0.99996894 0. -0.14680921] [ 0. 0. 1. 0.00917578] [ 0. 0. 0. 1. ]] SLAMing on 1.8675520179999996 meters Centerline goodness : 0.991194 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.15, Z:0.01 [[ 0.99995356 -0.00963692 0. 1.85325038] [ 0.00963692 0.99995356 0. -0.15322176] [ 0. 0. 1. 0.00688234] [ 0. 0. 0. 1. ]] SLAMing on 1.9275520179999996 meters Centerline goodness : 0.990503 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.16, Z:0.01 [[ 0.9999737 -0.00725284 0. 1.91519538] [ 0.00725284 0.9999737 0. -0.15916696] [ 0. 0. 1. 0.006574 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9875520179999997 meters Centerline goodness : 0.990266 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.16, Z:0.01 [[ 0.99997804 -0.00662689 0. 1.97731623] [ 0.00662689 0.99997804 0. -0.16245944] [ 0. 0. 1. 0.00890326] [ 0. 0. 0. 1. ]] SLAMing on 2.0475520179999998 meters Centerline goodness : 0.990892 with order 1 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.17, Z:0.01 [[ 0.99995706 -0.00926718 0. 2.03891369] [ 0.00926718 0.99995706 0. -0.16738226] [ 0. 0. 1. 0.01047911] [ 0. 0. 0. 1. ]] SLAMing on 2.107552018 meters Centerline goodness : 0.990514 with order 1 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.17, Z:0.01 [[ 0.99995107 -0.00989272 0. 2.10111307] [ 0.00989272 0.99995107 0. -0.17317871] [ 0. 0. 1. 0.01067739] [ 0. 0. 0. 1. ]] SLAMing on 2.167552018 meters Centerline goodness : 0.989971 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.18, Z:0.01 [[ 0.99991565 -0.01298788 0. 2.16207342] [ 0.01298788 0.99991565 0. -0.17859353] [ 0. 0. 1. 0.00991973] [ 0. 0. 0. 1. ]] SLAMing on 2.227552018 meters Centerline goodness : 0.989831 with order 1 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.18, Z:0.01 [[ 0.999908 -0.01356421 0. 2.22416068] [ 0.01356421 0.999908 0. -0.18348296] [ 0. 0. 1. 0.0092462 ] [ 0. 0. 0. 1. ]] SLAMing on 2.287552018 meters Centerline goodness : 0.989053 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.19, Z:0.01 [[ 0.99991827 -0.01278489 0. 2.28601339] [ 0.01278489 0.99991827 0. -0.18894205] [ 0. 0. 1. 0.00917849] [ 0. 0. 0. 1. ]] SLAMing on 2.347552018 meters Centerline goodness : 0.989034 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.19, Z:0.01 [[ 0.99994458 -0.01052812 0. 2.34828863] [ 0.01052812 0.99994458 0. -0.1944874 ] [ 0. 0. 1. 0.00903888] [ 0. 0. 0. 1. ]] SLAMing on 2.4075520179999996 meters Centerline goodness : 0.988542 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.20, Z:0.01 [[ 0.99997643 -0.00686556 0. 2.4101144 ] [ 0.00686556 0.99997643 0. -0.20223612] [ 0. 0. 1. 0.00652007] [ 0. 0. 0. 1. ]] SLAMing on 2.4675520179999997 meters Centerline goodness : 0.988131 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.21, Z:0.01 [[ 0.9999807 -0.00621259 0. 2.47234294] [ 0.00621259 0.9999807 0. -0.20830832] [ 0. 0. 1. 0.00637654] [ 0. 0. 0. 1. ]] SLAMing on 2.5275520179999997 meters Centerline goodness : 0.989320 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.21, Z:0.01 [[ 0.99994535 -0.01045479 0. 2.5343806 ] [ 0.01045479 0.99994535 0. -0.20915743] [ 0. 0. 1. 0.01070672] [ 0. 0. 0. 1. ]] SLAMing on 2.587552018 meters Centerline goodness : 0.988878 with order 1 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.21, Z:0.01 [[ 0.99994559 -0.0104314 0. 2.59661349] [ 0.0104314 0.99994559 0. -0.21379834] [ 0. 0. 1. 0.01096986] [ 0. 0. 0. 1. ]] SLAMing on 2.647552018 meters Centerline goodness : 0.988736 with order 1 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.22, Z:0.01 [[ 0.99994971 -0.0100292 0. 2.65873223] [ 0.0100292 0.99994971 0. -0.21827998] [ 0. 0. 1. 0.01138981] [ 0. 0. 0. 1. ]] SLAMing on 2.707552018 meters Centerline goodness : 0.990119 with order 1 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.22, Z:0.01 [[ 0.9999595 -0.00900027 0. 2.72100317] [ 0.00900027 0.9999595 0. -0.22219855] [ 0. 0. 1. 0.00963659] [ 0. 0. 0. 1. ]] SLAMing on 2.767552018 meters Centerline goodness : 0.989408 with order 1 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.23, Z:0.01 [[ 0.99997407 -0.00720163 0. 2.78282484] [ 0.00720163 0.99997407 0. -0.22807627] [ 0. 0. 1. 0.00947771] [ 0. 0. 0. 1. ]] SLAMing on 2.8275520179999996 meters Centerline goodness : 0.989594 with order 1 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.23, Z:0.01 [[ 0.99998187 -0.00602239 0. 2.84519231] [ 0.00602239 0.99998187 0. -0.23266108] [ 0. 0. 1. 0.01069302] [ 0. 0. 0. 1. ]] SLAMing on 2.8875520179999996 meters Centerline goodness : 0.989133 with order 1 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.24, Z:0.01 [[ 0.99998949 -0.00458403 0. 2.90739727] [ 0.00458403 0.99998949 0. -0.23840618] [ 0. 0. 1. 0.00997145] [ 0. 0. 0. 1. ]] SLAMing on 2.9475520179999997 meters Centerline goodness : 0.989488 with order 1 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.24, Z:0.01 [[ 0.99999282 -0.00378904 0. 2.96979611] [ 0.00378904 0.99999282 0. -0.24381168] [ 0. 0. 1. 0.00962266] [ 0. 0. 0. 1. ]] SLAMing on 3.0075520179999997 meters Centerline goodness : 0.989681 with order 1 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.25, Z:0.01 [[ 9.99998081e-01 -1.95896936e-03 0.00000000e+00 3.03071393e+00] [ 1.95896936e-03 9.99998081e-01 0.00000000e+00 -2.50056241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22505377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0675520179999998 meters Centerline goodness : 0.988474 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.26, Z:0.01 [[ 9.99999359e-01 -1.13262531e-03 0.00000000e+00 3.09164527e+00] [ 1.13262531e-03 9.99999359e-01 0.00000000e+00 -2.55351290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58722221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.127552018 meters Centerline goodness : 0.989192 with order 1 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.26, Z:0.01 [[ 9.99999998e-01 -6.62124994e-05 0.00000000e+00 3.15231421e+00] [ 6.62124994e-05 9.99999998e-01 0.00000000e+00 -2.60797932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33195222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.187552018 meters Centerline goodness : 0.988512 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.27, Z:0.00 [[ 9.99999592e-01 9.02875145e-04 0.00000000e+00 3.21301364e+00] [-9.02875145e-04 9.99999592e-01 0.00000000e+00 -2.66282515e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97555201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2475520179999995 meters Centerline goodness : 0.987444 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.27, Z:0.01 [[ 0.9999857 0.00534834 0. 3.27190893] [-0.00534834 0.9999857 0. -0.27072471] [ 0. 0. 1. 0.00640655] [ 0. 0. 0. 1. ]] SLAMing on 3.3075520179999995 meters Centerline goodness : 0.987316 with order 1 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.27, Z:0.01 [[ 0.99998229 0.00595074 0. 3.33060186] [-0.00595074 0.99998229 0. -0.27438624] [ 0. 0. 1. 0.00587034] [ 0. 0. 0. 1. ]] SLAMing on 3.3675520179999996 meters Centerline goodness : 0.987208 with order 1 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.28, Z:0.01 [[ 0.99997178 0.00751304 0. 3.38898666] [-0.00751304 0.99997178 0. -0.27857944] [ 0. 0. 1. 0.00510302] [ 0. 0. 0. 1. ]] SLAMing on 3.4275520179999996 meters Centerline goodness : 0.988329 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.28, Z:0.01 [[ 0.9999881 0.00487877 0. 3.44620478] [-0.00487877 0.9999881 0. -0.28271398] [ 0. 0. 1. 0.00516346] [ 0. 0. 0. 1. ]] SLAMing on 3.4875520179999997 meters Centerline goodness : 0.987477 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.29, Z:0.01 [[ 9.99995945e-01 2.84784103e-03 0.00000000e+00 3.50504542e+00] [-2.84784103e-03 9.99995945e-01 0.00000000e+00 -2.86520538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62256198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5475520179999998 meters Centerline goodness : 0.988785 with order 1 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.29, Z:0.00 [[ 9.99997894e-01 2.05232824e-03 0.00000000e+00 3.56317546e+00] [-2.05232824e-03 9.99997894e-01 0.00000000e+00 -2.89651560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69385366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.607552018 meters Centerline goodness : 0.987758 with order 1 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.29, Z:0.00 [[ 9.99999782e-01 -6.60103124e-04 0.00000000e+00 3.62308252e+00] [ 6.60103124e-04 9.99999782e-01 0.00000000e+00 -2.94153347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47882630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6675520179999994 meters Centerline goodness : 0.988928 with order 1 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.30, Z:0.01 [[ 0.99999161 -0.00409753 0. 3.6831769 ] [ 0.00409753 0.99999161 0. -0.29834161] [ 0. 0. 1. 0.00655586] [ 0. 0. 0. 1. ]] SLAMing on 3.7275520179999995 meters Centerline goodness : 0.988917 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.30, Z:0.01 [[ 0.9999839 -0.00567527 0. 3.74533617] [ 0.00567527 0.9999839 0. -0.30260918] [ 0. 0. 1. 0.00743872] [ 0. 0. 0. 1. ]] SLAMing on 3.7875520179999995 meters Centerline goodness : 0.989844 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.31, Z:0.01 [[ 0.99995245 -0.00975192 0. 3.80695941] [ 0.00975192 0.99995245 0. -0.30663814] [ 0. 0. 1. 0.00762882] [ 0. 0. 0. 1. ]] SLAMing on 3.8475520179999996 meters Centerline goodness : 0.988924 with order 1 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.31, Z:0.01 [[ 0.99992396 -0.01233202 0. 3.86946617] [ 0.01233202 0.99992396 0. -0.31164535] [ 0. 0. 1. 0.00625699] [ 0. 0. 0. 1. ]] SLAMing on 3.9075520179999996 meters Centerline goodness : 0.989256 with order 1 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.31, Z:0.01 [[ 0.99990907 -0.01348547 0. 3.93194814] [ 0.01348547 0.99990907 0. -0.31466734] [ 0. 0. 1. 0.00770437] [ 0. 0. 0. 1. ]] SLAMing on 3.9675520179999997 meters Centerline goodness : 0.989436 with order 1 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.32, Z:0.01 [[ 0.99993189 -0.01167072 0. 3.99400631] [ 0.01167072 0.99993189 0. -0.31720158] [ 0. 0. 1. 0.00883747] [ 0. 0. 0. 1. ]] SLAMing on 4.027552018 meters Centerline goodness : 0.989754 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.32, Z:0.01 [[ 0.99995857 -0.009103 0. 4.05624895] [ 0.009103 0.99995857 0. -0.32073389] [ 0. 0. 1. 0.00826843] [ 0. 0. 0. 1. ]] SLAMing on 4.087552017999999 meters Centerline goodness : 0.990308 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.32, Z:0.01 [[ 0.99997688 -0.00680006 0. 4.11863099] [ 0.00680006 0.99997688 0. -0.32461556] [ 0. 0. 1. 0.00820109] [ 0. 0. 0. 1. ]] SLAMing on 4.147552018 meters Centerline goodness : 0.990176 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.33, Z:0.01 [[ 0.99998151 -0.00608117 0. 4.18082386] [ 0.00608117 0.99998151 0. -0.32854275] [ 0. 0. 1. 0.00806107] [ 0. 0. 0. 1. ]] SLAMing on 4.2075520179999994 meters Centerline goodness : 0.990191 with order 1 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.99997904 -0.00647411 0. 4.2425597 ] [ 0.00647411 0.99997904 0. -0.33221314] [ 0. 0. 1. 0.00820924] [ 0. 0. 0. 1. ]] SLAMing on 4.267552018 meters Centerline goodness : 0.990245 with order 1 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.34, Z:0.01 [[ 0.99997872 -0.00652429 0. 4.30441922] [ 0.00652429 0.99997872 0. -0.33688888] [ 0. 0. 1. 0.00788022] [ 0. 0. 0. 1. ]] SLAMing on 4.327552018 meters Centerline goodness : 0.990973 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.34, Z:0.01 [[ 0.99997283 -0.00737167 0. 4.36637274] [ 0.00737167 0.99997283 0. -0.34081318] [ 0. 0. 1. 0.00667994] [ 0. 0. 0. 1. ]] SLAMing on 4.387552017999999 meters Centerline goodness : 0.990018 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.35, Z:0.01 [[ 0.99998084 -0.00618989 0. 4.42695501] [ 0.00618989 0.99998084 0. -0.34604033] [ 0. 0. 1. 0.00553569] [ 0. 0. 0. 1. ]] SLAMing on 4.447552018 meters Centerline goodness : 0.990088 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.35, Z:0.00 [[ 9.99990576e-01 -4.34133906e-03 0.00000000e+00 4.48863254e+00] [ 4.34133906e-03 9.99990576e-01 0.00000000e+00 -3.50470329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76697230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.507552017999999 meters Centerline goodness : 0.990110 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.35, Z:0.00 [[ 9.99994837e-01 -3.21355214e-03 0.00000000e+00 4.54988321e+00] [ 3.21355214e-03 9.99994837e-01 0.00000000e+00 -3.54686440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92161659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567552018 meters Centerline goodness : 0.990766 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.36, Z:0.01 [[ 9.99999474e-01 1.02555930e-03 0.00000000e+00 4.61123062e+00] [-1.02555930e-03 9.99999474e-01 0.00000000e+00 -3.57069235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78100608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.627552017999999 meters Centerline goodness : 0.990169 with order 1 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.36, Z:0.01 [[ 9.99994710e-01 3.25269124e-03 0.00000000e+00 4.67083635e+00] [-3.25269124e-03 9.99994710e-01 0.00000000e+00 -3.59871234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22435819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.687552018 meters Centerline goodness : 0.990647 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.36, Z:0.01 [[ 0.99997082 0.00763891 0. 4.73009096] [-0.00763891 0.99997082 0. -0.36198822] [ 0. 0. 1. 0.0066195 ] [ 0. 0. 0. 1. ]] SLAMing on 4.7475520179999995 meters Centerline goodness : 0.990366 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.36, Z:0.01 [[ 0.99994662 0.01033223 0. 4.78790672] [-0.01033223 0.99994662 0. -0.36277657] [ 0. 0. 1. 0.0064733 ] [ 0. 0. 0. 1. ]] SLAMing on 4.807552017999999 meters Centerline goodness : 0.989923 with order 1 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.37, Z:0.01 [[ 0.99992102 0.01256778 0. 4.84698336] [-0.01256778 0.99992102 0. -0.36542323] [ 0. 0. 1. 0.00827961] [ 0. 0. 0. 1. ]] SLAMing on 4.867552018 meters Centerline goodness : 0.990418 with order 1 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.37, Z:0.01 [[ 0.99986544 0.01640406 0. 4.90478554] [-0.01640406 0.99986544 0. -0.3669304 ] [ 0. 0. 1. 0.00980506] [ 0. 0. 0. 1. ]] SLAMing on 4.927552017999999 meters Centerline goodness : 0.990406 with order 1 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.37, Z:0.01 [[ 0.99982564 0.01867336 0. 4.9633658 ] [-0.01867336 0.99982564 0. -0.36979417] [ 0. 0. 1. 0.01037223] [ 0. 0. 0. 1. ]] SLAMing on 4.987552018 meters Centerline goodness : 0.990140 with order 1 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.37, Z:0.01 [[ 0.99978395 0.02078566 0. 5.02231227] [-0.02078566 0.99978395 0. -0.37293953] [ 0. 0. 1. 0.01046824] [ 0. 0. 0. 1. ]] SLAMing on 5.047552017999999 meters Centerline goodness : 0.991117 with order 1 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.38, Z:0.01 [[ 0.99977823 0.02105916 0. 5.08003029] [-0.02105916 0.99977823 0. -0.37739975] [ 0. 0. 1. 0.01006593] [ 0. 0. 0. 1. ]] SLAMing on 5.107552018 meters Centerline goodness : 0.989915 with order 1 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.38, Z:0.01 [[ 0.99974265 0.02268537 0. 5.13821876] [-0.02268537 0.99974265 0. -0.38234611] [ 0. 0. 1. 0.00821197] [ 0. 0. 0. 1. ]] SLAMing on 5.167552017999999 meters Centerline goodness : 0.990128 with order 1 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.39, Z:0.01 [[ 0.99972166 0.02359252 0. 5.19714255] [-0.02359252 0.99972166 0. -0.38743808] [ 0. 0. 1. 0.00576988] [ 0. 0. 0. 1. ]] SLAMing on 5.227552017999999 meters Centerline goodness : 0.991756 with order 1 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.39, Z:0.00 [[ 9.99781665e-01 2.08955177e-02 0.00000000e+00 5.25394188e+00] [-2.08955177e-02 9.99781665e-01 0.00000000e+00 -3.86369297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67955064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2875520179999995 meters Centerline goodness : 0.991578 with order 1 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.39, Z:0.00 [[ 9.99817081e-01 1.91260105e-02 0.00000000e+00 5.31226035e+00] [-1.91260105e-02 9.99817081e-01 0.00000000e+00 -3.89974893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55261909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347552017999999 meters Centerline goodness : 0.990397 with order 1 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.40, Z:0.01 [[ 0.99985329 0.01712889 0. 5.37079536] [-0.01712889 0.99985329 0. -0.39680189] [ 0. 0. 1. 0.00796145] [ 0. 0. 0. 1. ]] SLAMing on 5.407552018 meters Centerline goodness : 0.990525 with order 1 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.40, Z:0.01 [[ 0.99995144 0.00985498 0. 5.42823846] [-0.00985498 0.99995144 0. -0.40369659] [ 0. 0. 1. 0.0077608 ] [ 0. 0. 0. 1. ]] SLAMing on 5.467552017999999 meters Centerline goodness : 0.990901 with order 1 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.41, Z:0.01 [[ 9.99993140e-01 3.70394967e-03 0.00000000e+00 5.48667108e+00] [-3.70394967e-03 9.99993140e-01 0.00000000e+00 -4.09704597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38517026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.527552018 meters Centerline goodness : 0.990480 with order 1 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.42, Z:0.01 [[ 9.99997355e-01 -2.29996728e-03 0.00000000e+00 5.54576594e+00] [ 2.29996728e-03 9.99997355e-01 0.00000000e+00 -4.15300127e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05025317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.587552017999999 meters Centerline goodness : 0.990186 with order 1 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.42, Z:0.00 [[ 9.99986724e-01 -5.15293137e-03 0.00000000e+00 5.60608688e+00] [ 5.15293137e-03 9.99986724e-01 0.00000000e+00 -4.21373666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27472422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.647552017999999 meters Centerline goodness : 0.989075 with order 1 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.43, Z:0.00 [[ 9.99997767e-01 -2.11345271e-03 0.00000000e+00 5.66840897e+00] [ 2.11345271e-03 9.99997767e-01 0.00000000e+00 -4.25616727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27922047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7075520179999994 meters Centerline goodness : 0.988644 with order 1 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.43, Z:-0.00 [[ 9.99995645e-01 2.95132579e-03 0.00000000e+00 5.72922451e+00] [-2.95132579e-03 9.99995645e-01 0.00000000e+00 -4.30693729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77958361e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.767552017999999 meters Centerline goodness : 0.988586 with order 1 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.43, Z:-0.00 [[ 9.99973342e-01 7.30170574e-03 0.00000000e+00 5.78729497e+00] [-7.30170574e-03 9.99973342e-01 0.00000000e+00 -4.34428049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79753033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827552018 meters Centerline goodness : 0.988881 with order 1 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.44, Z:-0.00 [[ 9.99974280e-01 7.17210724e-03 0.00000000e+00 5.84608019e+00] [-7.17210724e-03 9.99974280e-01 0.00000000e+00 -4.38775542e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13266773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887552017999999 meters Centerline goodness : 0.988793 with order 1 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.44, Z:-0.00 [[ 9.99990381e-01 4.38603057e-03 0.00000000e+00 5.90413932e+00] [-4.38603057e-03 9.99990381e-01 0.00000000e+00 -4.42200604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66658905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.947552018 meters Centerline goodness : 0.989761 with order 1 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.45, Z:-0.00 [[ 9.99996786e-01 2.53551933e-03 0.00000000e+00 5.96310164e+00] [-2.53551933e-03 9.99996786e-01 0.00000000e+00 -4.45792090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95973469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.007552017999999 meters Centerline goodness : 0.988936 with order 1 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.45, Z:-0.00 [[ 9.99998159e-01 1.91873933e-03 0.00000000e+00 6.02242697e+00] [-1.91873933e-03 9.99998159e-01 0.00000000e+00 -4.49247884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06843832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.067552017999999 meters Centerline goodness : 0.988100 with order 1 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.45, Z:-0.00 [[ 9.99997705e-01 2.14260700e-03 0.00000000e+00 6.08229995e+00] [-2.14260700e-03 9.99997705e-01 0.00000000e+00 -4.51604218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44694370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.127552017999999 meters Centerline goodness : 0.987530 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.45, Z:-0.01 [[ 9.99999065e-01 1.36763840e-03 0.00000000e+00 6.14174923e+00] [-1.36763840e-03 9.99999065e-01 0.00000000e+00 -4.54691187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17828953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.187552017999999 meters Centerline goodness : 0.987691 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.46, Z:-0.01 [[ 9.99996591e-01 2.61116659e-03 0.00000000e+00 6.20140471e+00] [-2.61116659e-03 9.99996591e-01 0.00000000e+00 -4.56152461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31644672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2475520179999995 meters Centerline goodness : 0.986156 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.46, Z:0.00 [[ 9.99976546e-01 6.84897052e-03 0.00000000e+00 6.26027050e+00] [-6.84897052e-03 9.99976546e-01 0.00000000e+00 -4.58419209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92563789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.307552017999999 meters Centerline goodness : 0.987750 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.46, Z:-0.00 [[ 9.99972724e-01 7.38582048e-03 0.00000000e+00 6.31934211e+00] [-7.38582048e-03 9.99972724e-01 0.00000000e+00 -4.60235220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85075998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.367552018 meters Centerline goodness : 0.987492 with order 1 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.46, Z:-0.00 [[ 9.99964290e-01 8.45101120e-03 0.00000000e+00 6.37855796e+00] [-8.45101120e-03 9.99964290e-01 0.00000000e+00 -4.62132108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91010688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.427552017999999 meters Centerline goodness : 0.986826 with order 1 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.47, Z:-0.00 [[ 9.99916853e-01 1.28952003e-02 0.00000000e+00 6.43700221e+00] [-1.28952003e-02 9.99916853e-01 0.00000000e+00 -4.66794439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26475199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.487552017999999 meters Centerline goodness : 0.987537 with order 1 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.47, Z:-0.00 [[ 9.99926189e-01 1.21497744e-02 0.00000000e+00 6.49536053e+00] [-1.21497744e-02 9.99926189e-01 0.00000000e+00 -4.70407066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90469135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547552017999999 meters Centerline goodness : 0.988858 with order 1 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.47, Z:-0.00 [[ 9.99955677e-01 9.41507282e-03 0.00000000e+00 6.55396638e+00] [-9.41507282e-03 9.99955677e-01 0.00000000e+00 -4.74182463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45262129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.607552017999999 meters Centerline goodness : 0.989718 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.48, Z:-0.01 [[ 9.99988282e-01 4.84100835e-03 0.00000000e+00 6.61268849e+00] [-4.84100835e-03 9.99988282e-01 0.00000000e+00 -4.78387004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42862914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.667552017999999 meters Centerline goodness : 0.990177 with order 1 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.48, Z:-0.00 [[ 9.99971961e-01 7.48850877e-03 0.00000000e+00 6.67111468e+00] [-7.48850877e-03 9.99971961e-01 0.00000000e+00 -4.84130714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80563887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.727552017999999 meters Centerline goodness : 0.990502 with order 1 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.49, Z:-0.01 [[ 9.99984326e-01 5.59884437e-03 0.00000000e+00 6.72928710e+00] [-5.59884437e-03 9.99984326e-01 0.00000000e+00 -4.88025714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00923575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7875520179999995 meters Centerline goodness : 0.989099 with order 1 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.49, Z:-0.01 [[ 0.99996931 0.00783406 0. 6.78776462] [-0.00783406 0.99996931 0. -0.49211386] [ 0. 0. 1. -0.01045269] [ 0. 0. 0. 1. ]] SLAMing on 6.847552017999999 meters Centerline goodness : 0.988758 with order 1 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.50, Z:-0.01 [[ 0.99995014 0.00998549 0. 6.84624496] [-0.00998549 0.99995014 0. -0.49624046] [ 0. 0. 1. -0.00823608] [ 0. 0. 0. 1. ]] SLAMing on 6.907552017999999 meters Centerline goodness : 0.988200 with order 1 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.50, Z:-0.01 [[ 0.99991306 0.01318632 0. 6.90455083] [-0.01318632 0.99991306 0. -0.50134996] [ 0. 0. 1. -0.00839653] [ 0. 0. 0. 1. ]] SLAMing on 6.967552017999999 meters Centerline goodness : 0.988501 with order 1 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.51, Z:-0.01 [[ 0.99984715 0.01748383 0. 6.96289701] [-0.01748383 0.99984715 0. -0.50673957] [ 0. 0. 1. -0.01045217] [ 0. 0. 0. 1. ]] SLAMing on 7.027552017999999 meters Centerline goodness : 0.988624 with order 1 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.51, Z:-0.01 [[ 0.99981298 0.01933902 0. 7.02035307] [-0.01933902 0.99981298 0. -0.51085564] [ 0. 0. 1. -0.01092505] [ 0. 0. 0. 1. ]] SLAMing on 7.087552017999999 meters Centerline goodness : 0.986885 with order 1 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.52, Z:-0.01 [[ 0.99975226 0.02225808 0. 7.0793606 ] [-0.02225808 0.99975226 0. -0.5156401 ] [ 0. 0. 1. -0.01215545] [ 0. 0. 0. 1. ]] SLAMing on 7.147552017999999 meters Centerline goodness : 0.988829 with order 1 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.52, Z:-0.01 [[ 0.99969923 0.02452455 0. 7.13839218] [-0.02452455 0.99969923 0. -0.51999433] [ 0. 0. 1. -0.0134864 ] [ 0. 0. 0. 1. ]] SLAMing on 7.2075520179999994 meters Centerline goodness : 0.988696 with order 1 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.52, Z:-0.01 [[ 0.99972384 0.02349982 0. 7.19557779] [-0.02349982 0.99972384 0. -0.52453157] [ 0. 0. 1. -0.01289022] [ 0. 0. 0. 1. ]] SLAMing on 7.267552017999999 meters Centerline goodness : 0.988860 with order 1 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.53, Z:-0.01 [[ 0.99966419 0.02591341 0. 7.25387595] [-0.02591341 0.99966419 0. -0.53004772] [ 0. 0. 1. -0.01481085] [ 0. 0. 0. 1. ]] SLAMing on 7.327552017999999 meters Centerline goodness : 0.989041 with order 1 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.54, Z:-0.02 [[ 0.99961934 0.02758957 0. 7.31264864] [-0.02758957 0.99961934 0. -0.53505938] [ 0. 0. 1. -0.01627493] [ 0. 0. 0. 1. ]] SLAMing on 7.387552017999999 meters Centerline goodness : 0.989529 with order 1 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.54, Z:-0.02 [[ 0.99956272 0.02956977 0. 7.37048686] [-0.02956977 0.99956272 0. -0.53959745] [ 0. 0. 1. -0.0167722 ] [ 0. 0. 0. 1. ]] SLAMing on 7.447552017999999 meters Centerline goodness : 0.990253 with order 1 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.54, Z:-0.02 [[ 0.99956674 0.0294334 0. 7.42899017] [-0.0294334 0.99956674 0. -0.54477711] [ 0. 0. 1. -0.01731953] [ 0. 0. 0. 1. ]] SLAMing on 7.507552017999999 meters Centerline goodness : 0.990059 with order 1 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.55, Z:-0.02 [[ 0.99959851 0.02833422 0. 7.48791807] [-0.02833422 0.99959851 0. -0.55026611] [ 0. 0. 1. -0.01726263] [ 0. 0. 0. 1. ]] SLAMing on 7.567552017999999 meters Centerline goodness : 0.989544 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.56, Z:-0.02 [[ 0.99965573 0.02623762 0. 7.54605082] [-0.02623762 0.99965573 0. -0.55519306] [ 0. 0. 1. -0.01604893] [ 0. 0. 0. 1. ]] SLAMing on 7.627552017999999 meters Centerline goodness : 0.992573 with order 1 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.55, Z:-0.01 [[ 0.99982118 0.01891077 0. 7.60384941] [-0.01891077 0.99982118 0. -0.55170208] [ 0. 0. 1. -0.01201389] [ 0. 0. 0. 1. ]] SLAMing on 7.687552017999999 meters Centerline goodness : 0.989992 with order 1 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.56, Z:-0.01 [[ 0.99974298 0.02267095 0. 7.6622071 ] [-0.02267095 0.99974298 0. -0.56451906] [ 0. 0. 1. -0.01493542] [ 0. 0. 0. 1. ]] SLAMing on 7.747552017999999 meters Centerline goodness : 0.989985 with order 1 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.57, Z:-0.02 [[ 0.99976347 0.0217487 0. 7.71930166] [-0.0217487 0.99976347 0. -0.57089867] [ 0. 0. 1. -0.01640003] [ 0. 0. 0. 1. ]] SLAMing on 7.807552017999999 meters Centerline goodness : 0.990227 with order 1 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.58, Z:-0.02 [[ 0.99982902 0.01849134 0. 7.77756113] [-0.01849134 0.99982902 0. -0.57737218] [ 0. 0. 1. -0.01808446] [ 0. 0. 0. 1. ]] SLAMing on 7.867552017999999 meters Centerline goodness : 0.990892 with order 1 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.58, Z:-0.02 [[ 0.9998908 0.01477814 0. 7.83583198] [-0.01477814 0.9998908 0. -0.58221607] [ 0. 0. 1. -0.01849907] [ 0. 0. 0. 1. ]] SLAMing on 7.927552017999999 meters Centerline goodness : 0.989483 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.59, Z:-0.02 [[ 0.99993948 0.01100138 0. 7.89322351] [-0.01100138 0.99993948 0. -0.58762027] [ 0. 0. 1. -0.01580676] [ 0. 0. 0. 1. ]] SLAMing on 7.987552017999999 meters Centerline goodness : 0.990570 with order 1 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.59, Z:-0.02 [[ 9.99982151e-01 5.97479058e-03 0.00000000e+00 7.95209654e+00] [-5.97479058e-03 9.99982151e-01 0.00000000e+00 -5.92615762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01712640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.047552018 meters Centerline goodness : 0.991368 with order 1 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.60, Z:-0.02 [[ 9.99992266e-01 3.93291862e-03 0.00000000e+00 8.01027486e+00] [-3.93291862e-03 9.99992266e-01 0.00000000e+00 -5.97255203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06084335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.107552018 meters Centerline goodness : 0.991122 with order 1 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.60, Z:-0.02 [[ 9.99998822e-01 1.53513245e-03 0.00000000e+00 8.06835784e+00] [-1.53513245e-03 9.99998822e-01 0.00000000e+00 -6.00920634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09394765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.167552017999999 meters Centerline goodness : 0.991996 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.61, Z:-0.02 [[ 9.99997759e-01 2.11710543e-03 0.00000000e+00 8.12778252e+00] [-2.11710543e-03 9.99997759e-01 0.00000000e+00 -6.05578565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02650339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.227552017999999 meters Centerline goodness : 0.990742 with order 1 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.61, Z:-0.02 [[ 9.99999214e-01 -1.25400152e-03 0.00000000e+00 8.18715479e+00] [ 1.25400152e-03 9.99999214e-01 0.00000000e+00 -6.08773736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16277600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.287552018 meters Centerline goodness : 0.990362 with order 1 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.61, Z:-0.02 [[ 9.99997377e-01 -2.29045808e-03 0.00000000e+00 8.24731215e+00] [ 2.29045808e-03 9.99997377e-01 0.00000000e+00 -6.12849960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19704469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.347552017999998 meters Centerline goodness : 0.990049 with order 1 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.61, Z:-0.02 [[ 9.99999495e-01 -1.00453062e-03 0.00000000e+00 8.30840171e+00] [ 1.00453062e-03 9.99999495e-01 0.00000000e+00 -6.14728170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25860861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407552017999999 meters Centerline goodness : 0.989989 with order 1 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.62, Z:-0.02 [[ 9.99999995e-01 9.57178763e-05 0.00000000e+00 8.36888059e+00] [-9.57178763e-05 9.99999995e-01 0.00000000e+00 -6.16542143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11083535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.467552018 meters Centerline goodness : 0.991483 with order 1 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.61, Z:-0.02 [[ 9.99994962e-01 3.17438706e-03 0.00000000e+00 8.42867195e+00] [-3.17438706e-03 9.99994962e-01 0.00000000e+00 -6.14868604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95925367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.527552018 meters Centerline goodness : 0.990204 with order 1 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.62, Z:-0.02 [[ 9.99972465e-01 7.42080640e-03 0.00000000e+00 8.48803259e+00] [-7.42080640e-03 9.99972465e-01 0.00000000e+00 -6.17374245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09416543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.587552017999998 meters Centerline goodness : 0.989909 with order 1 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.62, Z:-0.02 [[ 0.9999421 0.01076056 0. 8.54606055] [-0.01076056 0.9999421 0. -0.61626914] [ 0. 0. 1. -0.0204689 ] [ 0. 0. 0. 1. ]] SLAMing on 8.647552017999999 meters Centerline goodness : 0.989849 with order 1 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.62, Z:-0.02 [[ 0.99992098 0.01257094 0. 8.60435825] [-0.01257094 0.99992098 0. -0.61806021] [ 0. 0. 1. -0.02219288] [ 0. 0. 0. 1. ]] SLAMing on 8.707552018 meters Centerline goodness : 0.989526 with order 1 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.62, Z:-0.02 [[ 0.99991286 0.01320153 0. 8.6636974 ] [-0.01320153 0.99991286 0. -0.6188443 ] [ 0. 0. 1. -0.02300656] [ 0. 0. 0. 1. ]] SLAMing on 8.767552017999998 meters Centerline goodness : 0.992553 with order 1 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.61, Z:-0.02 [[ 9.99985949e-01 5.30117178e-03 0.00000000e+00 8.72227410e+00] [-5.30117178e-03 9.99985949e-01 0.00000000e+00 -6.10663593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28369354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827552017999999 meters Centerline goodness : 0.992409 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.62, Z:-0.02 [[ 9.99978624e-01 6.53841786e-03 0.00000000e+00 8.78089603e+00] [-6.53841786e-03 9.99978624e-01 0.00000000e+00 -6.15346856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42166624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.887552018 meters Centerline goodness : 0.992174 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.61, Z:-0.02 [[ 9.99977786e-01 6.66536061e-03 0.00000000e+00 8.83899879e+00] [-6.66536061e-03 9.99977786e-01 0.00000000e+00 -6.10770225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40968746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.947552018 meters Centerline goodness : 0.989614 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.62, Z:-0.02 [[ 0.99991063 0.013369 0. 8.89762933] [-0.013369 0.99991063 0. -0.62058033] [ 0. 0. 1. -0.02362941] [ 0. 0. 0. 1. ]] SLAMing on 9.007552017999998 meters Centerline goodness : 0.989933 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.62, Z:-0.02 [[ 0.99989016 0.01482134 0. 8.95580904] [-0.01482134 0.99989016 0. -0.62072174] [ 0. 0. 1. -0.02363369] [ 0. 0. 0. 1. ]] SLAMing on 9.067552017999999 meters Centerline goodness : 0.989760 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.62, Z:-0.02 [[ 0.99988175 0.0153783 0. 9.01380446] [-0.0153783 0.99988175 0. -0.62127137] [ 0. 0. 1. -0.0231459 ] [ 0. 0. 0. 1. ]] SLAMing on 9.127552018 meters Centerline goodness : 0.990204 with order 1 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.62, Z:-0.02 [[ 0.99983285 0.01828308 0. 9.07265204] [-0.01828308 0.99983285 0. -0.62207973] [ 0. 0. 1. -0.02227272] [ 0. 0. 0. 1. ]] SLAMing on 9.187552017999998 meters Centerline goodness : 0.989952 with order 1 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.63, Z:-0.03 [[ 0.99970467 0.02430167 0. 9.1313972 ] [-0.02430167 0.99970467 0. -0.62584454] [ 0. 0. 1. -0.02613488] [ 0. 0. 0. 1. ]] SLAMing on 9.247552017999999 meters Centerline goodness : 0.990776 with order 1 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.63, Z:-0.03 [[ 0.99958777 0.02871055 0. 9.18827016] [-0.02871055 0.99958777 0. -0.63083847] [ 0. 0. 1. -0.02708495] [ 0. 0. 0. 1. ]] SLAMing on 9.307552017999999 meters Centerline goodness : 0.990117 with order 1 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.63, Z:-0.02 [[ 0.99958787 0.02870682 0. 9.24737046] [-0.02870682 0.99958787 0. -0.63348209] [ 0. 0. 1. -0.02464156] [ 0. 0. 0. 1. ]] SLAMing on 9.367552018 meters Centerline goodness : 0.990141 with order 1 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.64, Z:-0.03 [[ 0.99953872 0.0303703 0. 9.30458111] [-0.0303703 0.99953872 0. -0.63939596] [ 0. 0. 1. -0.02772399] [ 0. 0. 0. 1. ]] SLAMing on 9.427552017999998 meters Centerline goodness : 0.990585 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.65, Z:-0.03 [[ 0.99947286 0.03246555 0. 9.36325589] [-0.03246555 0.99947286 0. -0.64587511] [ 0. 0. 1. -0.02844283] [ 0. 0. 0. 1. ]] SLAMing on 9.487552017999999 meters Centerline goodness : 0.989967 with order 1 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.65, Z:-0.03 [[ 0.99955319 0.02989024 0. 9.42166929] [-0.02989024 0.99955319 0. -0.65216238] [ 0. 0. 1. -0.02896954] [ 0. 0. 0. 1. ]] SLAMing on 9.547552018 meters Centerline goodness : 0.989271 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.66, Z:-0.03 [[ 0.99963595 0.02698085 0. 9.47946291] [-0.02698085 0.99963595 0. -0.65823001] [ 0. 0. 1. -0.0294257 ] [ 0. 0. 0. 1. ]] SLAMing on 9.607552017999998 meters Centerline goodness : 0.989675 with order 1 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.66, Z:-0.03 [[ 0.9997672 0.02157664 0. 9.53791624] [-0.02157664 0.9997672 0. -0.66348174] [ 0. 0. 1. -0.02689649] [ 0. 0. 0. 1. ]] SLAMing on 9.667552017999999 meters Centerline goodness : 0.989540 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.67, Z:-0.03 [[ 0.99982261 0.01883458 0. 9.59666426] [-0.01883458 0.99982261 0. -0.66978359] [ 0. 0. 1. -0.02592055] [ 0. 0. 0. 1. ]] SLAMing on 9.727552017999999 meters Centerline goodness : 0.989828 with order 1 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.68, Z:-0.03 [[ 0.99990891 0.01349687 0. 9.65536756] [-0.01349687 0.99990891 0. -0.67707208] [ 0. 0. 1. -0.02532229] [ 0. 0. 0. 1. ]] SLAMing on 9.787552018 meters Centerline goodness : 0.990550 with order 1 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.68, Z:-0.02 [[ 9.99983316e-01 5.77646575e-03 0.00000000e+00 9.71280656e+00] [-5.77646575e-03 9.99983316e-01 0.00000000e+00 -6.83936110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43884104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.847552017999998 meters Centerline goodness : 0.990867 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.69, Z:-0.02 [[ 9.99997475e-01 2.24704463e-03 0.00000000e+00 9.77182256e+00] [-2.24704463e-03 9.99997475e-01 0.00000000e+00 -6.90013347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26164374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907552017999999 meters Centerline goodness : 0.990707 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.70, Z:-0.02 [[ 9.99999565e-01 -9.32801227e-04 0.00000000e+00 9.83067526e+00] [ 9.32801227e-04 9.99999565e-01 0.00000000e+00 -6.96938117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31435125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.967552018 meters Centerline goodness : 0.991377 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.70, Z:-0.02 [[ 9.99998763e-01 -1.57296838e-03 0.00000000e+00 9.89113785e+00] [ 1.57296838e-03 9.99998763e-01 0.00000000e+00 -7.02365772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25114969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.027552017999998 meters Centerline goodness : 0.991246 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.71, Z:-0.02 [[ 9.99997848e-01 -2.07440240e-03 0.00000000e+00 9.95218801e+00] [ 2.07440240e-03 9.99997848e-01 0.00000000e+00 -7.08156230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13285221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.087552017999998 meters Centerline goodness : 0.991977 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.71, Z:-0.02 [[ 9.99999882e-01 -4.85550356e-04 0.00000000e+00 1.00119094e+01] [ 4.85550356e-04 9.99999882e-01 0.00000000e+00 -7.13322190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94707051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.147552017999999 meters Centerline goodness : 0.991910 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.72, Z:-0.02 [[ 9.99997774e-01 2.11003135e-03 0.00000000e+00 1.00723187e+01] [-2.11003135e-03 9.99997774e-01 0.00000000e+00 -7.17898702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72803784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.207552018 meters Centerline goodness : 0.991370 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.72, Z:-0.02 [[ 9.99992540e-01 3.86266609e-03 0.00000000e+00 1.01322203e+01] [-3.86266609e-03 9.99992540e-01 0.00000000e+00 -7.22932448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77732068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.267552017999998 meters Centerline goodness : 0.990925 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.73, Z:-0.02 [[ 9.99980315e-01 6.27452495e-03 0.00000000e+00 1.01908221e+01] [-6.27452495e-03 9.99980315e-01 0.00000000e+00 -7.29536073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93881310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327552017999999 meters Centerline goodness : 0.991101 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.74, Z:-0.02 [[ 9.99964150e-01 8.46754200e-03 0.00000000e+00 1.02490719e+01] [-8.46754200e-03 9.99964150e-01 0.00000000e+00 -7.35842935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04240721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.387552018 meters Centerline goodness : 0.990844 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.74, Z:-0.02 [[ 0.99993155 0.01170005 0. 10.30669227] [-0.01170005 0.99993155 0. -0.74259584] [ 0. 0. 1. -0.02238909] [ 0. 0. 0. 1. ]] SLAMing on 10.447552017999998 meters Centerline goodness : 0.989683 with order 1 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.75, Z:-0.02 [[ 0.99986497 0.01643285 0. 10.36404967] [-0.01643285 0.99986497 0. -0.7490229 ] [ 0. 0. 1. -0.0223485 ] [ 0. 0. 0. 1. ]] SLAMing on 10.507552017999998 meters Centerline goodness : 0.988867 with order 1 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.75, Z:-0.02 [[ 0.99980815 0.0195873 0. 10.4221211 ] [-0.0195873 0.99980815 0. -0.75435556] [ 0. 0. 1. -0.02094775] [ 0. 0. 0. 1. ]] SLAMing on 10.567552017999999 meters Centerline goodness : 0.988865 with order 1 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.76, Z:-0.02 [[ 0.99968721 0.0250097 0. 10.4796968 ] [-0.0250097 0.99968721 0. -0.76069946] [ 0. 0. 1. -0.02084453] [ 0. 0. 0. 1. ]] SLAMing on 10.627552018 meters Centerline goodness : 0.988082 with order 1 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.77, Z:-0.02 [[ 0.99962873 0.0272471 0. 10.53643811] [-0.0272471 0.99962873 0. -0.76673519] [ 0. 0. 1. -0.02137943] [ 0. 0. 0. 1. ]] SLAMing on 10.687552017999998 meters Centerline goodness : 0.988712 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.77, Z:-0.02 [[ 0.99960872 0.02797169 0. 10.59525377] [-0.02797169 0.99960872 0. -0.77415427] [ 0. 0. 1. -0.02246289] [ 0. 0. 0. 1. ]] SLAMing on 10.747552017999999 meters Centerline goodness : 0.988544 with order 1 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.78, Z:-0.02 [[ 0.99965072 0.02642782 0. 10.65306451] [-0.02642782 0.99965072 0. -0.78116952] [ 0. 0. 1. -0.02043353] [ 0. 0. 0. 1. ]] SLAMing on 10.807552017999999 meters Centerline goodness : 0.988213 with order 1 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.79, Z:-0.02 [[ 0.99978921 0.02053113 0. 10.71131175] [-0.02053113 0.99978921 0. -0.79164355] [ 0. 0. 1. -0.01876978] [ 0. 0. 0. 1. ]] SLAMing on 10.867552017999998 meters Centerline goodness : 0.988700 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.80, Z:-0.02 [[ 0.99991921 0.01271137 0. 10.76929678] [-0.01271137 0.99991921 0. -0.80231478] [ 0. 0. 1. -0.01795171] [ 0. 0. 0. 1. ]] SLAMing on 10.927552017999998 meters Centerline goodness : 0.989857 with order 1 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.81, Z:-0.02 [[ 9.99962187e-01 8.69623046e-03 0.00000000e+00 1.08280429e+01] [-8.69623046e-03 9.99962187e-01 0.00000000e+00 -8.10929624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80136755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987552017999999 meters Centerline goodness : 0.989585 with order 1 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.82, Z:-0.02 [[ 9.99989873e-01 4.50050187e-03 0.00000000e+00 1.08862276e+01] [-4.50050187e-03 9.99989873e-01 0.00000000e+00 -8.22280693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71915405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.047552018 meters Centerline goodness : 0.989646 with order 1 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.83, Z:-0.02 [[ 9.99992810e-01 3.79217769e-03 0.00000000e+00 1.09446686e+01] [-3.79217769e-03 9.99992810e-01 0.00000000e+00 -8.31512689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77433885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.107552017999998 meters Centerline goodness : 0.989747 with order 1 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.84, Z:-0.02 [[ 9.99992089e-01 3.97780040e-03 0.00000000e+00 1.10038982e+01] [-3.97780040e-03 9.99992089e-01 0.00000000e+00 -8.41553786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85216058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.167552017999999 meters Centerline goodness : 0.990045 with order 1 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.85, Z:-0.02 [[ 9.99984891e-01 5.49705515e-03 0.00000000e+00 1.10633270e+01] [-5.49705515e-03 9.99984891e-01 0.00000000e+00 -8.48863105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89577373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.227552017999999 meters Centerline goodness : 0.990906 with order 1 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.86, Z:-0.02 [[ 9.99965718e-01 8.28032303e-03 0.00000000e+00 1.11215894e+01] [-8.28032303e-03 9.99965718e-01 0.00000000e+00 -8.57253313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94200842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.287552017999998 meters Centerline goodness : 0.990561 with order 1 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.86, Z:-0.02 [[ 9.99945735e-01 1.04176359e-02 0.00000000e+00 1.11799140e+01] [-1.04176359e-02 9.99945735e-01 0.00000000e+00 -8.62942768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72747517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.347552017999998 meters Centerline goodness : 0.990493 with order 1 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.87, Z:-0.02 [[ 0.99992099 0.01257006 0. 11.23875907] [-0.01257006 0.99992099 0. -0.87043487] [ 0. 0. 1. -0.01630937] [ 0. 0. 0. 1. ]] SLAMing on 11.407552017999999 meters Centerline goodness : 0.990735 with order 1 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.88, Z:-0.02 [[ 9.99945755e-01 1.04157301e-02 0.00000000e+00 1.12963558e+01] [-1.04157301e-02 9.99945755e-01 0.00000000e+00 -8.75508131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51315369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.467552018 meters Centerline goodness : 0.991055 with order 1 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.88, Z:-0.01 [[ 9.99985337e-01 5.41535875e-03 0.00000000e+00 1.13543723e+01] [-5.41535875e-03 9.99985337e-01 0.00000000e+00 -8.83679625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48226339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.527552017999998 meters Centerline goodness : 0.991754 with order 1 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.89, Z:-0.02 [[ 9.99997737e-01 -2.12739161e-03 0.00000000e+00 1.14131182e+01] [ 2.12739161e-03 9.99997737e-01 0.00000000e+00 -8.92685724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62357705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.587552017999998 meters Centerline goodness : 0.991989 with order 1 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.90, Z:-0.02 [[ 9.99967366e-01 -8.07883828e-03 0.00000000e+00 1.14727807e+01] [ 8.07883828e-03 9.99967366e-01 0.00000000e+00 -8.99395271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69173032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.647552017999999 meters Centerline goodness : 0.992130 with order 1 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.91, Z:-0.02 [[ 0.9999063 -0.01368887 0. 11.53458854] [ 0.01368887 0.9999063 0. -0.90609948] [ 0. 0. 1. -0.01612029] [ 0. 0. 0. 1. ]] SLAMing on 11.707552017999998 meters Centerline goodness : 0.991586 with order 1 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.91, Z:-0.01 [[ 0.99987545 -0.01578237 0. 11.59546075] [ 0.01578237 0.99987545 0. -0.91102039] [ 0. 0. 1. -0.01450868] [ 0. 0. 0. 1. ]] SLAMing on 11.767552017999998 meters Centerline goodness : 0.992450 with order 1 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.92, Z:-0.01 [[ 0.99986486 -0.01643936 0. 11.65726442] [ 0.01643936 0.99986486 0. -0.91603038] [ 0. 0. 1. -0.01217246] [ 0. 0. 0. 1. ]] SLAMing on 11.827552017999999 meters Centerline goodness : 0.992590 with order 1 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.92, Z:-0.01 [[ 0.9998488 -0.01738911 0. 11.71902707] [ 0.01738911 0.9998488 0. -0.92167619] [ 0. 0. 1. -0.01253102] [ 0. 0. 0. 1. ]] SLAMing on 11.887552018 meters Centerline goodness : 0.991918 with order 1 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.93, Z:-0.01 [[ 0.99983871 -0.01795985 0. 11.78110911] [ 0.01795985 0.99983871 0. -0.92667637] [ 0. 0. 1. -0.0124115 ] [ 0. 0. 0. 1. ]] SLAMing on 11.947552017999998 meters Centerline goodness : 0.991086 with order 1 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.93, Z:-0.01 [[ 0.9998142 -0.01927601 0. 11.84270127] [ 0.01927601 0.9998142 0. -0.9312697 ] [ 0. 0. 1. -0.01377431] [ 0. 0. 0. 1. ]] SLAMing on 12.007552017999998 meters Centerline goodness : 0.991899 with order 1 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.94, Z:-0.01 [[ 0.99981655 -0.0191537 0. 11.90520731] [ 0.0191537 0.99981655 0. -0.93575838] [ 0. 0. 1. -0.01420983] [ 0. 0. 0. 1. ]] SLAMing on 12.067552017999999 meters Centerline goodness : 0.991003 with order 1 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.94, Z:-0.01 [[ 0.99985164 -0.01722495 0. 11.96701928] [ 0.01722495 0.99985164 0. -0.9391113 ] [ 0. 0. 1. -0.01396189] [ 0. 0. 0. 1. ]] SLAMing on 12.127552017999998 meters Centerline goodness : 0.991027 with order 1 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.94, Z:-0.02 [[ 0.99987352 -0.01590443 0. 12.02941079] [ 0.01590443 0.99987352 0. -0.94353943] [ 0. 0. 1. -0.01531124] [ 0. 0. 0. 1. ]] SLAMing on 12.187552017999998 meters Centerline goodness : 0.991796 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.95, Z:-0.01 [[ 0.99990574 -0.01373002 0. 12.0906637 ] [ 0.01373002 0.99990574 0. -0.94639022] [ 0. 0. 1. -0.01459037] [ 0. 0. 0. 1. ]] SLAMing on 12.247552017999999 meters Centerline goodness : 0.990982 with order 1 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.95, Z:-0.01 [[ 0.99990948 -0.01345483 0. 12.15244107] [ 0.01345483 0.99990948 0. -0.94923044] [ 0. 0. 1. -0.01457814] [ 0. 0. 0. 1. ]] SLAMing on 12.307552017999999 meters Centerline goodness : 0.990864 with order 1 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.95, Z:-0.01 [[ 0.99992272 -0.0124323 0. 12.2143156 ] [ 0.0124323 0.99992272 0. -0.95170697] [ 0. 0. 1. -0.01415015] [ 0. 0. 0. 1. ]] SLAMing on 12.367552017999998 meters Centerline goodness : 0.991255 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.95, Z:-0.01 [[ 9.99933638e-01 -1.15203981e-02 0.00000000e+00 1.22759445e+01] [ 1.15203981e-02 9.99933638e-01 0.00000000e+00 -9.54978051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48740010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.427552017999998 meters Centerline goodness : 0.991458 with order 1 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.96, Z:-0.02 [[ 9.99947620e-01 -1.02351291e-02 0.00000000e+00 1.23370101e+01] [ 1.02351291e-02 9.99947620e-01 0.00000000e+00 -9.56138728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62994653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487552017999999 meters Centerline goodness : 0.991241 with order 1 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.96, Z:-0.01 [[ 9.99977736e-01 -6.67285481e-03 0.00000000e+00 1.23990997e+01] [ 6.67285481e-03 9.99977736e-01 0.00000000e+00 -9.57516288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48191686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.547552017999998 meters Centerline goodness : 0.990525 with order 1 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.96, Z:-0.01 [[ 9.99998996e-01 1.41669983e-03 0.00000000e+00 1.24603807e+01] [-1.41669983e-03 9.99998996e-01 0.00000000e+00 -9.55769403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44380386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.607552017999998 meters Centerline goodness : 0.991158 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.95, Z:-0.01 [[ 0.99991867 0.01275332 0. 12.52077132] [-0.01275332 0.99991867 0. -0.95182678] [ 0. 0. 1. -0.01321722] [ 0. 0. 0. 1. ]] SLAMing on 12.667552017999999 meters Centerline goodness : 0.990299 with order 1 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.95, Z:-0.01 [[ 9.99778087e-01 2.10660018e-02 0.00000000e+00 1.25784128e+01] [-2.10660018e-02 9.99778087e-01 0.00000000e+00 -9.50194512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23925889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.727552017999999 meters Centerline goodness : 0.989483 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.95, Z:-0.01 [[ 0.9995403 0.03031812 0. 12.63673098] [-0.03031812 0.9995403 0. -0.94821546] [ 0. 0. 1. -0.01395703] [ 0. 0. 0. 1. ]] SLAMing on 12.787552017999998 meters Centerline goodness : 0.989548 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.95, Z:-0.01 [[ 0.99937011 0.03548775 0. 12.69502875] [-0.03548775 0.99937011 0. -0.9487613 ] [ 0. 0. 1. -0.01370875] [ 0. 0. 0. 1. ]] SLAMing on 12.847552017999998 meters Centerline goodness : 0.988928 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.95, Z:-0.01 [[ 0.99920882 0.03977093 0. 12.75255242] [-0.03977093 0.99920882 0. -0.95013293] [ 0. 0. 1. -0.01421847] [ 0. 0. 0. 1. ]] SLAMing on 12.907552017999999 meters Centerline goodness : 0.988999 with order 1 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.95, Z:-0.01 [[ 0.99917155 0.04069654 0. 12.80992776] [-0.04069654 0.99917155 0. -0.9517418 ] [ 0. 0. 1. -0.01426447] [ 0. 0. 0. 1. ]] SLAMing on 12.967552017999997 meters Centerline goodness : 0.989088 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.96, Z:-0.01 [[ 0.99895166 0.04577755 0. 12.86791421] [-0.04577755 0.99895166 0. -0.95575536] [ 0. 0. 1. -0.0132762 ] [ 0. 0. 0. 1. ]] SLAMing on 13.027552017999998 meters Centerline goodness : 0.988635 with order 1 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.96, Z:-0.01 [[ 9.98918437e-01 4.64968408e-02 0.00000000e+00 1.29250207e+01] [-4.64968408e-02 9.98918437e-01 0.00000000e+00 -9.58772024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13812577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087552017999998 meters Centerline goodness : 0.990744 with order 1 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.95, Z:-0.01 [[ 9.99074572e-01 4.30116311e-02 0.00000000e+00 1.29831396e+01] [-4.30116311e-02 9.99074572e-01 0.00000000e+00 -9.54235219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74977098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.147552017999999 meters Centerline goodness : 0.988224 with order 1 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.97, Z:-0.01 [[ 0.99860642 0.05277517 0. 13.04087012] [-0.05277517 0.99860642 0. -0.97150594] [ 0. 0. 1. -0.01392134] [ 0. 0. 0. 1. ]] SLAMing on 13.207552017999998 meters Centerline goodness : 0.988189 with order 1 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.98, Z:-0.01 [[ 0.99860448 0.05281178 0. 13.09896062] [-0.05281178 0.99860448 0. -0.97847837] [ 0. 0. 1. -0.01470408] [ 0. 0. 0. 1. ]] SLAMing on 13.267552017999998 meters Centerline goodness : 0.988738 with order 1 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.99, Z:-0.02 [[ 0.99869634 0.05104525 0. 13.15693433] [-0.05104525 0.99869634 0. -0.9882035 ] [ 0. 0. 1. -0.01565283] [ 0. 0. 0. 1. ]] SLAMing on 13.327552017999999 meters Centerline goodness : 0.989256 with order 1 Centerline is valid? [True, True] Translation: X:13.21, Y:-1.00, Z:-0.01 [[ 0.99891186 0.04663785 0. 13.21405119] [-0.04663785 0.99891186 0. -0.9960648 ] [ 0. 0. 1. -0.01495535] [ 0. 0. 0. 1. ]] SLAMing on 13.387552017999997 meters Centerline goodness : 0.989945 with order 1 Centerline is valid? [True, True] Translation: X:13.27, Y:-1.00, Z:-0.01 [[ 9.99099058e-01 4.24390527e-02 0.00000000e+00 1.32729293e+01] [-4.24390527e-02 9.99099058e-01 0.00000000e+00 -1.00080373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14633272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.447552017999998 meters Centerline goodness : 0.989975 with order 1 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.01, Z:-0.01 [[ 9.99266295e-01 3.82997677e-02 0.00000000e+00 1.33301498e+01] [-3.82997677e-02 9.99266295e-01 0.00000000e+00 -1.00954121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71046871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.507552017999998 meters Centerline goodness : 0.990519 with order 1 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.02, Z:-0.01 [[ 9.99293622e-01 3.75799965e-02 0.00000000e+00 1.33875557e+01] [-3.75799965e-02 9.99293622e-01 0.00000000e+00 -1.01787972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08296491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.567552017999999 meters Centerline goodness : 0.991579 with order 1 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.03, Z:-0.01 [[ 9.99438638e-01 3.35023648e-02 0.00000000e+00 1.34464954e+01] [-3.35023648e-02 9.99438638e-01 0.00000000e+00 -1.02525186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04042125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.627552017999998 meters Centerline goodness : 0.990933 with order 1 Centerline is valid? [True, True] Translation: X:13.50, Y:-1.03, Z:-0.01 [[ 9.99497748e-01 3.16899323e-02 0.00000000e+00 1.35041864e+01] [-3.16899323e-02 9.99497748e-01 0.00000000e+00 -1.03196462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12369952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.687552017999998 meters Centerline goodness : 0.990923 with order 1 Centerline is valid? [True, True] Translation: X:13.56, Y:-1.04, Z:-0.01 [[ 0.99953337 0.0305459 0. 13.56031887] [-0.0305459 0.99953337 0. -1.03961281] [ 0. 0. 1. -0.01461973] [ 0. 0. 0. 1. ]] SLAMing on 13.747552017999999 meters Centerline goodness : 0.991357 with order 1 Centerline is valid? [True, True] Translation: X:13.62, Y:-1.04, Z:-0.01 [[ 9.99532149e-01 3.05856727e-02 0.00000000e+00 1.36193322e+01] [-3.05856727e-02 9.99532149e-01 0.00000000e+00 -1.04391254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35189619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.807552017999997 meters Centerline goodness : 0.989817 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.05, Z:-0.01 [[ 9.99438010e-01 3.35210984e-02 0.00000000e+00 1.36771578e+01] [-3.35210984e-02 9.99438010e-01 0.00000000e+00 -1.04865922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23960342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.867552017999998 meters Centerline goodness : 0.992450 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.05, Z:-0.01 [[ 9.99494955e-01 3.17778849e-02 0.00000000e+00 1.37357176e+01] [-3.17778849e-02 9.99494955e-01 0.00000000e+00 -1.04581132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04743290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.927552017999998 meters Centerline goodness : 0.990041 with order 1 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.06, Z:-0.01 [[ 9.99111719e-01 4.21399122e-02 0.00000000e+00 1.37932785e+01] [-4.21399122e-02 9.99111719e-01 0.00000000e+00 -1.05822128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03266027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987552017999999 meters Centerline goodness : 0.992343 with order 1 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.06, Z:-0.01 [[ 9.99303466e-01 3.73173176e-02 0.00000000e+00 1.38510533e+01] [-3.73173176e-02 9.99303466e-01 0.00000000e+00 -1.05768786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47654358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047552017999998 meters Centerline goodness : 0.990272 with order 1 Centerline is valid? [True, True] Translation: X:13.91, Y:-1.07, Z:-0.01 [[ 9.99049152e-01 4.35980622e-02 0.00000000e+00 1.39086879e+01] [-4.35980622e-02 9.99049152e-01 0.00000000e+00 -1.07051954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03041500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107552017999998 meters Centerline goodness : 0.992361 with order 1 Centerline is valid? [True, True] Translation: X:13.97, Y:-1.07, Z:-0.01 [[ 9.99284807e-01 3.78136794e-02 0.00000000e+00 1.39669460e+01] [-3.78136794e-02 9.99284807e-01 0.00000000e+00 -1.07087283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42661398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167552017999999 meters Centerline goodness : 0.990681 with order 1 Centerline is valid? [True, True] Translation: X:14.03, Y:-1.09, Z:-0.01 [[ 9.99038537e-01 4.38406479e-02 0.00000000e+00 1.40254067e+01] [-4.38406479e-02 9.99038537e-01 0.00000000e+00 -1.08548357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43565567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227552017999997 meters Centerline goodness : 0.992339 with order 1 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.09, Z:-0.01 [[ 9.99329549e-01 3.66121939e-02 0.00000000e+00 1.40829602e+01] [-3.66121939e-02 9.99329549e-01 0.00000000e+00 -1.08659105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69334386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287552017999998 meters Centerline goodness : 0.990262 with order 1 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.10, Z:-0.01 [[ 9.99184057e-01 4.03883698e-02 0.00000000e+00 1.41408594e+01] [-4.03883698e-02 9.99184057e-01 0.00000000e+00 -1.10260207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99980381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347552017999998 meters Centerline goodness : 0.992503 with order 1 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.10, Z:-0.01 [[ 9.99624719e-01 2.73938042e-02 0.00000000e+00 1.42000193e+01] [-2.73938042e-02 9.99624719e-01 0.00000000e+00 -1.10365229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61880855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407552017999999 meters Centerline goodness : 0.991793 with order 1 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.11, Z:-0.01 [[ 9.99806732e-01 1.96595810e-02 0.00000000e+00 1.42588722e+01] [-1.96595810e-02 9.99806732e-01 0.00000000e+00 -1.11172647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48422425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467552017999997 meters Centerline goodness : 0.992627 with order 1 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.12, Z:-0.01 [[ 9.99878482e-01 1.55891581e-02 0.00000000e+00 1.43172101e+01] [-1.55891581e-02 9.99878482e-01 0.00000000e+00 -1.11699705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77160845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527552017999998 meters Centerline goodness : 0.992995 with order 1 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.12, Z:-0.01 [[ 9.99856699e-01 1.69287317e-02 0.00000000e+00 1.43745285e+01] [-1.69287317e-02 9.99856699e-01 0.00000000e+00 -1.12218238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29872339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587552017999998 meters Centerline goodness : 0.992288 with order 1 Centerline is valid? [True, True] Translation: X:14.43, Y:-1.12, Z:-0.01 [[ 9.99746629e-01 2.25094927e-02 0.00000000e+00 1.44324060e+01] [-2.25094927e-02 9.99746629e-01 0.00000000e+00 -1.12496482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35210011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647552017999997 meters Centerline goodness : 0.992797 with order 1 Centerline is valid? [True, True] Translation: X:14.49, Y:-1.13, Z:-0.01 [[ 9.99578552e-01 2.90296106e-02 0.00000000e+00 1.44900768e+01] [-2.90296106e-02 9.99578552e-01 0.00000000e+00 -1.12772469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43648839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707552017999998 meters Centerline goodness : 0.992162 with order 1 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.13, Z:-0.01 [[ 9.99307798e-01 3.72011404e-02 0.00000000e+00 1.45481292e+01] [-3.72011404e-02 9.99307798e-01 0.00000000e+00 -1.13020925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26447782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767552017999998 meters Centerline goodness : 0.991013 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.13, Z:-0.01 [[ 9.98826739e-01 4.84266961e-02 0.00000000e+00 1.46068567e+01] [-4.84266961e-02 9.98826739e-01 0.00000000e+00 -1.13090313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38211100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827552017999999 meters Centerline goodness : 0.991544 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.13, Z:-0.00 [[ 9.98545614e-01 5.39134269e-02 0.00000000e+00 1.46652348e+01] [-5.39134269e-02 9.98545614e-01 0.00000000e+00 -1.13496140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76173857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887552017999997 meters Centerline goodness : 0.991999 with order 1 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.14, Z:-0.00 [[ 9.98468788e-01 5.53179825e-02 0.00000000e+00 1.47232535e+01] [-5.53179825e-02 9.98468788e-01 0.00000000e+00 -1.14038998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49722881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947552017999998 meters Centerline goodness : 0.990369 with order 1 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.15, Z:-0.01 [[ 9.98288005e-01 5.84898140e-02 0.00000000e+00 1.47815806e+01] [-5.84898140e-02 9.98288005e-01 0.00000000e+00 -1.15393494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26001669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007552017999998 meters Centerline goodness : 0.991233 with order 1 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.16, Z:-0.01 [[ 9.98538773e-01 5.40399827e-02 0.00000000e+00 1.48401847e+01] [-5.40399827e-02 9.98538773e-01 0.00000000e+00 -1.15541162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13801067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067552017999997 meters Centerline goodness : 0.991686 with order 1 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.16, Z:-0.01 [[ 9.98615278e-01 5.26072806e-02 0.00000000e+00 1.48982741e+01] [-5.26072806e-02 9.98615278e-01 0.00000000e+00 -1.16453169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02974444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.127552017999998 meters Centerline goodness : 0.989526 with order 1 Centerline is valid? [True, True] Translation: X:14.96, Y:-1.18, Z:-0.01 [[ 9.98520907e-01 5.43690974e-02 0.00000000e+00 1.49566686e+01] [-5.43690974e-02 9.98520907e-01 0.00000000e+00 -1.17822308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27979574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187552017999998 meters Centerline goodness : 0.989922 with order 1 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.18, Z:-0.01 [[ 9.98705465e-01 5.08664316e-02 0.00000000e+00 1.50140482e+01] [-5.08664316e-02 9.98705465e-01 0.00000000e+00 -1.18239081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48943953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247552017999999 meters Centerline goodness : 0.988947 with order 1 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.20, Z:-0.00 [[ 9.98735187e-01 5.02794891e-02 0.00000000e+00 1.50709186e+01] [-5.02794891e-02 9.98735187e-01 0.00000000e+00 -1.19513098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84791508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307552017999997 meters Centerline goodness : 0.988814 with order 1 Centerline is valid? [True, True] Translation: X:15.13, Y:-1.20, Z:-0.00 [[ 9.98813146e-01 4.87062504e-02 0.00000000e+00 1.51297448e+01] [-4.87062504e-02 9.98813146e-01 0.00000000e+00 -1.20337706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22886666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367552017999998 meters Centerline goodness : 0.988483 with order 1 Centerline is valid? [True, True] Translation: X:15.19, Y:-1.21, Z:-0.00 [[ 9.98862094e-01 4.76918891e-02 0.00000000e+00 1.51866407e+01] [-4.76918891e-02 9.98862094e-01 0.00000000e+00 -1.21427062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32093149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427552017999998 meters Centerline goodness : 0.988028 with order 1 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.22, Z:-0.00 [[ 9.98930898e-01 4.62283571e-02 0.00000000e+00 1.52443599e+01] [-4.62283571e-02 9.98930898e-01 0.00000000e+00 -1.22161086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88109799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487552017999997 meters Centerline goodness : 0.988685 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.23, Z:-0.01 [[ 9.99099391e-01 4.24312021e-02 0.00000000e+00 1.53014675e+01] [-4.24312021e-02 9.99099391e-01 0.00000000e+00 -1.22810528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05722803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547552017999998 meters Centerline goodness : 0.986996 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.24, Z:-0.01 [[ 9.98885382e-01 4.72016314e-02 0.00000000e+00 1.53596512e+01] [-4.72016314e-02 9.98885382e-01 0.00000000e+00 -1.24166196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05769756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607552017999998 meters Centerline goodness : 0.987559 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:-1.25, Z:-0.01 [[ 9.99085101e-01 4.27663485e-02 0.00000000e+00 1.54174187e+01] [-4.27663485e-02 9.99085101e-01 0.00000000e+00 -1.24518400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44533328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667552017999999 meters Centerline goodness : 0.987475 with order 1 Centerline is valid? [True, True] Translation: X:15.47, Y:-1.25, Z:-0.01 [[ 9.99174940e-01 4.06132805e-02 0.00000000e+00 1.54747120e+01] [-4.06132805e-02 9.99174940e-01 0.00000000e+00 -1.25481162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85468018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727552017999997 meters Centerline goodness : 0.987303 with order 1 Centerline is valid? [True, True] Translation: X:15.53, Y:-1.26, Z:-0.01 [[ 9.99280115e-01 3.79374795e-02 0.00000000e+00 1.55315775e+01] [-3.79374795e-02 9.99280115e-01 0.00000000e+00 -1.26341880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86423295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787552017999998 meters Centerline goodness : 0.987767 with order 1 Centerline is valid? [True, True] Translation: X:15.59, Y:-1.27, Z:-0.01 [[ 9.99511821e-01 3.12429098e-02 0.00000000e+00 1.55900915e+01] [-3.12429098e-02 9.99511821e-01 0.00000000e+00 -1.27351398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80798195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.847552017999998 meters Centerline goodness : 0.984977 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:-1.29, Z:-0.01 [[ 9.99523103e-01 3.08798830e-02 0.00000000e+00 1.56480250e+01] [-3.08798830e-02 9.99523103e-01 0.00000000e+00 -1.28734319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79149122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907552017999997 meters Centerline goodness : 0.984836 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:-1.30, Z:-0.01 [[ 9.99681624e-01 2.52319329e-02 0.00000000e+00 1.57052562e+01] [-2.52319329e-02 9.99681624e-01 0.00000000e+00 -1.29633073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07049552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967552017999997 meters Centerline goodness : 0.984774 with order 1 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.30, Z:-0.01 [[ 9.99798592e-01 2.00692490e-02 0.00000000e+00 1.57636478e+01] [-2.00692490e-02 9.99798592e-01 0.00000000e+00 -1.30227917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12991215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.027552017999994 meters Centerline goodness : 0.986272 with order 1 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.30, Z:-0.01 [[ 9.99983839e-01 5.68530555e-03 0.00000000e+00 1.58222498e+01] [-5.68530555e-03 9.99983839e-01 0.00000000e+00 -1.30064581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48020875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087552017999997 meters Centerline goodness : 0.984742 with order 1 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.31, Z:-0.01 [[ 9.99988242e-01 4.84935114e-03 0.00000000e+00 1.58815418e+01] [-4.84935114e-03 9.99988242e-01 0.00000000e+00 -1.31012166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36935090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.147552017999995 meters Centerline goodness : 0.984677 with order 1 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.31, Z:-0.01 [[ 9.99999981e-01 1.96164151e-04 0.00000000e+00 1.59408384e+01] [-1.96164151e-04 9.99999981e-01 0.00000000e+00 -1.31042076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.86273339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207552017999998 meters Centerline goodness : 0.984804 with order 1 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.31, Z:-0.01 [[ 9.99981396e-01 6.09988377e-03 0.00000000e+00 1.60016100e+01] [-6.09988377e-03 9.99981396e-01 0.00000000e+00 -1.31208177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.70314019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267552017999996 meters Centerline goodness : 0.984164 with order 1 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.31, Z:-0.01 [[ 9.99918731e-01 1.27487929e-02 0.00000000e+00 1.60609393e+01] [-1.27487929e-02 9.99918731e-01 0.00000000e+00 -1.31100337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02308550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.327552017999995 meters Centerline goodness : 0.983403 with order 1 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.31, Z:-0.01 [[ 9.99600330e-01 2.82697692e-02 0.00000000e+00 1.61188124e+01] [-2.82697692e-02 9.99600330e-01 0.00000000e+00 -1.30776614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38734963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387552017999997 meters Centerline goodness : 0.984557 with order 1 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.30, Z:-0.00 [[ 9.98914548e-01 4.65803193e-02 0.00000000e+00 1.61770064e+01] [-4.65803193e-02 9.98914548e-01 0.00000000e+00 -1.30172803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11350040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447552017999996 meters Centerline goodness : 0.986788 with order 1 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.29, Z:-0.00 [[ 9.98668037e-01 5.15960365e-02 0.00000000e+00 1.62346395e+01] [-5.15960365e-02 9.98668037e-01 0.00000000e+00 -1.29411199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89817684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.507552017999995 meters Centerline goodness : 0.985482 with order 1 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.30, Z:0.00 [[ 9.97889609e-01 6.49332593e-02 0.00000000e+00 1.62928860e+01] [-6.49332593e-02 9.97889609e-01 0.00000000e+00 -1.29951886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27746340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567552017999997 meters Centerline goodness : 0.985464 with order 1 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.30, Z:0.00 [[ 9.97785250e-01 6.65176213e-02 0.00000000e+00 1.63518312e+01] [-6.65176213e-02 9.97785250e-01 0.00000000e+00 -1.30256884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68667434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.627552017999996 meters Centerline goodness : 0.985253 with order 1 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.31, Z:-0.00 [[ 9.97669355e-01 6.82338493e-02 0.00000000e+00 1.64099309e+01] [-6.82338493e-02 9.97669355e-01 0.00000000e+00 -1.31492098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79868570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.687552017999995 meters Centerline goodness : 0.987492 with order 1 Centerline is valid? [True, True] Translation: X:16.47, Y:-1.32, Z:-0.01 [[ 9.98411858e-01 5.63361493e-02 0.00000000e+00 1.64671286e+01] [-5.63361493e-02 9.98411858e-01 0.00000000e+00 -1.31833860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08791463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747552017999997 meters Centerline goodness : 0.984310 with order 1 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.33, Z:-0.01 [[ 9.98331368e-01 5.77449522e-02 0.00000000e+00 1.65245982e+01] [-5.77449522e-02 9.98331368e-01 0.00000000e+00 -1.33342623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47842606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.807552017999996 meters Centerline goodness : 0.985163 with order 1 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.35, Z:-0.02 [[ 9.98338265e-01 5.76255954e-02 0.00000000e+00 1.65818358e+01] [-5.76255954e-02 9.98338265e-01 0.00000000e+00 -1.34776105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51997861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.867552017999994 meters Centerline goodness : 0.986664 with order 1 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.35, Z:-0.01 [[ 9.98701181e-01 5.09504780e-02 0.00000000e+00 1.66393132e+01] [-5.09504780e-02 9.98701181e-01 0.00000000e+00 -1.34685266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37984209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.927552017999997 meters Centerline goodness : 0.987045 with order 1 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.36, Z:-0.01 [[ 9.98621865e-01 5.24820941e-02 0.00000000e+00 1.66980055e+01] [-5.24820941e-02 9.98621865e-01 0.00000000e+00 -1.35703161e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21442220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.987552017999995 meters Centerline goodness : 0.986820 with order 1 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.37, Z:-0.01 [[ 9.98661246e-01 5.17273117e-02 0.00000000e+00 1.67563889e+01] [-5.17273117e-02 9.98661246e-01 0.00000000e+00 -1.36635519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72838408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047552017999998 meters Centerline goodness : 0.985784 with order 1 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.38, Z:-0.01 [[ 9.98953513e-01 4.57370597e-02 0.00000000e+00 1.68137165e+01] [-4.57370597e-02 9.98953513e-01 0.00000000e+00 -1.37900162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85499543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107552017999996 meters Centerline goodness : 0.985980 with order 1 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.39, Z:-0.01 [[ 9.99205823e-01 3.98462347e-02 0.00000000e+00 1.68713332e+01] [-3.98462347e-02 9.99205823e-01 0.00000000e+00 -1.38774738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82310469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.167552017999995 meters Centerline goodness : 0.986057 with order 1 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.40, Z:-0.01 [[ 9.99446150e-01 3.32775128e-02 0.00000000e+00 1.69300029e+01] [-3.32775128e-02 9.99446150e-01 0.00000000e+00 -1.39879190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85239837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227552017999997 meters Centerline goodness : 0.986307 with order 1 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.41, Z:-0.01 [[ 9.99488332e-01 3.19855241e-02 0.00000000e+00 1.69883203e+01] [-3.19855241e-02 9.99488332e-01 0.00000000e+00 -1.40675171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30246911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287552017999996 meters Centerline goodness : 0.986383 with order 1 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.41, Z:-0.00 [[ 9.99430336e-01 3.37491396e-02 0.00000000e+00 1.70459084e+01] [-3.37491396e-02 9.99430336e-01 0.00000000e+00 -1.41442770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64680727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.347552017999995 meters Centerline goodness : 0.986896 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.42, Z:-0.00 [[ 9.99245842e-01 3.88297107e-02 0.00000000e+00 1.71037487e+01] [-3.88297107e-02 9.99245842e-01 0.00000000e+00 -1.42155413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48050239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407552017999997 meters Centerline goodness : 0.987132 with order 1 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.43, Z:-0.00 [[ 9.99062329e-01 4.32950668e-02 0.00000000e+00 1.71619375e+01] [-4.32950668e-02 9.99062329e-01 0.00000000e+00 -1.42662993e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70773331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.467552017999996 meters Centerline goodness : 0.988352 with order 1 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.43, Z:-0.01 [[ 9.98693151e-01 5.11076378e-02 0.00000000e+00 1.72203343e+01] [-5.11076378e-02 9.98693151e-01 0.00000000e+00 -1.43263316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08599056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527552017999994 meters Centerline goodness : 0.987758 with order 1 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.44, Z:-0.01 [[ 9.98188273e-01 6.01678630e-02 0.00000000e+00 1.72785453e+01] [-6.01678630e-02 9.98188273e-01 0.00000000e+00 -1.43833761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31277977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587552017999997 meters Centerline goodness : 0.988126 with order 1 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.44, Z:-0.01 [[ 9.97751692e-01 6.70191127e-02 0.00000000e+00 1.73366787e+01] [-6.70191127e-02 9.97751692e-01 0.00000000e+00 -1.44425127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82625020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.647552017999995 meters Centerline goodness : 0.988275 with order 1 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.45, Z:-0.00 [[ 9.97131234e-01 7.56921519e-02 0.00000000e+00 1.73938842e+01] [-7.56921519e-02 9.97131234e-01 0.00000000e+00 -1.45289346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94903307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707552017999994 meters Centerline goodness : 0.989450 with order 1 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.46, Z:-0.00 [[ 9.96825801e-01 7.96135870e-02 0.00000000e+00 1.74511020e+01] [-7.96135870e-02 9.96825801e-01 0.00000000e+00 -1.46093704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32164720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767552017999996 meters Centerline goodness : 0.990429 with order 1 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.47, Z:-0.01 [[ 9.96717034e-01 8.09639054e-02 0.00000000e+00 1.75088813e+01] [-8.09639054e-02 9.96717034e-01 0.00000000e+00 -1.47404094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25737517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.827552017999995 meters Centerline goodness : 0.990148 with order 1 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.48, Z:-0.00 [[ 9.96786118e-01 8.01088931e-02 0.00000000e+00 1.75668419e+01] [-8.01088931e-02 9.96786118e-01 0.00000000e+00 -1.48168101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97392798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887552017999997 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:17.62, Y:-1.50, Z:-0.00 [[ 9.97249519e-01 7.41174522e-02 0.00000000e+00 1.76245010e+01] [-7.41174522e-02 9.97249519e-01 0.00000000e+00 -1.49852938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68925770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947552017999996 meters Centerline goodness : 0.993964 with order 1 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.51, Z:-0.00 [[ 9.97606091e-01 6.91526323e-02 0.00000000e+00 1.76828149e+01] [-6.91526323e-02 9.97606091e-01 0.00000000e+00 -1.51124495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50715165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.007552017999995 meters Centerline goodness : 0.995604 with order 1 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.53, Z:-0.00 [[ 9.98032557e-01 6.26978140e-02 0.00000000e+00 1.77406930e+01] [-6.26978140e-02 9.98032557e-01 0.00000000e+00 -1.52680587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82419949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067552017999997 meters Centerline goodness : 0.996775 with order 1 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.54, Z:-0.00 [[ 9.98338708e-01 5.76179232e-02 0.00000000e+00 1.77983568e+01] [-5.76179232e-02 9.98338708e-01 0.00000000e+00 -1.54169718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79810541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.127552017999996 meters Centerline goodness : 0.997520 with order 1 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.55, Z:-0.00 [[ 9.98558926e-01 5.36662910e-02 0.00000000e+00 1.78557388e+01] [-5.36662910e-02 9.98558926e-01 0.00000000e+00 -1.55159681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26954997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.187552017999995 meters Centerline goodness : 0.997959 with order 1 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.56, Z:-0.00 [[ 9.99000093e-01 4.47080969e-02 0.00000000e+00 1.79149684e+01] [-4.47080969e-02 9.99000093e-01 0.00000000e+00 -1.56456807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58353420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247552017999997 meters Centerline goodness : 0.998333 with order 1 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.57, Z:0.00 [[ 9.99312047e-01 3.70868222e-02 0.00000000e+00 1.79743158e+01] [-3.70868222e-02 9.99312047e-01 0.00000000e+00 -1.57370724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00147152e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.307552017999996 meters Centerline goodness : 0.998252 with order 1 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.58, Z:0.00 [[ 9.99670274e-01 2.56776762e-02 0.00000000e+00 1.80330078e+01] [-2.56776762e-02 9.99670274e-01 0.00000000e+00 -1.58440059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21488868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367552017999994 meters Centerline goodness : 0.998195 with order 1 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.59, Z:0.00 [[ 9.99814250e-01 1.92734407e-02 0.00000000e+00 1.80937359e+01] [-1.92734407e-02 9.99814250e-01 0.00000000e+00 -1.59092315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30239656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427552017999997 meters Centerline goodness : 0.998486 with order 1 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.60, Z:0.00 [[ 9.99881787e-01 1.53756726e-02 0.00000000e+00 1.81532994e+01] [-1.53756726e-02 9.99881787e-01 0.00000000e+00 -1.59550966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87351461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.487552017999995 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.60, Z:0.00 [[ 9.99866954e-01 1.63117734e-02 0.00000000e+00 1.82132455e+01] [-1.63117734e-02 9.99866954e-01 0.00000000e+00 -1.59808031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70984232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547552017999994 meters Centerline goodness : 0.998397 with order 1 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.60, Z:-0.00 [[ 9.99766411e-01 2.16130472e-02 0.00000000e+00 1.82730696e+01] [-2.16130472e-02 9.99766411e-01 0.00000000e+00 -1.59720446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07863011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607552017999996 meters Centerline goodness : 0.998230 with order 1 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.60, Z:-0.00 [[ 9.99642111e-01 2.67516412e-02 0.00000000e+00 1.83331229e+01] [-2.67516412e-02 9.99642111e-01 0.00000000e+00 -1.59647711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15171219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.667552017999995 meters Centerline goodness : 0.997660 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.59, Z:-0.00 [[ 9.99424446e-01 3.39230963e-02 0.00000000e+00 1.83925791e+01] [-3.39230963e-02 9.99424446e-01 0.00000000e+00 -1.59238484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60314733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727552017999997 meters Centerline goodness : 0.997617 with order 1 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.59, Z:-0.00 [[ 9.99261436e-01 3.84263301e-02 0.00000000e+00 1.84519016e+01] [-3.84263301e-02 9.99261436e-01 0.00000000e+00 -1.59199435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20907546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787552017999996 meters Centerline goodness : 0.996352 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.59, Z:-0.01 [[ 9.98975859e-01 4.52463618e-02 0.00000000e+00 1.85111339e+01] [-4.52463618e-02 9.98975859e-01 0.00000000e+00 -1.58957506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18873627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.847552017999995 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.59, Z:-0.00 [[ 9.98631032e-01 5.23073746e-02 0.00000000e+00 1.85692848e+01] [-5.23073746e-02 9.98631032e-01 0.00000000e+00 -1.58846091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13603978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907552017999997 meters Centerline goodness : 0.996140 with order 1 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.59, Z:-0.00 [[ 9.98387286e-01 5.67699406e-02 0.00000000e+00 1.86283890e+01] [-5.67699406e-02 9.98387286e-01 0.00000000e+00 -1.59079254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60118239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.967552017999996 meters Centerline goodness : 0.996416 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.59, Z:-0.00 [[ 9.98169861e-01 6.04725480e-02 0.00000000e+00 1.86876077e+01] [-6.04725480e-02 9.98169861e-01 0.00000000e+00 -1.59293713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56277101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027552017999994 meters Centerline goodness : 0.996689 with order 1 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.60, Z:-0.00 [[ 9.98011716e-01 6.30286831e-02 0.00000000e+00 1.87464480e+01] [-6.30286831e-02 9.98011716e-01 0.00000000e+00 -1.59798747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69682622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087552017999997 meters Centerline goodness : 0.997543 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.60, Z:-0.00 [[ 9.97962697e-01 6.38001142e-02 0.00000000e+00 1.88046485e+01] [-6.38001142e-02 9.97962697e-01 0.00000000e+00 -1.60346266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48643272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.147552017999995 meters Centerline goodness : 0.997623 with order 1 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.61, Z:-0.00 [[ 9.98024912e-01 6.28193896e-02 0.00000000e+00 1.88635504e+01] [-6.28193896e-02 9.98024912e-01 0.00000000e+00 -1.61093797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81786088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207552017999994 meters Centerline goodness : 0.997751 with order 1 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.62, Z:-0.01 [[ 9.98157526e-01 6.06757974e-02 0.00000000e+00 1.89215994e+01] [-6.06757974e-02 9.98157526e-01 0.00000000e+00 -1.62091512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04246341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267552017999996 meters Centerline goodness : 0.998356 with order 1 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.63, Z:-0.01 [[ 9.98263882e-01 5.89000956e-02 0.00000000e+00 1.89802192e+01] [-5.89000956e-02 9.98263882e-01 0.00000000e+00 -1.62939070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28794204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.327552017999995 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.64, Z:-0.01 [[ 9.98470032e-01 5.52955299e-02 0.00000000e+00 1.90389415e+01] [-5.52955299e-02 9.98470032e-01 0.00000000e+00 -1.64094392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36063389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387552017999994 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.65, Z:-0.00 [[ 9.98570733e-01 5.34461474e-02 0.00000000e+00 1.90984694e+01] [-5.34461474e-02 9.98570733e-01 0.00000000e+00 -1.65025420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67929240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447552017999996 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.66, Z:-0.00 [[ 9.98692199e-01 5.11262254e-02 0.00000000e+00 1.91571648e+01] [-5.11262254e-02 9.98692199e-01 0.00000000e+00 -1.66185243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84550485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.507552017999995 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.67, Z:-0.00 [[ 9.98748363e-01 5.00170622e-02 0.00000000e+00 1.92163697e+01] [-5.00170622e-02 9.98748363e-01 0.00000000e+00 -1.67104257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24515262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567552017999997 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.68, Z:-0.00 [[ 9.99003275e-01 4.46369458e-02 0.00000000e+00 1.92765066e+01] [-4.46369458e-02 9.99003275e-01 0.00000000e+00 -1.68250427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26560996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.627552017999996 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.69, Z:-0.00 [[ 9.99204539e-01 3.98784295e-02 0.00000000e+00 1.93358486e+01] [-3.98784295e-02 9.99204539e-01 0.00000000e+00 -1.69031057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15883742e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687552017999995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.70, Z:-0.00 [[ 9.99475027e-01 3.23986123e-02 0.00000000e+00 1.93961819e+01] [-3.23986123e-02 9.99475027e-01 0.00000000e+00 -1.70035405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19255407e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747552017999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.71, Z:-0.00 [[ 9.99527017e-01 3.07529326e-02 0.00000000e+00 1.94560397e+01] [-3.07529326e-02 9.99527017e-01 0.00000000e+00 -1.70563132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76314416e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.807552017999996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.71, Z:-0.00 [[ 9.99556094e-01 2.97928515e-02 0.00000000e+00 1.95157020e+01] [-2.97928515e-02 9.99556094e-01 0.00000000e+00 -1.71413728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24299990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867552017999994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:19.58, Y:-1.72, Z:-0.00 [[ 9.99390161e-01 3.49185662e-02 0.00000000e+00 1.95759017e+01] [-3.49185662e-02 9.99390161e-01 0.00000000e+00 -1.72036933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94552866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927552017999997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:-1.73, Z:-0.00 [[ 9.99196141e-01 4.00883013e-02 0.00000000e+00 1.96366394e+01] [-4.00883013e-02 9.99196141e-01 0.00000000e+00 -1.72512600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38024108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.987552017999995 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.73, Z:-0.00 [[ 9.98800990e-01 4.89549094e-02 0.00000000e+00 1.96957154e+01] [-4.89549094e-02 9.98800990e-01 0.00000000e+00 -1.73062872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53102192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047552017999994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.74, Z:-0.00 [[ 9.98518273e-01 5.44174498e-02 0.00000000e+00 1.97558051e+01] [-5.44174498e-02 9.98518273e-01 0.00000000e+00 -1.73576262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10354370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107552017999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.74, Z:0.00 [[ 9.98130506e-01 6.11186797e-02 0.00000000e+00 1.98161474e+01] [-6.11186797e-02 9.98130506e-01 0.00000000e+00 -1.74225566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65167271e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.167552017999995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.75, Z:-0.00 [[ 9.97900058e-01 6.47724744e-02 0.00000000e+00 1.98769426e+01] [-6.47724744e-02 9.97900058e-01 0.00000000e+00 -1.74792306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81080846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.76, Z:-0.00 [[ 9.97609154e-01 6.91084294e-02 0.00000000e+00 1.99380192e+01] [-6.91084294e-02 9.97609154e-01 0.00000000e+00 -1.75548124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96882258e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.76, Z:-0.00 [[ 9.97387013e-01 7.22436580e-02 0.00000000e+00 1.99983232e+01] [-7.22436580e-02 9.97387013e-01 0.00000000e+00 -1.76243708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91608586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.347552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.77, Z:-0.00 [[ 9.97022407e-01 7.71123852e-02 0.00000000e+00 2.00584238e+01] [-7.71123852e-02 9.97022407e-01 0.00000000e+00 -1.77164104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67398375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407552017999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.78, Z:0.00 [[ 9.96760533e-01 8.04266155e-02 0.00000000e+00 2.01192657e+01] [-8.04266155e-02 9.96760533e-01 0.00000000e+00 -1.77966470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65738218e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.467552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.79, Z:-0.00 [[ 9.96488023e-01 8.37354225e-02 0.00000000e+00 2.01809843e+01] [-8.37354225e-02 9.96488023e-01 0.00000000e+00 -1.79216173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46590698e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.81, Z:-0.00 [[ 9.96468605e-01 8.39661823e-02 0.00000000e+00 2.02425061e+01] [-8.39661823e-02 9.96468605e-01 0.00000000e+00 -1.80714682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17349171e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587552017999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.82, Z:0.00 [[ 9.96490306e-01 8.37082424e-02 0.00000000e+00 2.03051498e+01] [-8.37082424e-02 9.96490306e-01 0.00000000e+00 -1.81986808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21033048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.647552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.83, Z:0.00 [[ 9.96335490e-01 8.55312338e-02 0.00000000e+00 2.03666298e+01] [-8.55312338e-02 9.96335490e-01 0.00000000e+00 -1.83488400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98840940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.85, Z:0.00 [[ 9.96096035e-01 8.82762049e-02 0.00000000e+00 2.04290132e+01] [-8.82762049e-02 9.96096035e-01 0.00000000e+00 -1.84685568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09781300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.86, Z:0.00 [[ 9.95792418e-01 9.16376522e-02 0.00000000e+00 2.04910755e+01] [-9.16376522e-02 9.95792418e-01 0.00000000e+00 -1.86409091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61508571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.827552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.88, Z:0.00 [[ 9.95672674e-01 9.29296876e-02 0.00000000e+00 2.05537486e+01] [-9.29296876e-02 9.95672674e-01 0.00000000e+00 -1.87748476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06384173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.90, Z:0.00 [[ 9.95870924e-01 9.07805175e-02 0.00000000e+00 2.06158453e+01] [-9.07805175e-02 9.95870924e-01 0.00000000e+00 -1.89686653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32509330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947552017999996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.91, Z:-0.00 [[ 9.96269417e-01 8.62974482e-02 0.00000000e+00 2.06783914e+01] [-8.62974482e-02 9.96269417e-01 0.00000000e+00 -1.91199049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15654810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.007552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.93, Z:0.00 [[ 9.96858347e-01 7.92050221e-02 0.00000000e+00 2.07403235e+01] [-7.92050221e-02 9.96858347e-01 0.00000000e+00 -1.93240480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80194658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.95, Z:0.00 [[ 9.97187994e-01 7.49406773e-02 0.00000000e+00 2.08012503e+01] [-7.49406773e-02 9.97187994e-01 0.00000000e+00 -1.94638416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37541407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.96, Z:0.01 [[ 9.97538007e-01 7.01279156e-02 0.00000000e+00 2.08630277e+01] [-7.01279156e-02 9.97538007e-01 0.00000000e+00 -1.96414250e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59890517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.98, Z:0.01 [[ 9.97724013e-01 6.74299200e-02 0.00000000e+00 2.09251432e+01] [-6.74299200e-02 9.97724013e-01 0.00000000e+00 -1.97582932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24813146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247552017999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.99, Z:0.01 [[ 9.97984114e-01 6.34642206e-02 0.00000000e+00 2.09878118e+01] [-6.34642206e-02 9.97984114e-01 0.00000000e+00 -1.98952636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88125501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.307552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.05, Y:-2.00, Z:0.01 [[ 9.98414506e-01 5.62892020e-02 0.00000000e+00 2.10496555e+01] [-5.62892020e-02 9.98414506e-01 0.00000000e+00 -2.00182262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53799220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.11, Y:-2.01, Z:0.01 [[ 9.98747066e-01 5.00429711e-02 0.00000000e+00 2.11125687e+01] [-5.00429711e-02 9.98747066e-01 0.00000000e+00 -2.01137450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61766161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427552017999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.02, Z:0.01 [[ 9.99164884e-01 4.08599487e-02 0.00000000e+00 2.11741324e+01] [-4.08599487e-02 9.99164884e-01 0.00000000e+00 -2.02020854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97994011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.487552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.03, Z:0.01 [[ 9.99338541e-01 3.63659288e-02 0.00000000e+00 2.12357170e+01] [-3.63659288e-02 9.99338541e-01 0.00000000e+00 -2.02604101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90808595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.03, Z:0.01 [[ 9.99468227e-01 3.26077212e-02 0.00000000e+00 2.12983759e+01] [-3.26077212e-02 9.99468227e-01 0.00000000e+00 -2.03011447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15644962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.03, Z:0.01 [[ 9.99455184e-01 3.30050699e-02 0.00000000e+00 2.13617094e+01] [-3.30050699e-02 9.99455184e-01 0.00000000e+00 -2.03252155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32079614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.667552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.42, Y:-2.03, Z:0.01 [[ 9.99392054e-01 3.48643432e-02 0.00000000e+00 2.14241389e+01] [-3.48643432e-02 9.99392054e-01 0.00000000e+00 -2.03319095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23145201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.03, Z:0.01 [[ 9.99327913e-01 3.66568145e-02 0.00000000e+00 2.14876051e+01] [-3.66568145e-02 9.99327913e-01 0.00000000e+00 -2.03413153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16491568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.03, Z:0.01 [[ 9.99223625e-01 3.93973087e-02 0.00000000e+00 2.15497751e+01] [-3.93973087e-02 9.99223625e-01 0.00000000e+00 -2.03180654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09373174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.61, Y:-2.03, Z:0.01 [[ 9.99120330e-01 4.19352587e-02 0.00000000e+00 2.16129609e+01] [-4.19352587e-02 9.99120330e-01 0.00000000e+00 -2.03127637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15195291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907552017999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.68, Y:-2.03, Z:0.01 [[ 9.98906074e-01 4.67616886e-02 0.00000000e+00 2.16758011e+01] [-4.67616886e-02 9.98906074e-01 0.00000000e+00 -2.02797518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14736415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.967552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.74, Y:-2.03, Z:0.01 [[ 9.98700531e-01 5.09632211e-02 0.00000000e+00 2.17389871e+01] [-5.09632211e-02 9.98700531e-01 0.00000000e+00 -2.02859526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19496301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:-2.03, Z:0.01 [[ 9.98249191e-01 5.91485597e-02 0.00000000e+00 2.18024771e+01] [-5.91485597e-02 9.98249191e-01 0.00000000e+00 -2.02519325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06854840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087552017999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:-2.02, Z:0.01 [[ 9.97775007e-01 6.66710934e-02 0.00000000e+00 2.18647339e+01] [-6.66710934e-02 9.97775007e-01 0.00000000e+00 -2.02423763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04024586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.147552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:-2.03, Z:0.01 [[ 9.97539445e-01 7.01074556e-02 0.00000000e+00 2.19277765e+01] [-7.01074556e-02 9.97539445e-01 0.00000000e+00 -2.02704970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11951194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.99, Y:-2.03, Z:0.01 [[ 9.97369229e-01 7.24887706e-02 0.00000000e+00 2.19894887e+01] [-7.24887706e-02 9.97369229e-01 0.00000000e+00 -2.02944085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20265901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:-2.03, Z:0.01 [[ 9.97365287e-01 7.25429862e-02 0.00000000e+00 2.20524090e+01] [-7.25429862e-02 9.97365287e-01 0.00000000e+00 -2.03290953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22573621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.327552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.12, Y:-2.04, Z:0.01 [[ 9.97571607e-01 6.96483254e-02 0.00000000e+00 2.21155813e+01] [-6.96483254e-02 9.97571607e-01 0.00000000e+00 -2.03771921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21295881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.18, Y:-2.04, Z:0.01 [[ 9.97783884e-01 6.65381226e-02 0.00000000e+00 2.21788024e+01] [-6.65381226e-02 9.97783884e-01 0.00000000e+00 -2.04316519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15908903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.24, Y:-2.05, Z:0.01 [[ 9.98202840e-01 5.99257056e-02 0.00000000e+00 2.22412800e+01] [-5.99257056e-02 9.98202840e-01 0.00000000e+00 -2.04934234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02413690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.507552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.30, Y:-2.05, Z:0.01 [[ 9.98504945e-01 5.46614551e-02 0.00000000e+00 2.23026764e+01] [-5.46614551e-02 9.98504945e-01 0.00000000e+00 -2.05429037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78892408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.06, Z:0.01 [[ 9.98893275e-01 4.70342937e-02 0.00000000e+00 2.23649402e+01] [-4.70342937e-02 9.98893275e-01 0.00000000e+00 -2.06050900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89830684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.43, Y:-2.06, Z:0.01 [[ 9.99099184e-01 4.24360847e-02 0.00000000e+00 2.24269842e+01] [-4.24360847e-02 9.99099184e-01 0.00000000e+00 -2.06483644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01744191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.07, Z:0.01 [[ 9.99287963e-01 3.77301846e-02 0.00000000e+00 2.24887806e+01] [-3.77301846e-02 9.99287963e-01 0.00000000e+00 -2.06719309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01976369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747552017999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.07, Z:0.01 [[ 9.99389408e-01 3.49401044e-02 0.00000000e+00 2.25522471e+01] [-3.49401044e-02 9.99389408e-01 0.00000000e+00 -2.06786118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25771420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.807552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.62, Y:-2.07, Z:0.01 [[ 9.99419095e-01 3.40803875e-02 0.00000000e+00 2.26156295e+01] [-3.40803875e-02 9.99419095e-01 0.00000000e+00 -2.06892935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43670585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.06, Z:0.02 [[ 9.99417046e-01 3.41404189e-02 0.00000000e+00 2.26775290e+01] [-3.41404189e-02 9.99417046e-01 0.00000000e+00 -2.06473219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53605322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927552017999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.06, Z:0.02 [[ 9.99374519e-01 3.53634006e-02 0.00000000e+00 2.27408956e+01] [-3.53634006e-02 9.99374519e-01 0.00000000e+00 -2.06374838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56084354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.987552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.80, Y:-2.06, Z:0.01 [[ 9.99265115e-01 3.83305465e-02 0.00000000e+00 2.28047068e+01] [-3.83305465e-02 9.99265115e-01 0.00000000e+00 -2.05783640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45982208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.05, Z:0.01 [[ 9.99140979e-01 4.14403762e-02 0.00000000e+00 2.28679814e+01] [-4.14403762e-02 9.99140979e-01 0.00000000e+00 -2.05457362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43796477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.05, Z:0.01 [[ 9.98962466e-01 4.55411042e-02 0.00000000e+00 2.29314080e+01] [-4.55411042e-02 9.98962466e-01 0.00000000e+00 -2.04726317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18612013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.167552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.99, Y:-2.05, Z:0.01 [[ 9.98856413e-01 4.78107236e-02 0.00000000e+00 2.29948271e+01] [-4.78107236e-02 9.98856413e-01 0.00000000e+00 -2.04545875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08796972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.06, Y:-2.04, Z:0.01 [[ 9.98735266e-01 5.02779118e-02 0.00000000e+00 2.30584736e+01] [-5.02779118e-02 9.98735266e-01 0.00000000e+00 -2.03966078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05091999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.04, Z:0.01 [[ 9.98609446e-01 5.27178766e-02 0.00000000e+00 2.31217448e+01] [-5.27178766e-02 9.98609446e-01 0.00000000e+00 -2.03703538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11352304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.18, Y:-2.03, Z:0.01 [[ 9.98227456e-01 5.95142451e-02 0.00000000e+00 2.31844229e+01] [-5.95142451e-02 9.98227456e-01 0.00000000e+00 -2.03212718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18491939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407552017999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.25, Y:-2.03, Z:0.01 [[ 9.97679824e-01 6.80806106e-02 0.00000000e+00 2.32474134e+01] [-6.80806106e-02 9.97679824e-01 0.00000000e+00 -2.02841704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38431189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.467552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.31, Y:-2.03, Z:0.01 [[ 9.97324640e-01 7.30996705e-02 0.00000000e+00 2.33103157e+01] [-7.30996705e-02 9.97324640e-01 0.00000000e+00 -2.02768677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49833483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527552017999994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:23.37, Y:-2.03, Z:0.01 [[ 9.97170636e-01 7.51712865e-02 0.00000000e+00 2.33735339e+01] [-7.51712865e-02 9.97170636e-01 0.00000000e+00 -2.03023296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10961899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587552017999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.44, Y:-2.03, Z:0.01 [[ 9.96921291e-01 7.84088039e-02 0.00000000e+00 2.34351590e+01] [-7.84088039e-02 9.96921291e-01 0.00000000e+00 -2.03263489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27330291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.647552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.50, Y:-2.04, Z:0.01 [[ 9.97113839e-01 7.59209624e-02 0.00000000e+00 2.34979054e+01] [-7.59209624e-02 9.97113839e-01 0.00000000e+00 -2.03678390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04213667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.56, Y:-2.04, Z:0.01 [[ 9.97378619e-01 7.23594589e-02 0.00000000e+00 2.35606562e+01] [-7.23594589e-02 9.97378619e-01 0.00000000e+00 -2.04241910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00271865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.62, Y:-2.05, Z:0.01 [[ 9.97684448e-01 6.80128022e-02 0.00000000e+00 2.36220628e+01] [-6.80128022e-02 9.97684448e-01 0.00000000e+00 -2.04916564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05754772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.827552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.68, Y:-2.06, Z:0.01 [[ 9.98161097e-01 6.06170232e-02 0.00000000e+00 2.36833356e+01] [-6.06170232e-02 9.98161097e-01 0.00000000e+00 -2.05734320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39542381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887552017999994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:-2.06, Z:0.00 [[ 9.98473573e-01 5.52315482e-02 0.00000000e+00 2.37460409e+01] [-5.52315482e-02 9.98473573e-01 0.00000000e+00 -2.06404032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62883458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:-2.07, Z:0.01 [[ 9.98821899e-01 4.85264175e-02 0.00000000e+00 2.38077508e+01] [-4.85264175e-02 9.98821899e-01 0.00000000e+00 -2.07246510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49215301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:-2.08, Z:0.01 [[ 9.99066757e-01 4.31927576e-02 0.00000000e+00 2.38703213e+01] [-4.31927576e-02 9.99066757e-01 0.00000000e+00 -2.07810920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.68941753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:-2.08, Z:0.01 [[ 9.99214959e-01 3.96164950e-02 0.00000000e+00 2.39333034e+01] [-3.96164950e-02 9.99214959e-01 0.00000000e+00 -2.08260750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00759375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.00, Y:-2.09, Z:0.01 [[ 9.99365676e-01 3.56124291e-02 0.00000000e+00 2.39964394e+01] [-3.56124291e-02 9.99365676e-01 0.00000000e+00 -2.08560576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10962735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.06, Y:-2.09, Z:0.01 [[ 9.99453960e-01 3.30421228e-02 0.00000000e+00 2.40592533e+01] [-3.30421228e-02 9.99453960e-01 0.00000000e+00 -2.08735180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03278586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247552017999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.12, Y:-2.09, Z:0.01 [[ 9.99588033e-01 2.87012866e-02 0.00000000e+00 2.41219232e+01] [-2.87012866e-02 9.99588033e-01 0.00000000e+00 -2.08672524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60405506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.307552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.18, Y:-2.09, Z:0.01 [[ 9.99670628e-01 2.56639033e-02 0.00000000e+00 2.41842508e+01] [-2.56639033e-02 9.99670628e-01 0.00000000e+00 -2.08637127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51359048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.25, Y:-2.08, Z:0.01 [[ 9.99746045e-01 2.25354434e-02 0.00000000e+00 2.42459318e+01] [-2.25354434e-02 9.99746045e-01 0.00000000e+00 -2.08056158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92857642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427552017999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.31, Y:-2.07, Z:0.01 [[ 9.99820208e-01 1.89618717e-02 0.00000000e+00 2.43083635e+01] [-1.89618717e-02 9.99820208e-01 0.00000000e+00 -2.07331438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28848913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.487552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.37, Y:-2.07, Z:0.01 [[ 9.99849021e-01 1.73762704e-02 0.00000000e+00 2.43699858e+01] [-1.73762704e-02 9.99849021e-01 0.00000000e+00 -2.06894825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55037058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.43, Y:-2.06, Z:0.01 [[ 9.99843483e-01 1.76921018e-02 0.00000000e+00 2.44311948e+01] [-1.76921018e-02 9.99843483e-01 0.00000000e+00 -2.05885318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53961978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.49, Y:-2.05, Z:0.01 [[ 9.99808650e-01 1.95617847e-02 0.00000000e+00 2.44926090e+01] [-1.95617847e-02 9.99808650e-01 0.00000000e+00 -2.05338061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01357217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667552017999995 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:24.55, Y:-2.04, Z:0.01 [[ 9.99695136e-01 2.46907831e-02 0.00000000e+00 2.45543952e+01] [-2.46907831e-02 9.99695136e-01 0.00000000e+00 -2.04274308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13303543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727552017999994 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:24.62, Y:-2.04, Z:0.01 [[ 9.99567664e-01 2.94021305e-02 0.00000000e+00 2.46150017e+01] [-2.94021305e-02 9.99567664e-01 0.00000000e+00 -2.03733431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81498924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787552017999996 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:24.68, Y:-2.03, Z:0.01 [[ 9.99279555e-01 3.79522289e-02 0.00000000e+00 2.46751683e+01] [-3.79522289e-02 9.99279555e-01 0.00000000e+00 -2.02780844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32581668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847552017999995 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:24.74, Y:-2.02, Z:0.01 [[ 9.98904460e-01 4.67961512e-02 0.00000000e+00 2.47356348e+01] [-4.67961512e-02 9.98904460e-01 0.00000000e+00 -2.01958330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80944949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907552017999993 meters Centerline goodness : 0.998465 with order 1 Centerline is valid? [True, True] Translation: X:24.79, Y:-2.02, Z:0.01 [[ 9.98592142e-01 5.30446366e-02 0.00000000e+00 2.47945877e+01] [-5.30446366e-02 9.98592142e-01 0.00000000e+00 -2.01570106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19066775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.967552017999996 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:24.85, Y:-2.01, Z:0.00 [[ 9.98088655e-01 6.17983488e-02 0.00000000e+00 2.48538099e+01] [-6.17983488e-02 9.98088655e-01 0.00000000e+00 -2.01164512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21845986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027552017999994 meters Centerline goodness : 0.997851 with order 1 Centerline is valid? [True, True] Translation: X:24.91, Y:-2.01, Z:0.00 [[ 9.97784302e-01 6.65318487e-02 0.00000000e+00 2.49126154e+01] [-6.65318487e-02 9.97784302e-01 0.00000000e+00 -2.01151670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63198601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087552017999993 meters Centerline goodness : 0.997538 with order 1 Centerline is valid? [True, True] Translation: X:24.97, Y:-2.01, Z:0.00 [[ 9.97399217e-01 7.20749806e-02 0.00000000e+00 2.49719472e+01] [-7.20749806e-02 9.97399217e-01 0.00000000e+00 -2.01218787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76528929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.147552017999995 meters Centerline goodness : 0.998021 with order 1 Centerline is valid? [True, True] Translation: X:25.03, Y:-2.02, Z:0.00 [[ 9.97097442e-01 7.61360030e-02 0.00000000e+00 2.50301777e+01] [-7.61360030e-02 9.97097442e-01 0.00000000e+00 -2.01582133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81155633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207552017999994 meters Centerline goodness : 0.998109 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:-2.02, Z:0.01 [[ 9.96923915e-01 7.83754307e-02 0.00000000e+00 2.50892080e+01] [-7.83754307e-02 9.96923915e-01 0.00000000e+00 -2.02143706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51854566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267552017999993 meters Centerline goodness : 0.997830 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:-2.03, Z:0.01 [[ 9.96875538e-01 7.89883667e-02 0.00000000e+00 2.51479283e+01] [-7.89883667e-02 9.96875538e-01 0.00000000e+00 -2.02819635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37503223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.327552017999995 meters Centerline goodness : 0.998243 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.04, Z:0.01 [[ 9.96995820e-01 7.74553767e-02 0.00000000e+00 2.52067184e+01] [-7.74553767e-02 9.96995820e-01 0.00000000e+00 -2.03713644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51576481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387552017999994 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:25.26, Y:-2.05, Z:0.01 [[ 9.97282959e-01 7.36661419e-02 0.00000000e+00 2.52636460e+01] [-7.36661419e-02 9.97282959e-01 0.00000000e+00 -2.04756220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42913997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447552017999996 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:-2.05, Z:0.01 [[ 9.97360547e-01 7.26081165e-02 0.00000000e+00 2.53222270e+01] [-7.26081165e-02 9.97360547e-01 0.00000000e+00 -2.05472907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10634808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507552017999995 meters Centerline goodness : 0.998549 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:-2.07, Z:0.01 [[ 9.97620349e-01 6.89466383e-02 0.00000000e+00 2.53787501e+01] [-6.89466383e-02 9.97620349e-01 0.00000000e+00 -2.06776256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00831784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567552017999994 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:25.44, Y:-2.08, Z:0.00 [[ 9.97725181e-01 6.74126364e-02 0.00000000e+00 2.54365240e+01] [-6.74126364e-02 9.97725181e-01 0.00000000e+00 -2.07726178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64661632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627552017999996 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:-2.09, Z:0.00 [[ 9.97875211e-01 6.51541432e-02 0.00000000e+00 2.54945846e+01] [-6.51541432e-02 9.97875211e-01 0.00000000e+00 -2.08664771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63075288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687552017999995 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:25.55, Y:-2.10, Z:0.00 [[ 9.98091581e-01 6.17510810e-02 0.00000000e+00 2.55528298e+01] [-6.17510810e-02 9.98091581e-01 0.00000000e+00 -2.09945388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64621128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747552017999993 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:25.61, Y:-2.11, Z:0.00 [[ 9.98396860e-01 5.66013265e-02 0.00000000e+00 2.56115938e+01] [-5.66013265e-02 9.98396860e-01 0.00000000e+00 -2.11113061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78291412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.807552017999996 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:25.67, Y:-2.12, Z:0.00 [[ 9.98653541e-01 5.18758612e-02 0.00000000e+00 2.56707804e+01] [-5.18758612e-02 9.98653541e-01 0.00000000e+00 -2.12025427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07847325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867552017999994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:-2.13, Z:0.01 [[ 9.99064791e-01 4.32382135e-02 0.00000000e+00 2.57303029e+01] [-4.32382135e-02 9.99064791e-01 0.00000000e+00 -2.12971512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24265284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927552017999993 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:25.79, Y:-2.14, Z:0.01 [[ 9.99243373e-01 3.88931966e-02 0.00000000e+00 2.57902678e+01] [-3.88931966e-02 9.99243373e-01 0.00000000e+00 -2.13666606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33602698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.987552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:-2.14, Z:0.01 [[ 9.99356003e-01 3.58828639e-02 0.00000000e+00 2.58497160e+01] [-3.58828639e-02 9.99356003e-01 0.00000000e+00 -2.14277483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.46744179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047552017999994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:25.91, Y:-2.15, Z:0.01 [[ 9.99350991e-01 3.60221744e-02 0.00000000e+00 2.59100266e+01] [-3.60221744e-02 9.99350991e-01 0.00000000e+00 -2.14682635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77026533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107552017999993 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:-2.15, Z:0.01 [[ 9.99310734e-01 3.71221959e-02 0.00000000e+00 2.59692083e+01] [-3.71221959e-02 9.99310734e-01 0.00000000e+00 -2.15019340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87643193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167552017999995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:-2.15, Z:0.00 [[ 9.99125218e-01 4.18186396e-02 0.00000000e+00 2.60291356e+01] [-4.18186396e-02 9.99125218e-01 0.00000000e+00 -2.15263170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08379962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227552017999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:26.09, Y:-2.15, Z:0.00 [[ 9.98903651e-01 4.68134246e-02 0.00000000e+00 2.60891404e+01] [-4.68134246e-02 9.98903651e-01 0.00000000e+00 -2.15369531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19793736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287552017999996 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:26.15, Y:-2.15, Z:0.00 [[ 9.98558573e-01 5.36728646e-02 0.00000000e+00 2.61485467e+01] [-5.36728646e-02 9.98558573e-01 0.00000000e+00 -2.15413485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46997287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347552017999995 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:26.21, Y:-2.16, Z:0.01 [[ 9.98457206e-01 5.55266352e-02 0.00000000e+00 2.62080714e+01] [-5.55266352e-02 9.98457206e-01 0.00000000e+00 -2.15674724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58905491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407552017999993 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:26.27, Y:-2.16, Z:0.01 [[ 9.98456470e-01 5.55398791e-02 0.00000000e+00 2.62673538e+01] [-5.55398791e-02 9.98456470e-01 0.00000000e+00 -2.15807301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44099561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467552017999996 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:26.33, Y:-2.16, Z:0.01 [[ 9.98531368e-01 5.41766225e-02 0.00000000e+00 2.63267363e+01] [-5.41766225e-02 9.98531368e-01 0.00000000e+00 -2.16114765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36685008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527552017999994 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:-2.16, Z:0.00 [[ 9.98724333e-01 5.04946204e-02 0.00000000e+00 2.63866737e+01] [-5.04946204e-02 9.98724333e-01 0.00000000e+00 -2.16411860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22529653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587552017999993 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:-2.17, Z:0.00 [[ 9.98920107e-01 4.64609427e-02 0.00000000e+00 2.64463238e+01] [-4.64609427e-02 9.98920107e-01 0.00000000e+00 -2.16694479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58818337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.647552017999995 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:-2.17, Z:0.00 [[ 9.99037407e-01 4.38663702e-02 0.00000000e+00 2.65055501e+01] [-4.38663702e-02 9.99037407e-01 0.00000000e+00 -2.16993786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52727864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707552017999994 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:26.57, Y:-2.17, Z:0.00 [[ 9.99228525e-01 3.92728129e-02 0.00000000e+00 2.65653350e+01] [-3.92728129e-02 9.99228525e-01 0.00000000e+00 -2.17130072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71486959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767552017999993 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:26.63, Y:-2.17, Z:0.00 [[ 9.99376431e-01 3.53093410e-02 0.00000000e+00 2.66256418e+01] [-3.53093410e-02 9.99376431e-01 0.00000000e+00 -2.17317222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18833937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827552017999995 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:26.69, Y:-2.17, Z:0.00 [[ 9.99604646e-01 2.81167395e-02 0.00000000e+00 2.66861483e+01] [-2.81167395e-02 9.99604646e-01 0.00000000e+00 -2.17368357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26538618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887552017999994 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:26.75, Y:-2.17, Z:0.00 [[ 9.99809289e-01 1.95291032e-02 0.00000000e+00 2.67455605e+01] [-1.95291032e-02 9.99809289e-01 0.00000000e+00 -2.17222528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53032026e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947552017999993 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:26.81, Y:-2.17, Z:0.00 [[ 9.99905255e-01 1.37652275e-02 0.00000000e+00 2.68053299e+01] [-1.37652275e-02 9.99905255e-01 0.00000000e+00 -2.17141528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15909931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007552017999995 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:26.87, Y:-2.17, Z:0.00 [[ 9.99960691e-01 8.86664582e-03 0.00000000e+00 2.68650867e+01] [-8.86664582e-03 9.99960691e-01 0.00000000e+00 -2.16993358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63712935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067552017999994 meters Centerline goodness : 0.997473 with order 1 Centerline is valid? [True, True] Translation: X:26.93, Y:-2.16, Z:-0.00 [[ 9.99995582e-01 2.97238351e-03 0.00000000e+00 2.69257250e+01] [-2.97238351e-03 9.99995582e-01 0.00000000e+00 -2.16308205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30395018e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127552017999996 meters Centerline goodness : 0.996692 with order 1 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.15, Z:-0.00 [[ 9.99997781e-01 -2.10644380e-03 0.00000000e+00 2.69866026e+01] [ 2.10644380e-03 9.99997781e-01 0.00000000e+00 -2.15391532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84496368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187552017999995 meters Centerline goodness : 0.995282 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.15, Z:-0.00 [[ 9.99990778e-01 -4.29457812e-03 0.00000000e+00 2.70475402e+01] [ 4.29457812e-03 9.99990778e-01 0.00000000e+00 -2.14731466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86778840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247552017999993 meters Centerline goodness : 0.993113 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.13, Z:-0.00 [[ 9.99987767e-01 -4.94630136e-03 0.00000000e+00 2.71095097e+01] [ 4.94630136e-03 9.99987767e-01 0.00000000e+00 -2.13342575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89761677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.307552017999996 meters Centerline goodness : 0.991373 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.12, Z:-0.01 [[ 9.99987970e-01 -4.90506174e-03 0.00000000e+00 2.71714103e+01] [ 4.90506174e-03 9.99987970e-01 0.00000000e+00 -2.12329725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09857584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367552017999994 meters Centerline goodness : 0.989976 with order 1 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.11, Z:-0.01 [[ 9.99988791e-01 -4.73465446e-03 0.00000000e+00 2.72331754e+01] [ 4.73465446e-03 9.99988791e-01 0.00000000e+00 -2.11350531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27662399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427552017999993 meters Centerline goodness : 0.987372 with order 1 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.11, Z:-0.01 [[ 9.99995431e-01 -3.02282836e-03 0.00000000e+00 2.72949620e+01] [ 3.02282836e-03 9.99995431e-01 0.00000000e+00 -2.10839908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25695911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.487552017999995 meters Centerline goodness : 0.985629 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.09, Z:-0.01 [[ 9.99989431e-01 -4.59767174e-03 0.00000000e+00 2.73570061e+01] [ 4.59767174e-03 9.99989431e-01 0.00000000e+00 -2.09458249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17249676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547552017999994 meters Centerline goodness : 0.984317 with order 1 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.09, Z:-0.01 [[ 9.99972344e-01 -7.43714373e-03 0.00000000e+00 2.74179280e+01] [ 7.43714373e-03 9.99972344e-01 0.00000000e+00 -2.08554208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16006089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607552017999993 meters Centerline goodness : 0.985285 with order 1 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.07, Z:-0.01 [[ 9.99965052e-01 -8.36031792e-03 0.00000000e+00 2.74803503e+01] [ 8.36031792e-03 9.99965052e-01 0.00000000e+00 -2.07063341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00374601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667552017999995 meters Centerline goodness : 0.985891 with order 1 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.06, Z:-0.01 [[ 9.99977643e-01 -6.68686657e-03 0.00000000e+00 2.75431141e+01] [ 6.68686657e-03 9.99977643e-01 0.00000000e+00 -2.05554193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.04901713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727552017999994 meters Centerline goodness : 0.989273 with order 1 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.04, Z:-0.01 [[ 9.99955557e-01 -9.42781936e-03 0.00000000e+00 2.76068395e+01] [ 9.42781936e-03 9.99955557e-01 0.00000000e+00 -2.04132264e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38850293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787552017999992 meters Centerline goodness : 0.991034 with order 1 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.03, Z:-0.01 [[ 9.99974566e-01 -7.13215820e-03 0.00000000e+00 2.76700466e+01] [ 7.13215820e-03 9.99974566e-01 0.00000000e+00 -2.02804059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62496045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847552017999995 meters Centerline goodness : 0.991650 with order 1 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.02, Z:-0.01 [[ 9.99974805e-01 -7.09856989e-03 0.00000000e+00 2.77327689e+01] [ 7.09856989e-03 9.99974805e-01 0.00000000e+00 -2.02089228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92221167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907552017999993 meters Centerline goodness : 0.991759 with order 1 Centerline is valid? [True, True] Translation: X:27.80, Y:-2.02, Z:-0.01 [[ 9.99996718e-01 -2.56208300e-03 0.00000000e+00 2.77955327e+01] [ 2.56208300e-03 9.99996718e-01 0.00000000e+00 -2.01520305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81860286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967552017999996 meters Centerline goodness : 0.992408 with order 1 Centerline is valid? [True, True] Translation: X:27.86, Y:-2.01, Z:-0.01 [[ 9.99995502e-01 -2.99941807e-03 0.00000000e+00 2.78577420e+01] [ 2.99941807e-03 9.99995502e-01 0.00000000e+00 -2.00823252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83213740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027552017999994 meters Centerline goodness : 0.991868 with order 1 Centerline is valid? [True, True] Translation: X:27.92, Y:-2.00, Z:-0.01 [[ 9.99997575e-01 -2.20213484e-03 0.00000000e+00 2.79191540e+01] [ 2.20213484e-03 9.99997575e-01 0.00000000e+00 -1.99815053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09034071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087552017999993 meters Centerline goodness : 0.992295 with order 1 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.99, Z:-0.01 [[ 9.99997307e-01 -2.32091835e-03 0.00000000e+00 2.79815300e+01] [ 2.32091835e-03 9.99997307e-01 0.00000000e+00 -1.99072615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69577605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.147552017999995 meters Centerline goodness : 0.991719 with order 1 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.98, Z:-0.01 [[ 9.99999468e-01 -1.03140812e-03 0.00000000e+00 2.80434003e+01] [ 1.03140812e-03 9.99999468e-01 0.00000000e+00 -1.98399418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75348747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207552017999994 meters Centerline goodness : 0.990985 with order 1 Centerline is valid? [True, True] Translation: X:28.10, Y:-1.97, Z:-0.01 [[ 9.99999676e-01 -8.05006789e-04 0.00000000e+00 2.81047363e+01] [ 8.05006789e-04 9.99999676e-01 0.00000000e+00 -1.97412079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78892625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267552017999993 meters Centerline goodness : 0.992082 with order 1 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.97, Z:-0.01 [[ 9.99996662e-01 -2.58377191e-03 0.00000000e+00 2.81657792e+01] [ 2.58377191e-03 9.99996662e-01 0.00000000e+00 -1.96937794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16994500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327552017999995 meters Centerline goodness : 0.992112 with order 1 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.96, Z:-0.01 [[ 9.99993534e-01 -3.59601773e-03 0.00000000e+00 2.82284210e+01] [ 3.59601773e-03 9.99993534e-01 0.00000000e+00 -1.95974572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50171163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387552017999994 meters Centerline goodness : 0.992443 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:-1.96, Z:-0.01 [[ 9.99998588e-01 -1.68041227e-03 0.00000000e+00 2.82902152e+01] [ 1.68041227e-03 9.99998588e-01 0.00000000e+00 -1.95545215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05807276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447552017999993 meters Centerline goodness : 0.991719 with order 1 Centerline is valid? [True, True] Translation: X:28.35, Y:-1.95, Z:-0.01 [[ 9.99979787e-01 6.35804980e-03 0.00000000e+00 2.83529479e+01] [-6.35804980e-03 9.99979787e-01 0.00000000e+00 -1.94575568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14154285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507552017999995 meters Centerline goodness : 0.991802 with order 1 Centerline is valid? [True, True] Translation: X:28.41, Y:-1.94, Z:-0.01 [[ 9.99845728e-01 1.75647710e-02 0.00000000e+00 2.84117825e+01] [-1.75647710e-02 9.99845728e-01 0.00000000e+00 -1.93557684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34543207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567552017999994 meters Centerline goodness : 0.990731 with order 1 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.93, Z:-0.01 [[ 9.99701037e-01 2.44506994e-02 0.00000000e+00 2.84698665e+01] [-2.44506994e-02 9.99701037e-01 0.00000000e+00 -1.93202485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18118150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627552017999992 meters Centerline goodness : 0.992007 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.93, Z:-0.01 [[ 9.99609298e-01 2.79508804e-02 0.00000000e+00 2.85268778e+01] [-2.79508804e-02 9.99609298e-01 0.00000000e+00 -1.92797292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51458321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687552017999995 meters Centerline goodness : 0.991060 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.92, Z:-0.01 [[ 9.99526352e-01 3.07745341e-02 0.00000000e+00 2.85855320e+01] [-3.07745341e-02 9.99526352e-01 0.00000000e+00 -1.92209743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65192068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747552017999993 meters Centerline goodness : 0.991190 with order 1 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.92, Z:-0.01 [[ 9.99524479e-01 3.08352882e-02 0.00000000e+00 2.86440297e+01] [-3.08352882e-02 9.99524479e-01 0.00000000e+00 -1.92253401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.87314187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807552017999996 meters Centerline goodness : 0.990492 with order 1 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.92, Z:-0.01 [[ 9.99417725e-01 3.41205232e-02 0.00000000e+00 2.87025540e+01] [-3.41205232e-02 9.99417725e-01 0.00000000e+00 -1.92222045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26512492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867552017999994 meters Centerline goodness : 0.990074 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.92, Z:-0.01 [[ 9.99354043e-01 3.59373878e-02 0.00000000e+00 2.87617884e+01] [-3.59373878e-02 9.99354043e-01 0.00000000e+00 -1.92197391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10131483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927552017999993 meters Centerline goodness : 0.990329 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.92, Z:-0.01 [[ 9.99193668e-01 4.01498995e-02 0.00000000e+00 2.88198070e+01] [-4.01498995e-02 9.99193668e-01 0.00000000e+00 -1.92192949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.70218493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987552017999995 meters Centerline goodness : 0.991026 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.92, Z:-0.01 [[ 9.99057839e-01 4.33985555e-02 0.00000000e+00 2.88788033e+01] [-4.33985555e-02 9.99057839e-01 0.00000000e+00 -1.92340181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90713884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047552017999994 meters Centerline goodness : 0.990742 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.93, Z:-0.00 [[ 9.99065821e-01 4.32144013e-02 0.00000000e+00 2.89374101e+01] [-4.32144013e-02 9.99065821e-01 0.00000000e+00 -1.92507086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31878196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107552017999993 meters Centerline goodness : 0.989834 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.93, Z:-0.00 [[ 9.99054477e-01 4.34758676e-02 0.00000000e+00 2.89954111e+01] [-4.34758676e-02 9.99054477e-01 0.00000000e+00 -1.93110187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62270630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167552017999995 meters Centerline goodness : 0.990254 with order 1 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.94, Z:-0.00 [[ 9.99155481e-01 4.10892306e-02 0.00000000e+00 2.90532381e+01] [-4.10892306e-02 9.99155481e-01 0.00000000e+00 -1.93581187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15811530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227552017999994 meters Centerline goodness : 0.990789 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.94, Z:-0.01 [[ 9.99311609e-01 3.70986250e-02 0.00000000e+00 2.91117655e+01] [-3.70986250e-02 9.99311609e-01 0.00000000e+00 -1.94347567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08480842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287552017999992 meters Centerline goodness : 0.990780 with order 1 Centerline is valid? [True, True] Translation: X:29.17, Y:-1.95, Z:-0.01 [[ 9.99384906e-01 3.50686544e-02 0.00000000e+00 2.91681491e+01] [-3.50686544e-02 9.99384906e-01 0.00000000e+00 -1.94881473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92000487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347552017999995 meters Centerline goodness : 0.990887 with order 1 Centerline is valid? [True, True] Translation: X:29.23, Y:-1.95, Z:-0.01 [[ 9.99471245e-01 3.25150882e-02 0.00000000e+00 2.92267845e+01] [-3.25150882e-02 9.99471245e-01 0.00000000e+00 -1.95387712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77797611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407552017999993 meters Centerline goodness : 0.990631 with order 1 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.96, Z:-0.00 [[ 9.99583714e-01 2.88513267e-02 0.00000000e+00 2.92848578e+01] [-2.88513267e-02 9.99583714e-01 0.00000000e+00 -1.95679635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46319139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467552017999992 meters Centerline goodness : 0.991685 with order 1 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.96, Z:-0.00 [[ 9.99620442e-01 2.75494469e-02 0.00000000e+00 2.93431803e+01] [-2.75494469e-02 9.99620442e-01 0.00000000e+00 -1.96013219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92849767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527552017999994 meters Centerline goodness : 0.991496 with order 1 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.96, Z:0.00 [[ 9.99641811e-01 2.67628554e-02 0.00000000e+00 2.94016269e+01] [-2.67628554e-02 9.99641811e-01 0.00000000e+00 -1.96193219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16535505e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587552017999993 meters Centerline goodness : 0.991373 with order 1 Centerline is valid? [True, True] Translation: X:29.46, Y:-1.96, Z:-0.00 [[ 9.99624890e-01 2.73875588e-02 0.00000000e+00 2.94601603e+01] [-2.73875588e-02 9.99624890e-01 0.00000000e+00 -1.96434545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17575805e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.647552017999995 meters Centerline goodness : 0.991576 with order 1 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.97, Z:-0.00 [[ 9.99597186e-01 2.83807418e-02 0.00000000e+00 2.95186966e+01] [-2.83807418e-02 9.99597186e-01 0.00000000e+00 -1.96525677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30416996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707552017999994 meters Centerline goodness : 0.990240 with order 1 Centerline is valid? [True, True] Translation: X:29.58, Y:-1.97, Z:-0.00 [[ 9.99529746e-01 3.06641126e-02 0.00000000e+00 2.95760467e+01] [-3.06641126e-02 9.99529746e-01 0.00000000e+00 -1.96792237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94430631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767552017999993 meters Centerline goodness : 0.990772 with order 1 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.97, Z:-0.00 [[ 9.99321096e-01 3.68421820e-02 0.00000000e+00 2.96352272e+01] [-3.68421820e-02 9.99321096e-01 0.00000000e+00 -1.96977184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29564946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827552017999995 meters Centerline goodness : 0.991332 with order 1 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.97, Z:-0.00 [[ 9.99330176e-01 3.65950608e-02 0.00000000e+00 2.96922050e+01] [-3.65950608e-02 9.99330176e-01 0.00000000e+00 -1.97090917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42179202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887552017999994 meters Centerline goodness : 0.990644 with order 1 Centerline is valid? [True, True] Translation: X:29.75, Y:-1.97, Z:-0.00 [[ 9.99158742e-01 4.10098662e-02 0.00000000e+00 2.97499700e+01] [-4.10098662e-02 9.99158742e-01 0.00000000e+00 -1.97182705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49763164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947552017999993 meters Centerline goodness : 0.989995 with order 1 Centerline is valid? [True, True] Translation: X:29.81, Y:-1.97, Z:-0.00 [[ 9.99012091e-01 4.44392060e-02 0.00000000e+00 2.98081497e+01] [-4.44392060e-02 9.99012091e-01 0.00000000e+00 -1.97296469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24989300e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007552017999995 meters Centerline goodness : 0.990040 with order 1 Centerline is valid? [True, True] Translation: X:29.87, Y:-1.97, Z:0.00 [[ 9.98648113e-01 5.19802580e-02 0.00000000e+00 2.98661922e+01] [-5.19802580e-02 9.98648113e-01 0.00000000e+00 -1.97461661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60929438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067552017999994 meters Centerline goodness : 0.990574 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:-1.98, Z:0.00 [[ 9.98357877e-01 5.72848117e-02 0.00000000e+00 2.99243944e+01] [-5.72848117e-02 9.98357877e-01 0.00000000e+00 -1.97593665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71482739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127552017999992 meters Centerline goodness : 0.991362 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:-1.98, Z:0.01 [[ 9.97860036e-01 6.53861561e-02 0.00000000e+00 2.99828065e+01] [-6.53861561e-02 9.97860036e-01 0.00000000e+00 -1.97850998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28143676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187552017999995 meters Centerline goodness : 0.991277 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.98, Z:0.00 [[ 9.97582324e-01 6.94946469e-02 0.00000000e+00 3.00401770e+01] [-6.94946469e-02 9.97582324e-01 0.00000000e+00 -1.98375094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61979104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247552017999993 meters Centerline goodness : 0.990828 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.99, Z:0.01 [[ 9.97274326e-01 7.37829155e-02 0.00000000e+00 3.00991301e+01] [-7.37829155e-02 9.97274326e-01 0.00000000e+00 -1.98966586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11019516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307552017999992 meters Centerline goodness : 0.990419 with order 1 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.00, Z:0.01 [[ 9.97294140e-01 7.35146164e-02 0.00000000e+00 3.01580994e+01] [-7.35146164e-02 9.97294140e-01 0.00000000e+00 -1.99608121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35955331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367552017999994 meters Centerline goodness : 0.989364 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.00, Z:0.01 [[ 9.97751626e-01 6.70200884e-02 0.00000000e+00 3.02156902e+01] [-6.70200884e-02 9.97751626e-01 0.00000000e+00 -2.00433711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91129392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427552017999993 meters Centerline goodness : 0.992257 with order 1 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.00, Z:0.02 [[ 9.98579994e-01 5.32728335e-02 0.00000000e+00 3.02745938e+01] [-5.32728335e-02 9.98579994e-01 0.00000000e+00 -2.00289787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65646964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487552017999995 meters Centerline goodness : 0.989670 with order 1 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.02, Z:0.01 [[ 9.98240865e-01 5.92889108e-02 0.00000000e+00 3.03333235e+01] [-5.92889108e-02 9.98240865e-01 0.00000000e+00 -2.02114945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44058030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547552017999994 meters Centerline goodness : 0.990077 with order 1 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.03, Z:0.01 [[ 9.98345504e-01 5.75000435e-02 0.00000000e+00 3.03916238e+01] [-5.75000435e-02 9.98345504e-01 0.00000000e+00 -2.02751727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.26072987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607552017999993 meters Centerline goodness : 0.990661 with order 1 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.03, Z:0.01 [[ 9.98505254e-01 5.46558183e-02 0.00000000e+00 3.04505842e+01] [-5.46558183e-02 9.98505254e-01 0.00000000e+00 -2.03164079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57328926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667552017999995 meters Centerline goodness : 0.989732 with order 1 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.04, Z:0.01 [[ 9.98528398e-01 5.42313379e-02 0.00000000e+00 3.05101002e+01] [-5.42313379e-02 9.98528398e-01 0.00000000e+00 -2.03986077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18557070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727552017999994 meters Centerline goodness : 0.989965 with order 1 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.05, Z:0.01 [[ 9.98629340e-01 5.23396720e-02 0.00000000e+00 3.05696045e+01] [-5.23396720e-02 9.98629340e-01 0.00000000e+00 -2.04594269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39751120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787552017999992 meters Centerline goodness : 0.989529 with order 1 Centerline is valid? [True, True] Translation: X:30.63, Y:-2.05, Z:0.01 [[ 9.98812420e-01 4.87211323e-02 0.00000000e+00 3.06270748e+01] [-4.87211323e-02 9.98812420e-01 0.00000000e+00 -2.05051757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95931823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847552017999995 meters Centerline goodness : 0.990182 with order 1 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.06, Z:0.00 [[ 9.98889653e-01 4.71111470e-02 0.00000000e+00 3.06846834e+01] [-4.71111470e-02 9.98889653e-01 0.00000000e+00 -2.05658189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62240078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907552017999993 meters Centerline goodness : 0.990604 with order 1 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.06, Z:0.00 [[ 9.99039133e-01 4.38270478e-02 0.00000000e+00 3.07432730e+01] [-4.38270478e-02 9.99039133e-01 0.00000000e+00 -2.06395010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36795096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967552017999992 meters Centerline goodness : 0.992018 with order 1 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.07, Z:0.00 [[ 9.99259541e-01 3.84755689e-02 0.00000000e+00 3.08028364e+01] [-3.84755689e-02 9.99259541e-01 0.00000000e+00 -2.06707720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27361933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027552017999994 meters Centerline goodness : 0.992232 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.07, Z:0.00 [[ 9.99363916e-01 3.56617818e-02 0.00000000e+00 3.08617487e+01] [-3.56617818e-02 9.99363916e-01 0.00000000e+00 -2.07426422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30556315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087552017999993 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.08, Z:-0.00 [[ 9.99416743e-01 3.41492755e-02 0.00000000e+00 3.09196899e+01] [-3.41492755e-02 9.99416743e-01 0.00000000e+00 -2.08459067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04398393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147552017999995 meters Centerline goodness : 0.992200 with order 1 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.09, Z:-0.00 [[ 9.99435327e-01 3.36010082e-02 0.00000000e+00 3.09776849e+01] [-3.36010082e-02 9.99435327e-01 0.00000000e+00 -2.09137843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34437555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207552017999994 meters Centerline goodness : 0.992305 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.10, Z:-0.00 [[ 9.99471810e-01 3.24977035e-02 0.00000000e+00 3.10356179e+01] [-3.24977035e-02 9.99471810e-01 0.00000000e+00 -2.10286143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88129808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267552017999993 meters Centerline goodness : 0.991799 with order 1 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.11, Z:-0.01 [[ 9.99432067e-01 3.36978292e-02 0.00000000e+00 3.10934775e+01] [-3.36978292e-02 9.99432067e-01 0.00000000e+00 -2.11211541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74649977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327552017999995 meters Centerline goodness : 0.991762 with order 1 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.13, Z:-0.01 [[ 9.99297695e-01 3.74715509e-02 0.00000000e+00 3.11515956e+01] [-3.74715509e-02 9.99297695e-01 0.00000000e+00 -2.12692436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.32108742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387552017999994 meters Centerline goodness : 0.990668 with order 1 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.14, Z:-0.01 [[ 9.99142321e-01 4.14079993e-02 0.00000000e+00 3.12096106e+01] [-4.14079993e-02 9.99142321e-01 0.00000000e+00 -2.13833533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15146674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447552017999993 meters Centerline goodness : 0.990787 with order 1 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.15, Z:-0.01 [[ 9.98861509e-01 4.77041451e-02 0.00000000e+00 3.12676642e+01] [-4.77041451e-02 9.98861509e-01 0.00000000e+00 -2.15359488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33042437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507552017999995 meters Centerline goodness : 0.990116 with order 1 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.17, Z:-0.02 [[ 9.98538352e-01 5.40477538e-02 0.00000000e+00 3.13255222e+01] [-5.40477538e-02 9.98538352e-01 0.00000000e+00 -2.16819001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80198139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567552017999994 meters Centerline goodness : 0.990831 with order 1 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.18, Z:-0.02 [[ 9.98332013e-01 5.77337946e-02 0.00000000e+00 3.13835482e+01] [-5.77337946e-02 9.98332013e-01 0.00000000e+00 -2.18004851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82948806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627552017999992 meters Centerline goodness : 0.991658 with order 1 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.20, Z:-0.02 [[ 9.98041152e-01 6.25608466e-02 0.00000000e+00 3.14406967e+01] [-6.25608466e-02 9.98041152e-01 0.00000000e+00 -2.19887634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94104285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687552017999995 meters Centerline goodness : 0.991381 with order 1 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.22, Z:-0.02 [[ 9.98057375e-01 6.23014967e-02 0.00000000e+00 3.14974146e+01] [-6.23014967e-02 9.98057375e-01 0.00000000e+00 -2.22421404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38956045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747552017999993 meters Centerline goodness : 0.991295 with order 1 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.24, Z:-0.03 [[ 9.98302285e-01 5.82455731e-02 0.00000000e+00 3.15552323e+01] [-5.82455731e-02 9.98302285e-01 0.00000000e+00 -2.24300322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61676984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807552017999992 meters Centerline goodness : 0.992692 with order 1 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.26, Z:-0.02 [[ 9.99054389e-01 4.34779095e-02 0.00000000e+00 3.16117554e+01] [-4.34779095e-02 9.99054389e-01 0.00000000e+00 -2.26058574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46720794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867552017999994 meters Centerline goodness : 0.991764 with order 1 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.28, Z:-0.03 [[ 9.99282170e-01 3.78833049e-02 0.00000000e+00 3.16690295e+01] [-3.78833049e-02 9.99282170e-01 0.00000000e+00 -2.27994025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56450778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927552017999993 meters Centerline goodness : 0.989163 with order 1 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.31, Z:-0.03 [[ 9.99349857e-01 3.60536050e-02 0.00000000e+00 3.17247900e+01] [-3.60536050e-02 9.99349857e-01 0.00000000e+00 -2.31336218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85927216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.987552017999995 meters Centerline goodness : 0.991213 with order 1 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.32, Z:-0.03 [[ 9.99645519e-01 2.66239686e-02 0.00000000e+00 3.17816009e+01] [-2.66239686e-02 9.99645519e-01 0.00000000e+00 -2.32321078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72964859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04755201799999 meters Centerline goodness : 0.989619 with order 1 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.35, Z:-0.03 [[ 9.99769046e-01 2.14908163e-02 0.00000000e+00 3.18388394e+01] [-2.14908163e-02 9.99769046e-01 0.00000000e+00 -2.34756646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11093306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10755201799999 meters Centerline goodness : 0.989125 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.37, Z:-0.03 [[ 9.99845242e-01 1.75924145e-02 0.00000000e+00 3.18965867e+01] [-1.75924145e-02 9.99845242e-01 0.00000000e+00 -2.36515129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37654462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167552017999995 meters Centerline goodness : 0.985498 with order 1 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.40, Z:-0.04 [[ 9.99814278e-01 1.92719735e-02 0.00000000e+00 3.19523046e+01] [-1.92719735e-02 9.99814278e-01 0.00000000e+00 -2.39745136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01731515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22755201799999 meters Centerline goodness : 0.986253 with order 1 Centerline is valid? [True, True] Translation: X:32.01, Y:-2.41, Z:-0.04 [[ 9.99957625e-01 9.20585038e-03 0.00000000e+00 3.20114968e+01] [-9.20585038e-03 9.99957625e-01 0.00000000e+00 -2.40667979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54691653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28755201799999 meters Centerline goodness : 0.987483 with order 1 Centerline is valid? [True, True] Translation: X:32.07, Y:-2.42, Z:-0.04 [[ 9.99975247e-01 7.03598644e-03 0.00000000e+00 3.20697315e+01] [-7.03598644e-03 9.99975247e-01 0.00000000e+00 -2.42240856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69305537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.347552017999995 meters Centerline goodness : 0.986994 with order 1 Centerline is valid? [True, True] Translation: X:32.13, Y:-2.43, Z:-0.04 [[ 9.99976200e-01 6.89920493e-03 0.00000000e+00 3.21278129e+01] [-6.89920493e-03 9.99976200e-01 0.00000000e+00 -2.43162601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81297051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.407552018 meters Centerline goodness : 0.988543 with order 1 Centerline is valid? [True, True] Translation: X:32.19, Y:-2.44, Z:-0.04 [[ 9.99974470e-01 7.14564355e-03 0.00000000e+00 3.21871967e+01] [-7.14564355e-03 9.99974470e-01 0.00000000e+00 -2.44051040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84364981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46755201799999 meters Centerline goodness : 0.988841 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.45, Z:-0.04 [[ 9.99971762e-01 7.51506042e-03 0.00000000e+00 3.22453562e+01] [-7.51506042e-03 9.99971762e-01 0.00000000e+00 -2.44643043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78360289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.527552017999994 meters Centerline goodness : 0.987346 with order 1 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.45, Z:-0.03 [[ 9.99964600e-01 8.41419381e-03 0.00000000e+00 3.23046468e+01] [-8.41419381e-03 9.99964600e-01 0.00000000e+00 -2.45324193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97942461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.587552018 meters Centerline goodness : 0.988616 with order 1 Centerline is valid? [True, True] Translation: X:32.36, Y:-2.45, Z:-0.03 [[ 9.99999691e-01 7.86480906e-04 0.00000000e+00 3.23637677e+01] [-7.86480906e-04 9.99999691e-01 0.00000000e+00 -2.45419173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01622827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64755201799999 meters Centerline goodness : 0.988349 with order 1 Centerline is valid? [True, True] Translation: X:32.42, Y:-2.46, Z:-0.03 [[ 9.99993405e-01 -3.63185290e-03 0.00000000e+00 3.24241707e+01] [ 3.63185290e-03 9.99993405e-01 0.00000000e+00 -2.45836796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98392292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.707552017999994 meters Centerline goodness : 0.986890 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:-2.46, Z:-0.03 [[ 9.99990805e-01 -4.28829673e-03 0.00000000e+00 3.24851539e+01] [ 4.28829673e-03 9.99990805e-01 0.00000000e+00 -2.46468568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82195927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767552017999996 meters Centerline goodness : 0.987571 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:-2.46, Z:-0.03 [[ 9.99961091e-01 -8.82135222e-03 0.00000000e+00 3.25473723e+01] [ 8.82135222e-03 9.99961091e-01 0.00000000e+00 -2.45918675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82223959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82755201799999 meters Centerline goodness : 0.986831 with order 1 Centerline is valid? [True, True] Translation: X:32.61, Y:-2.46, Z:-0.03 [[ 9.99953070e-01 -9.68800891e-03 0.00000000e+00 3.26088682e+01] [ 9.68800891e-03 9.99953070e-01 0.00000000e+00 -2.45598692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90958285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.887552017999994 meters Centerline goodness : 0.985904 with order 1 Centerline is valid? [True, True] Translation: X:32.67, Y:-2.46, Z:-0.03 [[ 9.99974970e-01 -7.07531003e-03 0.00000000e+00 3.26705996e+01] [ 7.07531003e-03 9.99974970e-01 0.00000000e+00 -2.46010575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53725615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947552017999996 meters Centerline goodness : 0.987255 with order 1 Centerline is valid? [True, True] Translation: X:32.73, Y:-2.45, Z:-0.02 [[ 9.99970731e-01 -7.65096418e-03 0.00000000e+00 3.27329615e+01] [ 7.65096418e-03 9.99970731e-01 0.00000000e+00 -2.45197305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33604194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00755201799999 meters Centerline goodness : 0.987287 with order 1 Centerline is valid? [True, True] Translation: X:32.79, Y:-2.45, Z:-0.02 [[ 9.99990140e-01 -4.44064333e-03 0.00000000e+00 3.27940254e+01] [ 4.44064333e-03 9.99990140e-01 0.00000000e+00 -2.45089900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21018549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06755201799999 meters Centerline goodness : 0.987752 with order 1 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.45, Z:-0.02 [[ 9.99996017e-01 -2.82227530e-03 0.00000000e+00 3.28543939e+01] [ 2.82227530e-03 9.99996017e-01 0.00000000e+00 -2.45277326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23135576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127552017999996 meters Centerline goodness : 0.986051 with order 1 Centerline is valid? [True, True] Translation: X:32.92, Y:-2.46, Z:-0.02 [[ 9.99984470e-01 5.57316899e-03 0.00000000e+00 3.29151654e+01] [-5.57316899e-03 9.99984470e-01 0.00000000e+00 -2.45594131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89741196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18755201799999 meters Centerline goodness : 0.986804 with order 1 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.45, Z:-0.02 [[ 9.99996450e-01 2.66445112e-03 0.00000000e+00 3.29745014e+01] [-2.66445112e-03 9.99996450e-01 0.00000000e+00 -2.45396185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66372339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24755201799999 meters Centerline goodness : 0.986047 with order 1 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.46, Z:-0.02 [[ 9.99999311e-01 1.17377486e-03 0.00000000e+00 3.30335591e+01] [-1.17377486e-03 9.99999311e-01 0.00000000e+00 -2.45763923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73909004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307552017999996 meters Centerline goodness : 0.984836 with order 1 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.46, Z:-0.01 [[ 9.99996334e-01 -2.70789777e-03 0.00000000e+00 3.30942138e+01] [ 2.70789777e-03 9.99996334e-01 0.00000000e+00 -2.45980077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35885834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36755201799999 meters Centerline goodness : 0.985603 with order 1 Centerline is valid? [True, True] Translation: X:33.16, Y:-2.46, Z:-0.01 [[ 9.99995177e-01 -3.10580360e-03 0.00000000e+00 3.31555910e+01] [ 3.10580360e-03 9.99995177e-01 0.00000000e+00 -2.46193031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20149847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42755201799999 meters Centerline goodness : 0.985103 with order 1 Centerline is valid? [True, True] Translation: X:33.22, Y:-2.46, Z:-0.01 [[ 9.99998457e-01 -1.75656790e-03 0.00000000e+00 3.32159760e+01] [ 1.75656790e-03 9.99998457e-01 0.00000000e+00 -2.46117150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23590086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487552017999995 meters Centerline goodness : 0.985282 with order 1 Centerline is valid? [True, True] Translation: X:33.28, Y:-2.46, Z:-0.01 [[ 9.99999782e-01 -6.59708472e-04 0.00000000e+00 3.32762503e+01] [ 6.59708472e-04 9.99999782e-01 0.00000000e+00 -2.46199210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09107225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54755201799999 meters Centerline goodness : 0.986086 with order 1 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.46, Z:-0.01 [[ 9.99997209e-01 -2.36255138e-03 0.00000000e+00 3.33374304e+01] [ 2.36255138e-03 9.99997209e-01 0.00000000e+00 -2.45890509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21604282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60755201799999 meters Centerline goodness : 0.986844 with order 1 Centerline is valid? [True, True] Translation: X:33.40, Y:-2.47, Z:-0.01 [[ 9.99999802e-01 6.29487733e-04 0.00000000e+00 3.33979547e+01] [-6.29487733e-04 9.99999802e-01 0.00000000e+00 -2.46569607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72523590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667552017999995 meters Centerline goodness : 0.986533 with order 1 Centerline is valid? [True, True] Translation: X:33.46, Y:-2.47, Z:-0.00 [[ 9.99998101e-01 1.94900431e-03 0.00000000e+00 3.34579400e+01] [-1.94900431e-03 9.99998101e-01 0.00000000e+00 -2.46843199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47388460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72755201799999 meters Centerline goodness : 0.986075 with order 1 Centerline is valid? [True, True] Translation: X:33.52, Y:-2.47, Z:-0.01 [[ 9.99999400e-01 -1.09577075e-03 0.00000000e+00 3.35183678e+01] [ 1.09577075e-03 9.99999400e-01 0.00000000e+00 -2.47469638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56478308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78755201799999 meters Centerline goodness : 0.986493 with order 1 Centerline is valid? [True, True] Translation: X:33.58, Y:-2.48, Z:-0.01 [[ 9.99999475e-01 1.02486586e-03 0.00000000e+00 3.35784672e+01] [-1.02486586e-03 9.99999475e-01 0.00000000e+00 -2.47846787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72553746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.847552017999995 meters Centerline goodness : 0.986680 with order 1 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.48, Z:-0.01 [[ 9.99993137e-01 3.70479930e-03 0.00000000e+00 3.36391673e+01] [-3.70479930e-03 9.99993137e-01 0.00000000e+00 -2.48322767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78656693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90755201799999 meters Centerline goodness : 0.987072 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:-2.48, Z:-0.00 [[ 9.99995678e-01 2.93994643e-03 0.00000000e+00 3.36987937e+01] [-2.93994643e-03 9.99995678e-01 0.00000000e+00 -2.48195243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99045037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96755201799999 meters Centerline goodness : 0.985588 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:-2.49, Z:-0.00 [[ 9.99963908e-01 8.49606642e-03 0.00000000e+00 3.37581377e+01] [-8.49606642e-03 9.99963908e-01 0.00000000e+00 -2.49062080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84834313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.027552017999994 meters Centerline goodness : 0.985709 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:-2.49, Z:-0.00 [[ 9.99920674e-01 1.25955031e-02 0.00000000e+00 3.38172361e+01] [-1.25955031e-02 9.99920674e-01 0.00000000e+00 -2.49291476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80071836e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087552018 meters Centerline goodness : 0.986448 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:-2.50, Z:-0.00 [[ 9.99887102e-01 1.50260731e-02 0.00000000e+00 3.38758244e+01] [-1.50260731e-02 9.99887102e-01 0.00000000e+00 -2.49602807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74995005e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14755201799999 meters Centerline goodness : 0.986200 with order 1 Centerline is valid? [True, True] Translation: X:33.93, Y:-2.50, Z:0.00 [[ 9.99850790e-01 1.72741828e-02 0.00000000e+00 3.39345390e+01] [-1.72741828e-02 9.99850790e-01 0.00000000e+00 -2.49997036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16377083e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.207552017999994 meters Centerline goodness : 0.985936 with order 1 Centerline is valid? [True, True] Translation: X:33.99, Y:-2.50, Z:0.00 [[ 9.99868746e-01 1.62015397e-02 0.00000000e+00 3.39919159e+01] [-1.62015397e-02 9.99868746e-01 0.00000000e+00 -2.50250943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67815978e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267552017999996 meters Centerline goodness : 0.985784 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:-2.51, Z:0.00 [[ 9.99889080e-01 1.48938711e-02 0.00000000e+00 3.40508949e+01] [-1.48938711e-02 9.99889080e-01 0.00000000e+00 -2.50761879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29491839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32755201799999 meters Centerline goodness : 0.985674 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:-2.51, Z:0.00 [[ 9.99920785e-01 1.25866809e-02 0.00000000e+00 3.41087276e+01] [-1.25866809e-02 9.99920785e-01 0.00000000e+00 -2.51358345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59631752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.387552017999994 meters Centerline goodness : 0.987983 with order 1 Centerline is valid? [True, True] Translation: X:34.17, Y:-2.51, Z:-0.00 [[ 9.99994929e-01 3.18471605e-03 0.00000000e+00 3.41671189e+01] [-3.18471605e-03 9.99994929e-01 0.00000000e+00 -2.51455355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88744925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447552017999996 meters Centerline goodness : 0.984897 with order 1 Centerline is valid? [True, True] Translation: X:34.23, Y:-2.52, Z:0.00 [[ 9.99997491e-01 -2.24011848e-03 0.00000000e+00 3.42263644e+01] [ 2.24011848e-03 9.99997491e-01 0.00000000e+00 -2.52467612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20789836e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50755201799999 meters Centerline goodness : 0.985826 with order 1 Centerline is valid? [True, True] Translation: X:34.29, Y:-2.53, Z:0.00 [[ 9.99990011e-01 -4.46966743e-03 0.00000000e+00 3.42870365e+01] [ 4.46966743e-03 9.99990011e-01 0.00000000e+00 -2.52852970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28226768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56755201799999 meters Centerline goodness : 0.985463 with order 1 Centerline is valid? [True, True] Translation: X:34.35, Y:-2.53, Z:0.01 [[ 9.99999025e-01 -1.39655629e-03 0.00000000e+00 3.43473883e+01] [ 1.39655629e-03 9.99999025e-01 0.00000000e+00 -2.53049963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11769311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627552017999996 meters Centerline goodness : 0.985212 with order 1 Centerline is valid? [True, True] Translation: X:34.41, Y:-2.53, Z:0.00 [[ 9.99993033e-01 3.73290691e-03 0.00000000e+00 3.44076200e+01] [-3.73290691e-03 9.99993033e-01 0.00000000e+00 -2.53289970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68907268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68755201799999 meters Centerline goodness : 0.985836 with order 1 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.53, Z:0.00 [[ 9.99937996e-01 1.11357554e-02 0.00000000e+00 3.44677459e+01] [-1.11357554e-02 9.99937996e-01 0.00000000e+00 -2.53313795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78322671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74755201799999 meters Centerline goodness : 0.984902 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.54, Z:0.00 [[ 9.99905782e-01 1.37268466e-02 0.00000000e+00 3.45270010e+01] [-1.37268466e-02 9.99905782e-01 0.00000000e+00 -2.53511412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33795585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807552017999996 meters Centerline goodness : 0.985522 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.54, Z:0.00 [[ 9.99904180e-01 1.38430593e-02 0.00000000e+00 3.45853457e+01] [-1.38430593e-02 9.99904180e-01 0.00000000e+00 -2.53859366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06994335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86755201799999 meters Centerline goodness : 0.985052 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:-2.54, Z:0.00 [[ 9.99959575e-01 8.99156205e-03 0.00000000e+00 3.46442195e+01] [-8.99156205e-03 9.99959575e-01 0.00000000e+00 -2.54310159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56566522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92755201799999 meters Centerline goodness : 0.985781 with order 1 Centerline is valid? [True, True] Translation: X:34.70, Y:-2.55, Z:0.00 [[ 9.99997591e-01 2.19483192e-03 0.00000000e+00 3.47042212e+01] [-2.19483192e-03 9.99997591e-01 0.00000000e+00 -2.54593462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27659108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.987552017999995 meters Centerline goodness : 0.985149 with order 1 Centerline is valid? [True, True] Translation: X:34.76, Y:-2.55, Z:0.00 [[ 9.99999957e-01 2.92448731e-04 0.00000000e+00 3.47635696e+01] [-2.92448731e-04 9.99999957e-01 0.00000000e+00 -2.54996538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70599176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04755201799999 meters Centerline goodness : 0.985342 with order 1 Centerline is valid? [True, True] Translation: X:34.82, Y:-2.55, Z:0.00 [[ 9.99998535e-01 -1.71192302e-03 0.00000000e+00 3.48244014e+01] [ 1.71192302e-03 9.99998535e-01 0.00000000e+00 -2.55283942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95126830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10755201799999 meters Centerline goodness : 0.985622 with order 1 Centerline is valid? [True, True] Translation: X:34.88, Y:-2.55, Z:0.00 [[ 9.99997687e-01 -2.15084022e-03 0.00000000e+00 3.48846533e+01] [ 2.15084022e-03 9.99997687e-01 0.00000000e+00 -2.55264877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40996544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.167552017999995 meters Centerline goodness : 0.985949 with order 1 Centerline is valid? [True, True] Translation: X:34.94, Y:-2.55, Z:0.01 [[ 1.00000000e+00 2.92133650e-05 0.00000000e+00 3.49448266e+01] [-2.92133650e-05 1.00000000e+00 0.00000000e+00 -2.55210110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25530960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22755201799999 meters Centerline goodness : 0.988207 with order 1 Centerline is valid? [True, True] Translation: X:35.01, Y:-2.54, Z:0.01 [[ 9.99999897e-01 -4.54945189e-04 0.00000000e+00 3.50050756e+01] [ 4.54945189e-04 9.99999897e-01 0.00000000e+00 -2.54475260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83383052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28755201799999 meters Centerline goodness : 0.986839 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:-2.55, Z:0.00 [[ 9.99970966e-01 7.62014050e-03 0.00000000e+00 3.50649379e+01] [-7.62014050e-03 9.99970966e-01 0.00000000e+00 -2.55416255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38468773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.347552017999995 meters Centerline goodness : 0.985890 with order 1 Centerline is valid? [True, True] Translation: X:35.12, Y:-2.56, Z:0.00 [[ 9.99973797e-01 7.23908293e-03 0.00000000e+00 3.51240034e+01] [-7.23908293e-03 9.99973797e-01 0.00000000e+00 -2.55670602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06332181e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40755201799999 meters Centerline goodness : 0.989266 with order 1 Centerline is valid? [True, True] Translation: X:35.18, Y:-2.55, Z:0.00 [[ 9.99999476e-01 -1.02416558e-03 0.00000000e+00 3.51834268e+01] [ 1.02416558e-03 9.99999476e-01 0.00000000e+00 -2.54964675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28269353e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46755201799999 meters Centerline goodness : 0.986141 with order 1 Centerline is valid? [True, True] Translation: X:35.24, Y:-2.56, Z:-0.00 [[ 9.99993632e-01 3.56886493e-03 0.00000000e+00 3.52434641e+01] [-3.56886493e-03 9.99993632e-01 0.00000000e+00 -2.56018026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97537528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.527552017999994 meters Centerline goodness : 0.989100 with order 1 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.55, Z:0.00 [[ 9.99999367e-01 -1.12553898e-03 0.00000000e+00 3.53035838e+01] [ 1.12553898e-03 9.99999367e-01 0.00000000e+00 -2.55258877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55230292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58755201799999 meters Centerline goodness : 0.989069 with order 1 Centerline is valid? [True, True] Translation: X:35.36, Y:-2.55, Z:0.00 [[ 9.99998134e-01 1.93202090e-03 0.00000000e+00 3.53636737e+01] [-1.93202090e-03 9.99998134e-01 0.00000000e+00 -2.55359595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89999994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64755201799999 meters Centerline goodness : 0.988803 with order 1 Centerline is valid? [True, True] Translation: X:35.42, Y:-2.55, Z:0.00 [[ 9.99985955e-01 5.30007103e-03 0.00000000e+00 3.54230693e+01] [-5.30007103e-03 9.99985955e-01 0.00000000e+00 -2.55167403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91642356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.707552017999994 meters Centerline goodness : 0.989590 with order 1 Centerline is valid? [True, True] Translation: X:35.48, Y:-2.55, Z:0.01 [[ 9.99985133e-01 5.45289062e-03 0.00000000e+00 3.54829035e+01] [-5.45289062e-03 9.99985133e-01 0.00000000e+00 -2.55320096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90630962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.767552017999996 meters Centerline goodness : 0.988149 with order 1 Centerline is valid? [True, True] Translation: X:35.54, Y:-2.56, Z:0.00 [[ 9.99941537e-01 1.08131111e-02 0.00000000e+00 3.55416403e+01] [-1.08131111e-02 9.99941537e-01 0.00000000e+00 -2.56498589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62846702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82755201799999 meters Centerline goodness : 0.990709 with order 1 Centerline is valid? [True, True] Translation: X:35.60, Y:-2.56, Z:0.01 [[ 9.99998995e-01 1.41792849e-03 0.00000000e+00 3.56016647e+01] [-1.41792849e-03 9.99998995e-01 0.00000000e+00 -2.55551487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46485270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.887552017999994 meters Centerline goodness : 0.988890 with order 1 Centerline is valid? [True, True] Translation: X:35.66, Y:-2.57, Z:0.00 [[ 9.99965823e-01 8.26763445e-03 0.00000000e+00 3.56613028e+01] [-8.26763445e-03 9.99965823e-01 0.00000000e+00 -2.56711208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75887374e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.947552017999996 meters Centerline goodness : 0.990874 with order 1 Centerline is valid? [True, True] Translation: X:35.72, Y:-2.56, Z:0.00 [[ 9.99980482e-01 6.24791641e-03 0.00000000e+00 3.57191409e+01] [-6.24791641e-03 9.99980482e-01 0.00000000e+00 -2.56134644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49681573e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00755201799999 meters Centerline goodness : 0.989145 with order 1 Centerline is valid? [True, True] Translation: X:35.78, Y:-2.57, Z:-0.00 [[ 9.99842411e-01 1.77525575e-02 0.00000000e+00 3.57773349e+01] [-1.77525575e-02 9.99842411e-01 0.00000000e+00 -2.57165873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80592726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06755201799999 meters Centerline goodness : 0.991443 with order 1 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.56, Z:0.00 [[ 9.99810088e-01 1.94881616e-02 0.00000000e+00 3.58360869e+01] [-1.94881616e-02 9.99810088e-01 0.00000000e+00 -2.56089387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59154281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127552017999996 meters Centerline goodness : 0.991527 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:-2.56, Z:0.00 [[ 9.99677188e-01 2.54070682e-02 0.00000000e+00 3.58936015e+01] [-2.54070682e-02 9.99677188e-01 0.00000000e+00 -2.56366669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00085989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18755201799999 meters Centerline goodness : 0.990702 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:-2.57, Z:0.00 [[ 9.99384687e-01 3.50748810e-02 0.00000000e+00 3.59508011e+01] [-3.50748810e-02 9.99384687e-01 0.00000000e+00 -2.56822157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78868096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24755201799999 meters Centerline goodness : 0.989547 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:-2.58, Z:0.01 [[ 9.99056176e-01 4.34368123e-02 0.00000000e+00 3.60088662e+01] [-4.34368123e-02 9.99056176e-01 0.00000000e+00 -2.57505451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60745718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.307552017999996 meters Centerline goodness : 0.989643 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:-2.58, Z:0.00 [[ 9.98398176e-01 5.65781114e-02 0.00000000e+00 3.60652068e+01] [-5.65781114e-02 9.98398176e-01 0.00000000e+00 -2.58248482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91669873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36755201799999 meters Centerline goodness : 0.990491 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:-2.59, Z:0.00 [[ 9.97964314e-01 6.37748289e-02 0.00000000e+00 3.61230585e+01] [-6.37748289e-02 9.97964314e-01 0.00000000e+00 -2.58937477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25830074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42755201799999 meters Centerline goodness : 0.989489 with order 1 Centerline is valid? [True, True] Translation: X:36.18, Y:-2.60, Z:0.00 [[ 9.97384855e-01 7.22734439e-02 0.00000000e+00 3.61798353e+01] [-7.22734439e-02 9.97384855e-01 0.00000000e+00 -2.60274855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38992556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.487552017999995 meters Centerline goodness : 0.989055 with order 1 Centerline is valid? [True, True] Translation: X:36.24, Y:-2.62, Z:0.00 [[ 9.97138453e-01 7.55969905e-02 0.00000000e+00 3.62362668e+01] [-7.55969905e-02 9.97138453e-01 0.00000000e+00 -2.61544442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09959403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54755201799999 meters Centerline goodness : 0.986964 with order 1 Centerline is valid? [True, True] Translation: X:36.29, Y:-2.64, Z:0.00 [[ 9.97036322e-01 7.69322597e-02 0.00000000e+00 3.62933839e+01] [-7.69322597e-02 9.97036322e-01 0.00000000e+00 -2.63599204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52986013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60755201799999 meters Centerline goodness : 0.986671 with order 1 Centerline is valid? [True, True] Translation: X:36.35, Y:-2.65, Z:0.00 [[ 9.97153677e-01 7.53959206e-02 0.00000000e+00 3.63500732e+01] [-7.53959206e-02 9.97153677e-01 0.00000000e+00 -2.65236020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45439899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667552017999995 meters Centerline goodness : 0.986161 with order 1 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.68, Z:0.00 [[ 9.97444607e-01 7.14440725e-02 0.00000000e+00 3.64067069e+01] [-7.14440725e-02 9.97444607e-01 0.00000000e+00 -2.67717320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87558725e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72755201799999 meters Centerline goodness : 0.986426 with order 1 Centerline is valid? [True, True] Translation: X:36.46, Y:-2.70, Z:-0.00 [[ 9.97746947e-01 6.70897159e-02 0.00000000e+00 3.64626601e+01] [-6.70897159e-02 9.97746947e-01 0.00000000e+00 -2.69511449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94546029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78755201799999 meters Centerline goodness : 0.986031 with order 1 Centerline is valid? [True, True] Translation: X:36.52, Y:-2.72, Z:-0.00 [[ 9.98106892e-01 6.15031021e-02 0.00000000e+00 3.65189830e+01] [-6.15031021e-02 9.98106892e-01 0.00000000e+00 -2.72128367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09021245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.847552017999995 meters Centerline goodness : 0.988720 with order 1 Centerline is valid? [True, True] Translation: X:36.58, Y:-2.75, Z:0.00 [[ 9.98316935e-01 5.79939466e-02 0.00000000e+00 3.65761295e+01] [-5.79939466e-02 9.98316935e-01 0.00000000e+00 -2.74686138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93065236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90755201799999 meters Centerline goodness : 0.989229 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:-2.76, Z:0.01 [[ 9.98380380e-01 5.68912678e-02 0.00000000e+00 3.66335768e+01] [-5.68912678e-02 9.98380380e-01 0.00000000e+00 -2.75636077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18608462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96755201799999 meters Centerline goodness : 0.991287 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.77, Z:0.01 [[ 9.98533827e-01 5.41312898e-02 0.00000000e+00 3.66912560e+01] [-5.41312898e-02 9.98533827e-01 0.00000000e+00 -2.77182319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55326987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.027552017999994 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:-2.79, Z:0.01 [[ 9.98892072e-01 4.70598337e-02 0.00000000e+00 3.67488983e+01] [-4.70598337e-02 9.98892072e-01 0.00000000e+00 -2.79454155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71793765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08755201799999 meters Centerline goodness : 0.994961 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:-2.81, Z:0.00 [[ 9.99344893e-01 3.61909442e-02 0.00000000e+00 3.68064867e+01] [-3.61909442e-02 9.99344893e-01 0.00000000e+00 -2.81344175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54866551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14755201799999 meters Centerline goodness : 0.996645 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:-2.83, Z:0.01 [[ 9.99594394e-01 2.84789006e-02 0.00000000e+00 3.68652087e+01] [-2.84789006e-02 9.99594394e-01 0.00000000e+00 -2.82553777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84984296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.207552017999994 meters Centerline goodness : 0.997721 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:-2.84, Z:0.01 [[ 9.99846534e-01 1.75188003e-02 0.00000000e+00 3.69242086e+01] [-1.75188003e-02 9.99846534e-01 0.00000000e+00 -2.83929046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03405829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26755201799999 meters Centerline goodness : 0.997983 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:-2.85, Z:0.01 [[ 9.99931157e-01 1.17337621e-02 0.00000000e+00 3.69839806e+01] [-1.17337621e-02 9.99931157e-01 0.00000000e+00 -2.84659789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03255216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32755201799999 meters Centerline goodness : 0.997612 with order 1 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.85, Z:0.01 [[ 9.99982113e-01 5.98117289e-03 0.00000000e+00 3.70433482e+01] [-5.98117289e-03 9.99982113e-01 0.00000000e+00 -2.85115120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74565904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.387552017999994 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.85, Z:0.01 [[ 9.99993772e-01 3.52940386e-03 0.00000000e+00 3.71036570e+01] [-3.52940386e-03 9.99993772e-01 0.00000000e+00 -2.85343922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32388769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.447552017999996 meters Centerline goodness : 0.997996 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.85, Z:0.01 [[ 9.99995987e-01 2.83306707e-03 0.00000000e+00 3.71645156e+01] [-2.83306707e-03 9.99995987e-01 0.00000000e+00 -2.85399168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49492209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50755201799999 meters Centerline goodness : 0.997495 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.85, Z:0.01 [[ 9.99996709e-01 2.56560818e-03 0.00000000e+00 3.72255336e+01] [-2.56560818e-03 9.99996709e-01 0.00000000e+00 -2.85328657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12230936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56755201799999 meters Centerline goodness : 0.996923 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.85, Z:0.01 [[ 9.99997567e-01 2.20611074e-03 0.00000000e+00 3.72868871e+01] [-2.20611074e-03 9.99997567e-01 0.00000000e+00 -2.84814548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01888183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.627552017999996 meters Centerline goodness : 0.995514 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.84, Z:0.01 [[ 9.99999922e-01 3.96018896e-04 0.00000000e+00 3.73479342e+01] [-3.96018896e-04 9.99999922e-01 0.00000000e+00 -2.84288600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02897887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68755201799999 meters Centerline goodness : 0.994380 with order 1 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.84, Z:0.00 [[ 9.99999951e-01 -3.12505123e-04 0.00000000e+00 3.74077842e+01] [ 3.12505123e-04 9.99999951e-01 0.00000000e+00 -2.83832222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81307269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74755201799999 meters Centerline goodness : 0.993096 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:-2.83, Z:0.01 [[ 9.99999436e-01 -1.06187850e-03 0.00000000e+00 3.74687079e+01] [ 1.06187850e-03 9.99999436e-01 0.00000000e+00 -2.82789592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37759182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.807552017999996 meters Centerline goodness : 0.991457 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:-2.82, Z:0.01 [[ 9.99998261e-01 -1.86517713e-03 0.00000000e+00 3.75294924e+01] [ 1.86517713e-03 9.99998261e-01 0.00000000e+00 -2.82405272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25389771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86755201799999 meters Centerline goodness : 0.991186 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:-2.82, Z:0.00 [[ 9.99994290e-01 -3.37944130e-03 0.00000000e+00 3.75907691e+01] [ 3.37944130e-03 9.99994290e-01 0.00000000e+00 -2.81768805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46782898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92755201799999 meters Centerline goodness : 0.989130 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:-2.81, Z:0.00 [[ 9.99991420e-01 -4.14239054e-03 0.00000000e+00 3.76519082e+01] [ 4.14239054e-03 9.99991420e-01 0.00000000e+00 -2.81242076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50351307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.987552017999995 meters Centerline goodness : 0.985515 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:-2.81, Z:0.00 [[ 9.99995614e-01 2.96170693e-03 0.00000000e+00 3.77124919e+01] [-2.96170693e-03 9.99995614e-01 0.00000000e+00 -2.81379840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05785853e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04755201799999 meters Centerline goodness : 0.985297 with order 1 Centerline is valid? [True, True] Translation: X:37.77, Y:-2.81, Z:-0.00 [[ 9.99987532e-01 4.99355088e-03 0.00000000e+00 3.77733684e+01] [-4.99355088e-03 9.99987532e-01 0.00000000e+00 -2.81133155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06815574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10755201799999 meters Centerline goodness : 0.984204 with order 1 Centerline is valid? [True, True] Translation: X:37.83, Y:-2.80, Z:-0.00 [[ 9.99984461e-01 5.57478303e-03 0.00000000e+00 3.78341098e+01] [-5.57478303e-03 9.99984461e-01 0.00000000e+00 -2.80161833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05464866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167552017999995 meters Centerline goodness : 0.983289 with order 1 Centerline is valid? [True, True] Translation: X:37.89, Y:-2.80, Z:-0.00 [[ 9.99955003e-01 9.48636666e-03 0.00000000e+00 3.78937096e+01] [-9.48636666e-03 9.99955003e-01 0.00000000e+00 -2.79847638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.49368198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22755201799999 meters Centerline goodness : 0.983794 with order 1 Centerline is valid? [True, True] Translation: X:37.95, Y:-2.79, Z:-0.00 [[ 9.99847277e-01 1.74763408e-02 0.00000000e+00 3.79527519e+01] [-1.74763408e-02 9.99847277e-01 0.00000000e+00 -2.78957342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27138349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28755201799999 meters Centerline goodness : 0.985814 with order 1 Centerline is valid? [True, True] Translation: X:38.01, Y:-2.77, Z:-0.00 [[ 9.99837701e-01 1.80158638e-02 0.00000000e+00 3.80110898e+01] [-1.80158638e-02 9.99837701e-01 0.00000000e+00 -2.77406356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96914079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.347552017999995 meters Centerline goodness : 0.985688 with order 1 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.77, Z:-0.00 [[ 9.99782323e-01 2.08639881e-02 0.00000000e+00 3.80699618e+01] [-2.08639881e-02 9.99782323e-01 0.00000000e+00 -2.77216180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98535710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40755201799999 meters Centerline goodness : 0.983631 with order 1 Centerline is valid? [True, True] Translation: X:38.13, Y:-2.78, Z:-0.01 [[ 9.99489910e-01 3.19361801e-02 0.00000000e+00 3.81278356e+01] [-3.19361801e-02 9.99489910e-01 0.00000000e+00 -2.78087401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58766824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46755201799999 meters Centerline goodness : 0.985346 with order 1 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.78, Z:-0.00 [[ 9.99449196e-01 3.31858973e-02 0.00000000e+00 3.81863675e+01] [-3.31858973e-02 9.99449196e-01 0.00000000e+00 -2.78052868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55166321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.527552017999994 meters Centerline goodness : 0.986716 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:-2.77, Z:-0.00 [[ 9.99509051e-01 3.13313949e-02 0.00000000e+00 3.82458244e+01] [-3.13313949e-02 9.99509051e-01 0.00000000e+00 -2.77489929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19828626e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58755201799999 meters Centerline goodness : 0.984895 with order 1 Centerline is valid? [True, True] Translation: X:38.30, Y:-2.79, Z:-0.00 [[ 9.99190241e-01 4.02350962e-02 0.00000000e+00 3.83046182e+01] [-4.02350962e-02 9.99190241e-01 0.00000000e+00 -2.78589353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97006554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64755201799999 meters Centerline goodness : 0.986595 with order 1 Centerline is valid? [True, True] Translation: X:38.36, Y:-2.78, Z:-0.00 [[ 9.99271391e-01 3.81665632e-02 0.00000000e+00 3.83629338e+01] [-3.81665632e-02 9.99271391e-01 0.00000000e+00 -2.78127384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69056291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.707552017999994 meters Centerline goodness : 0.984314 with order 1 Centerline is valid? [True, True] Translation: X:38.42, Y:-2.80, Z:-0.01 [[ 9.98896727e-01 4.69609356e-02 0.00000000e+00 3.84212462e+01] [-4.69609356e-02 9.98896727e-01 0.00000000e+00 -2.79636017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25437449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76755201799999 meters Centerline goodness : 0.985729 with order 1 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.80, Z:-0.01 [[ 9.98908577e-01 4.67081980e-02 0.00000000e+00 3.84787154e+01] [-4.67081980e-02 9.98908577e-01 0.00000000e+00 -2.80339789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79403647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82755201799999 meters Centerline goodness : 0.985663 with order 1 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.81, Z:-0.01 [[ 9.98958441e-01 4.56293084e-02 0.00000000e+00 3.85372598e+01] [-4.56293084e-02 9.98958441e-01 0.00000000e+00 -2.80883713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88272441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.887552017999994 meters Centerline goodness : 0.987141 with order 1 Centerline is valid? [True, True] Translation: X:38.59, Y:-2.81, Z:-0.00 [[ 9.99258622e-01 3.84994303e-02 0.00000000e+00 3.85948187e+01] [-3.84994303e-02 9.99258622e-01 0.00000000e+00 -2.81154249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25647263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94755201799999 meters Centerline goodness : 0.985477 with order 1 Centerline is valid? [True, True] Translation: X:38.65, Y:-2.83, Z:-0.01 [[ 9.99140035e-01 4.14631320e-02 0.00000000e+00 3.86530974e+01] [-4.14631320e-02 9.99140035e-01 0.00000000e+00 -2.83057538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05953824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00755201799999 meters Centerline goodness : 0.986687 with order 1 Centerline is valid? [True, True] Translation: X:38.71, Y:-2.84, Z:-0.00 [[ 9.99475811e-01 3.23744347e-02 0.00000000e+00 3.87109558e+01] [-3.23744347e-02 9.99475811e-01 0.00000000e+00 -2.83845876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88287346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06755201799999 meters Centerline goodness : 0.985530 with order 1 Centerline is valid? [True, True] Translation: X:38.77, Y:-2.85, Z:0.00 [[ 9.99428966e-01 3.37896774e-02 0.00000000e+00 3.87688442e+01] [-3.37896774e-02 9.99428966e-01 0.00000000e+00 -2.84751618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30056462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.127552017999996 meters Centerline goodness : 0.986930 with order 1 Centerline is valid? [True, True] Translation: X:38.83, Y:-2.86, Z:0.00 [[ 9.99218667e-01 3.95228381e-02 0.00000000e+00 3.88268478e+01] [-3.95228381e-02 9.99218667e-01 0.00000000e+00 -2.85986676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82266597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18755201799999 meters Centerline goodness : 0.987595 with order 1 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.87, Z:0.00 [[ 9.98985785e-01 4.50266629e-02 0.00000000e+00 3.88842941e+01] [-4.50266629e-02 9.98985785e-01 0.00000000e+00 -2.87253660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07104397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24755201799999 meters Centerline goodness : 0.990020 with order 1 Centerline is valid? [True, True] Translation: X:38.94, Y:-2.88, Z:-0.00 [[ 9.98489017e-01 5.49516407e-02 0.00000000e+00 3.89422666e+01] [-5.49516407e-02 9.98489017e-01 0.00000000e+00 -2.88461056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44011270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307552017999996 meters Centerline goodness : 0.990729 with order 1 Centerline is valid? [True, True] Translation: X:39.00, Y:-2.90, Z:-0.00 [[ 9.97735952e-01 6.72530280e-02 0.00000000e+00 3.89980608e+01] [-6.72530280e-02 9.97735952e-01 0.00000000e+00 -2.89910191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43286398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36755201799999 meters Centerline goodness : 0.992067 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:-2.91, Z:-0.00 [[ 9.97184550e-01 7.49864805e-02 0.00000000e+00 3.90557499e+01] [-7.49864805e-02 9.97184550e-01 0.00000000e+00 -2.91262073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22436723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42755201799999 meters Centerline goodness : 0.993399 with order 1 Centerline is valid? [True, True] Translation: X:39.11, Y:-2.93, Z:0.00 [[ 9.96681401e-01 8.14013861e-02 0.00000000e+00 3.91127469e+01] [-8.14013861e-02 9.96681401e-01 0.00000000e+00 -2.92598451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.17376228e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.487552017999995 meters Centerline goodness : 0.994866 with order 1 Centerline is valid? [True, True] Translation: X:39.17, Y:-2.95, Z:0.00 [[ 9.96249095e-01 8.65317351e-02 0.00000000e+00 3.91695417e+01] [-8.65317351e-02 9.96249095e-01 0.00000000e+00 -2.94699812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19170055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54755201799999 meters Centerline goodness : 0.996547 with order 1 Centerline is valid? [True, True] Translation: X:39.23, Y:-2.97, Z:0.00 [[ 9.96464605e-01 8.40136406e-02 0.00000000e+00 3.92264397e+01] [-8.40136406e-02 9.96464605e-01 0.00000000e+00 -2.97032063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66232032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60755201799999 meters Centerline goodness : 0.998402 with order 1 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.99, Z:0.00 [[ 9.96720150e-01 8.09255376e-02 0.00000000e+00 3.92840924e+01] [-8.09255376e-02 9.96720150e-01 0.00000000e+00 -2.98815324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94956698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667552017999995 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:39.34, Y:-3.01, Z:0.01 [[ 9.97083553e-01 7.63176837e-02 0.00000000e+00 3.93417634e+01] [-7.63176837e-02 9.97083553e-01 0.00000000e+00 -3.01465708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01449500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72755201799999 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:-3.03, Z:0.01 [[ 9.97285129e-01 7.36367594e-02 0.00000000e+00 3.93993242e+01] [-7.36367594e-02 9.97285129e-01 0.00000000e+00 -3.03072142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01469920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78755201799999 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:-3.05, Z:0.01 [[ 9.97389479e-01 7.22096094e-02 0.00000000e+00 3.94581505e+01] [-7.22096094e-02 9.97389479e-01 0.00000000e+00 -3.05408511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49888170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.847552017999995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:-3.08, Z:0.01 [[ 9.97360705e-01 7.26059562e-02 0.00000000e+00 3.95175918e+01] [-7.26059562e-02 9.97360705e-01 0.00000000e+00 -3.07592969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53359317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90755201799999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:39.58, Y:-3.09, Z:0.00 [[ 9.97391817e-01 7.21773109e-02 0.00000000e+00 3.95784739e+01] [-7.21773109e-02 9.97391817e-01 0.00000000e+00 -3.09135254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29849088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:-3.11, Z:0.01 [[ 9.97535590e-01 7.01622817e-02 0.00000000e+00 3.96391395e+01] [-7.01622817e-02 9.97535590e-01 0.00000000e+00 -3.11339282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44515942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.027552017999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:-3.13, Z:0.00 [[ 9.97576598e-01 6.95767981e-02 0.00000000e+00 3.97005071e+01] [-6.95767981e-02 9.97576598e-01 0.00000000e+00 -3.12766432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49939573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:-3.14, Z:0.01 [[ 9.97433943e-01 7.15928031e-02 0.00000000e+00 3.97622429e+01] [-7.15928031e-02 9.97433943e-01 0.00000000e+00 -3.14496720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98802934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:-3.16, Z:0.01 [[ 9.97232471e-01 7.43464770e-02 0.00000000e+00 3.98245766e+01] [-7.43464770e-02 9.97232471e-01 0.00000000e+00 -3.15828655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84455092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.207552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.89, Y:-3.17, Z:0.01 [[ 9.96888672e-01 7.88224315e-02 0.00000000e+00 3.98868508e+01] [-7.88224315e-02 9.96888672e-01 0.00000000e+00 -3.17368743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15733149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.95, Y:-3.18, Z:0.01 [[ 9.96679299e-01 8.14271188e-02 0.00000000e+00 3.99482886e+01] [-8.14271188e-02 9.96679299e-01 0.00000000e+00 -3.18482123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79834359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.01, Y:-3.20, Z:0.01 [[ 9.96393368e-01 8.48543274e-02 0.00000000e+00 4.00099662e+01] [-8.48543274e-02 9.96393368e-01 0.00000000e+00 -3.19967944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20888864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.387552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:-3.21, Z:0.01 [[ 9.96365385e-01 8.51822684e-02 0.00000000e+00 4.00727595e+01] [-8.51822684e-02 9.96365385e-01 0.00000000e+00 -3.21065417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.36746095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44755201799999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:-3.22, Z:0.01 [[ 9.96723626e-01 8.08827132e-02 0.00000000e+00 4.01350853e+01] [-8.08827132e-02 9.96723626e-01 0.00000000e+00 -3.22498436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16880918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50755201799999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:-3.24, Z:0.01 [[ 9.97116971e-01 7.58798090e-02 0.00000000e+00 4.01964154e+01] [-7.58798090e-02 9.97116971e-01 0.00000000e+00 -3.24296760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92873729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:-3.25, Z:0.01 [[ 9.97415317e-01 7.18518254e-02 0.00000000e+00 4.02586488e+01] [-7.18518254e-02 9.97415317e-01 0.00000000e+00 -3.25410170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65512389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.32, Y:-3.27, Z:0.01 [[ 9.97905245e-01 6.46925157e-02 0.00000000e+00 4.03209893e+01] [-6.46925157e-02 9.97905245e-01 0.00000000e+00 -3.26887295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57517022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:-3.28, Z:0.01 [[ 9.98071183e-01 6.20798924e-02 0.00000000e+00 4.03835002e+01] [-6.20798924e-02 9.98071183e-01 0.00000000e+00 -3.27668093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14680614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:-3.29, Z:0.01 [[ 9.98380588e-01 5.68876247e-02 0.00000000e+00 4.04451904e+01] [-5.68876247e-02 9.98380588e-01 0.00000000e+00 -3.28798962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10220024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.807552017999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:-3.30, Z:0.01 [[ 9.98439913e-01 5.58367229e-02 0.00000000e+00 4.05070545e+01] [-5.58367229e-02 9.98439913e-01 0.00000000e+00 -3.29505118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19006634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:-3.30, Z:0.01 [[ 9.98555351e-01 5.37327817e-02 0.00000000e+00 4.05685845e+01] [-5.37327817e-02 9.98555351e-01 0.00000000e+00 -3.30339825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91552040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.31, Z:0.01 [[ 9.98716148e-01 5.06562429e-02 0.00000000e+00 4.06312601e+01] [-5.06562429e-02 9.98716148e-01 0.00000000e+00 -3.30927225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14469138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.31, Z:0.01 [[ 9.99033076e-01 4.39649009e-02 0.00000000e+00 4.06938755e+01] [-4.39649009e-02 9.99033076e-01 0.00000000e+00 -3.31329822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67445191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:-3.32, Z:0.01 [[ 9.99352504e-01 3.59801768e-02 0.00000000e+00 4.07559661e+01] [-3.59801768e-02 9.99352504e-01 0.00000000e+00 -3.31682592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06850333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.82, Y:-3.32, Z:0.01 [[ 9.99532261e-01 3.05820182e-02 0.00000000e+00 4.08187521e+01] [-3.05820182e-02 9.99532261e-01 0.00000000e+00 -3.31948524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26863966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:-3.32, Z:0.01 [[ 9.99709560e-01 2.40997090e-02 0.00000000e+00 4.08806837e+01] [-2.40997090e-02 9.99709560e-01 0.00000000e+00 -3.32028604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31624534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:-3.32, Z:0.01 [[ 9.99753632e-01 2.21962783e-02 0.00000000e+00 4.09437653e+01] [-2.21962783e-02 9.99753632e-01 0.00000000e+00 -3.31936543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32152950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.01, Y:-3.31, Z:0.01 [[ 9.99755734e-01 2.21014118e-02 0.00000000e+00 4.10069695e+01] [-2.21014118e-02 9.99755734e-01 0.00000000e+00 -3.31360296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12525244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.347552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.07, Y:-3.31, Z:0.01 [[ 9.99724742e-01 2.34614711e-02 0.00000000e+00 4.10701584e+01] [-2.34614711e-02 9.99724742e-01 0.00000000e+00 -3.31254003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12968364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.13, Y:-3.30, Z:0.01 [[ 9.99688632e-01 2.49527208e-02 0.00000000e+00 4.11342922e+01] [-2.49527208e-02 9.99688632e-01 0.00000000e+00 -3.30344273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04250683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:-3.30, Z:0.01 [[ 9.99684361e-01 2.51232587e-02 0.00000000e+00 4.11972327e+01] [-2.51232587e-02 9.99684361e-01 0.00000000e+00 -3.29554562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06299751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.527552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:-3.29, Z:0.01 [[ 9.99722753e-01 2.35460462e-02 0.00000000e+00 4.12604358e+01] [-2.35460462e-02 9.99722753e-01 0.00000000e+00 -3.29255781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81475370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:-3.29, Z:0.01 [[ 9.99792315e-01 2.03795680e-02 0.00000000e+00 4.13227186e+01] [-2.03795680e-02 9.99792315e-01 0.00000000e+00 -3.28626513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97479730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:-3.28, Z:0.01 [[ 9.99856499e-01 1.69405514e-02 0.00000000e+00 4.13847638e+01] [-1.69405514e-02 9.99856499e-01 0.00000000e+00 -3.27938206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33490279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.707552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:-3.28, Z:0.01 [[ 9.99880897e-01 1.54334576e-02 0.00000000e+00 4.14459860e+01] [-1.54334576e-02 9.99880897e-01 0.00000000e+00 -3.27699853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63537134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:-3.27, Z:0.01 [[ 9.99848010e-01 1.74343361e-02 0.00000000e+00 4.15075891e+01] [-1.74343361e-02 9.99848010e-01 0.00000000e+00 -3.27074635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17565240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:-3.27, Z:0.01 [[ 9.99779992e-01 2.09754099e-02 0.00000000e+00 4.15690807e+01] [-2.09754099e-02 9.99779992e-01 0.00000000e+00 -3.26677791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05266732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.887552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.63, Y:-3.26, Z:0.01 [[ 9.99725126e-01 2.34450920e-02 0.00000000e+00 4.16312404e+01] [-2.34450920e-02 9.99725126e-01 0.00000000e+00 -3.26296647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22231540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.69, Y:-3.26, Z:0.01 [[ 9.99683180e-01 2.51702159e-02 0.00000000e+00 4.16923207e+01] [-2.51702159e-02 9.99683180e-01 0.00000000e+00 -3.25866280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79686116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.75, Y:-3.26, Z:0.01 [[ 9.99654822e-01 2.62723750e-02 0.00000000e+00 4.17538063e+01] [-2.62723750e-02 9.99654822e-01 0.00000000e+00 -3.25801482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81121274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.82, Y:-3.26, Z:0.01 [[ 9.99594336e-01 2.84809374e-02 0.00000000e+00 4.18157989e+01] [-2.84809374e-02 9.99594336e-01 0.00000000e+00 -3.25548042e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99751190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12755201799999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:-3.25, Z:0.01 [[ 9.99534210e-01 3.05182545e-02 0.00000000e+00 4.18763483e+01] [-3.05182545e-02 9.99534210e-01 0.00000000e+00 -3.25486679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04425707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18755201799999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:-3.25, Z:0.01 [[ 9.99474938e-01 3.24013555e-02 0.00000000e+00 4.19379307e+01] [-3.24013555e-02 9.99474938e-01 0.00000000e+00 -3.25382638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43066662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:-3.25, Z:0.01 [[ 9.99324930e-01 3.67380437e-02 0.00000000e+00 4.19989511e+01] [-3.67380437e-02 9.99324930e-01 0.00000000e+00 -3.25332421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32476978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:-3.25, Z:0.01 [[ 9.99148182e-01 4.12663267e-02 0.00000000e+00 4.20601173e+01] [-4.12663267e-02 9.99148182e-01 0.00000000e+00 -3.25253244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45116899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36755201799999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.25, Z:0.01 [[ 9.98960826e-01 4.55770638e-02 0.00000000e+00 4.21208785e+01] [-4.55770638e-02 9.98960826e-01 0.00000000e+00 -3.25240372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03608599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42755201799999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.26, Z:0.01 [[ 9.98808570e-01 4.88000092e-02 0.00000000e+00 4.21801853e+01] [-4.88000092e-02 9.98808570e-01 0.00000000e+00 -3.25625835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80962410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487552017999995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.26, Z:0.01 [[ 9.98759965e-01 4.97848578e-02 0.00000000e+00 4.22411546e+01] [-4.97848578e-02 9.98759965e-01 0.00000000e+00 -3.25807908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49127399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54755201799999 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.26, Z:0.00 [[ 9.98632310e-01 5.22829657e-02 0.00000000e+00 4.23012096e+01] [-5.22829657e-02 9.98632310e-01 0.00000000e+00 -3.26053214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95246330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60755201799999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:42.36, Y:-3.27, Z:0.00 [[ 9.98434556e-01 5.59324288e-02 0.00000000e+00 4.23616193e+01] [-5.59324288e-02 9.98434556e-01 0.00000000e+00 -3.26511088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08938022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.667552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.42, Y:-3.27, Z:0.00 [[ 9.98249579e-01 5.91420168e-02 0.00000000e+00 4.24222829e+01] [-5.91420168e-02 9.98249579e-01 0.00000000e+00 -3.27060996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73620750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72755201799999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:42.48, Y:-3.28, Z:0.00 [[ 9.98069479e-01 6.21072804e-02 0.00000000e+00 4.24823528e+01] [-6.21072804e-02 9.98069479e-01 0.00000000e+00 -3.27514770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81047889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78755201799999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:42.54, Y:-3.28, Z:0.01 [[ 9.97825044e-01 6.59179882e-02 0.00000000e+00 4.25428933e+01] [-6.59179882e-02 9.97825044e-01 0.00000000e+00 -3.28209549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08460021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.847552017999995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:42.60, Y:-3.29, Z:0.00 [[ 9.97911502e-01 6.45959226e-02 0.00000000e+00 4.26032173e+01] [-6.45959226e-02 9.97911502e-01 0.00000000e+00 -3.28934581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60560889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90755201799999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:-3.30, Z:0.00 [[ 9.98154256e-01 6.07295786e-02 0.00000000e+00 4.26641847e+01] [-6.07295786e-02 9.98154256e-01 0.00000000e+00 -3.29900370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75039793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96755201799999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:-3.31, Z:0.01 [[ 9.98544872e-01 5.39271610e-02 0.00000000e+00 4.27246110e+01] [-5.39271610e-02 9.98544872e-01 0.00000000e+00 -3.30975998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92544288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.027552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.79, Y:-3.32, Z:0.01 [[ 9.98680707e-01 5.13502325e-02 0.00000000e+00 4.27861401e+01] [-5.13502325e-02 9.98680707e-01 0.00000000e+00 -3.31601683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74620655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.85, Y:-3.32, Z:0.00 [[ 9.98883548e-01 4.72404231e-02 0.00000000e+00 4.28467481e+01] [-4.72404231e-02 9.98883548e-01 0.00000000e+00 -3.32499696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81725495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.91, Y:-3.34, Z:0.00 [[ 9.99015985e-01 4.43515598e-02 0.00000000e+00 4.29073286e+01] [-4.43515598e-02 9.99015985e-01 0.00000000e+00 -3.33518953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38195692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.207552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.97, Y:-3.34, Z:0.01 [[ 9.98954585e-01 4.57136376e-02 0.00000000e+00 4.29685250e+01] [-4.57136376e-02 9.98954585e-01 0.00000000e+00 -3.34094907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77288201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.03, Y:-3.35, Z:0.01 [[ 9.98577022e-01 5.33285191e-02 0.00000000e+00 4.30294513e+01] [-5.33285191e-02 9.98577022e-01 0.00000000e+00 -3.34829024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02197941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.09, Y:-3.35, Z:0.01 [[ 9.98246576e-01 5.91926755e-02 0.00000000e+00 4.30907806e+01] [-5.91926755e-02 9.98246576e-01 0.00000000e+00 -3.35372524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79620084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.387552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.15, Y:-3.36, Z:0.01 [[ 9.97826499e-01 6.58959637e-02 0.00000000e+00 4.31514025e+01] [-6.58959637e-02 9.97826499e-01 0.00000000e+00 -3.36183928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07545489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.21, Y:-3.37, Z:0.01 [[ 9.97598795e-01 6.92578163e-02 0.00000000e+00 4.32126173e+01] [-6.92578163e-02 9.97598795e-01 0.00000000e+00 -3.37058519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08563544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.27, Y:-3.38, Z:0.00 [[ 9.97055422e-01 7.66843171e-02 0.00000000e+00 4.32747988e+01] [-7.66843171e-02 9.97055422e-01 0.00000000e+00 -3.37957092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16397899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.34, Y:-3.39, Z:0.00 [[ 9.96237552e-01 8.66645220e-02 0.00000000e+00 4.33359895e+01] [-8.66645220e-02 9.96237552e-01 0.00000000e+00 -3.39126116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05018800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.40, Y:-3.40, Z:0.00 [[ 9.95632732e-01 9.33566442e-02 0.00000000e+00 4.33987740e+01] [-9.33566442e-02 9.95632732e-01 0.00000000e+00 -3.40203729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78778215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.46, Y:-3.42, Z:0.00 [[ 9.94986536e-01 1.00008964e-01 0.00000000e+00 4.34605463e+01] [-1.00008964e-01 9.94986536e-01 0.00000000e+00 -3.41732289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53007719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.52, Y:-3.43, Z:0.00 [[ 9.94855789e-01 1.01301330e-01 0.00000000e+00 4.35214482e+01] [-1.01301330e-01 9.94855789e-01 0.00000000e+00 -3.42991247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57635436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.58, Y:-3.45, Z:0.00 [[ 9.94955328e-01 1.00318971e-01 0.00000000e+00 4.35833224e+01] [-1.00318971e-01 9.94955328e-01 0.00000000e+00 -3.45033247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26815361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.64, Y:-3.47, Z:0.00 [[ 9.95058133e-01 9.92940707e-02 0.00000000e+00 4.36449552e+01] [-9.92940707e-02 9.95058133e-01 0.00000000e+00 -3.46561073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64122792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.71, Y:-3.49, Z:0.00 [[ 9.95106554e-01 9.88076230e-02 0.00000000e+00 4.37069076e+01] [-9.88076230e-02 9.95106554e-01 0.00000000e+00 -3.48560528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38801394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.77, Y:-3.50, Z:0.00 [[ 9.95168841e-01 9.81783005e-02 0.00000000e+00 4.37684971e+01] [-9.81783005e-02 9.95168841e-01 0.00000000e+00 -3.50386884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74183943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.83, Y:-3.52, Z:0.00 [[ 9.95148632e-01 9.83829250e-02 0.00000000e+00 4.38304300e+01] [-9.83829250e-02 9.95148632e-01 0.00000000e+00 -3.51718638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82174454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.89, Y:-3.53, Z:-0.00 [[ 9.95475384e-01 9.50197824e-02 0.00000000e+00 4.38911839e+01] [-9.50197824e-02 9.95475384e-01 0.00000000e+00 -3.53252980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31454346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.95, Y:-3.55, Z:-0.00 [[ 9.95931336e-01 9.01153390e-02 0.00000000e+00 4.39534608e+01] [-9.01153390e-02 9.95931336e-01 0.00000000e+00 -3.54517606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30975610e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.02, Y:-3.56, Z:0.01 [[ 9.96769588e-01 8.03143136e-02 0.00000000e+00 4.40151191e+01] [-8.03143136e-02 9.96769588e-01 0.00000000e+00 -3.56066264e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16555637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.08, Y:-3.57, Z:0.01 [[ 9.97233286e-01 7.43355454e-02 0.00000000e+00 4.40774032e+01] [-7.43355454e-02 9.97233286e-01 0.00000000e+00 -3.57255860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18696444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.347552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.14, Y:-3.58, Z:0.01 [[ 9.97839205e-01 6.57032743e-02 0.00000000e+00 4.41393647e+01] [-6.57032743e-02 9.97839205e-01 0.00000000e+00 -3.58261164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38824048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.20, Y:-3.59, Z:0.00 [[ 9.98176642e-01 6.03605128e-02 0.00000000e+00 4.42013061e+01] [-6.03605128e-02 9.98176642e-01 0.00000000e+00 -3.59080925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66148162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:-3.60, Z:0.01 [[ 9.98402053e-01 5.65096425e-02 0.00000000e+00 4.42635010e+01] [-5.65096425e-02 9.98402053e-01 0.00000000e+00 -3.60003335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50690182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.527552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.33, Y:-3.60, Z:0.01 [[ 9.98393949e-01 5.66526401e-02 0.00000000e+00 4.43266002e+01] [-5.66526401e-02 9.98393949e-01 0.00000000e+00 -3.60484708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09337944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.39, Y:-3.61, Z:0.01 [[ 9.98176394e-01 6.03646090e-02 0.00000000e+00 4.43896468e+01] [-6.03646090e-02 9.98176394e-01 0.00000000e+00 -3.60671636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28775884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.45, Y:-3.61, Z:0.01 [[ 9.97844797e-01 6.56182919e-02 0.00000000e+00 4.44515873e+01] [-6.56182919e-02 9.97844797e-01 0.00000000e+00 -3.61006701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07076338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.707552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.51, Y:-3.61, Z:0.01 [[ 9.97544477e-01 7.00358231e-02 0.00000000e+00 4.45148721e+01] [-7.00358231e-02 9.97544477e-01 0.00000000e+00 -3.61143207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54679385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.58, Y:-3.62, Z:0.00 [[ 9.97726002e-01 6.74004825e-02 0.00000000e+00 4.45776934e+01] [-6.74004825e-02 9.97726002e-01 0.00000000e+00 -3.61509324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61594876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.64, Y:-3.62, Z:0.00 [[ 9.98022545e-01 6.28569794e-02 0.00000000e+00 4.46404659e+01] [-6.28569794e-02 9.98022545e-01 0.00000000e+00 -3.62067136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86952313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.887552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.70, Y:-3.62, Z:0.01 [[ 9.98451771e-01 5.56242855e-02 0.00000000e+00 4.47032381e+01] [-5.56242855e-02 9.98451771e-01 0.00000000e+00 -3.62441033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84707309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.77, Y:-3.63, Z:0.01 [[ 9.98604726e-01 5.28072114e-02 0.00000000e+00 4.47661828e+01] [-5.28072114e-02 9.98604726e-01 0.00000000e+00 -3.62857765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87474917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.63, Z:0.01 [[ 9.98619598e-01 5.25252245e-02 0.00000000e+00 4.48293565e+01] [-5.25252245e-02 9.98619598e-01 0.00000000e+00 -3.63158460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02458413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.89, Y:-3.63, Z:0.01 [[ 9.98511162e-01 5.45477660e-02 0.00000000e+00 4.48920396e+01] [-5.45477660e-02 9.98511162e-01 0.00000000e+00 -3.63422602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06037366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.95, Y:-3.64, Z:0.01 [[ 9.98126875e-01 6.11779497e-02 0.00000000e+00 4.49543593e+01] [-6.11779497e-02 9.98126875e-01 0.00000000e+00 -3.63622170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04780041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.02, Y:-3.64, Z:0.01 [[ 9.97668578e-01 6.82452025e-02 0.00000000e+00 4.50178896e+01] [-6.82452025e-02 9.97668578e-01 0.00000000e+00 -3.63635162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83417736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.08, Y:-3.64, Z:0.01 [[ 9.96731590e-01 8.07845074e-02 0.00000000e+00 4.50806442e+01] [-8.07845074e-02 9.96731590e-01 0.00000000e+00 -3.63647354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22632090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.14, Y:-3.64, Z:0.00 [[ 9.95670653e-01 9.29513318e-02 0.00000000e+00 4.51425806e+01] [-9.29513318e-02 9.95670653e-01 0.00000000e+00 -3.63843853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33858544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:-3.64, Z:0.01 [[ 9.95064612e-01 9.92291171e-02 0.00000000e+00 4.52060092e+01] [-9.92291171e-02 9.95064612e-01 0.00000000e+00 -3.64113312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05587927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.27, Y:-3.65, Z:0.00 [[ 9.94274804e-01 1.06853238e-01 0.00000000e+00 4.52683176e+01] [-1.06853238e-01 9.94274804e-01 0.00000000e+00 -3.64646017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31414112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.33, Y:-3.65, Z:0.00 [[ 9.93942620e-01 1.09900261e-01 0.00000000e+00 4.53314612e+01] [-1.09900261e-01 9.93942620e-01 0.00000000e+00 -3.65208118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04969607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.39, Y:-3.66, Z:0.01 [[ 9.93927413e-01 1.10037714e-01 0.00000000e+00 4.53940638e+01] [-1.10037714e-01 9.93927413e-01 0.00000000e+00 -3.66260691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11808048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.46, Y:-3.67, Z:0.01 [[ 9.94130144e-01 1.08190831e-01 0.00000000e+00 4.54562060e+01] [-1.08190831e-01 9.94130144e-01 0.00000000e+00 -3.67232799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41676896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.52, Y:-3.68, Z:0.01 [[ 9.94348244e-01 1.06167652e-01 0.00000000e+00 4.55184366e+01] [-1.06167652e-01 9.94348244e-01 0.00000000e+00 -3.68309672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27786425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.58, Y:-3.70, Z:0.00 [[ 9.94502110e-01 1.04716539e-01 0.00000000e+00 4.55799353e+01] [-1.04716539e-01 9.94502110e-01 0.00000000e+00 -3.69738532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15405109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.64, Y:-3.71, Z:0.00 [[ 9.94702594e-01 1.02794692e-01 0.00000000e+00 4.56420474e+01] [-1.02794692e-01 9.94702594e-01 0.00000000e+00 -3.70827774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79490933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.847552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.70, Y:-3.72, Z:0.01 [[ 9.94895603e-01 1.00909557e-01 0.00000000e+00 4.57038268e+01] [-1.00909557e-01 9.94895603e-01 0.00000000e+00 -3.72427093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62244821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:-3.74, Z:0.01 [[ 9.94799634e-01 1.01851305e-01 0.00000000e+00 4.57661780e+01] [-1.01851305e-01 9.94799634e-01 0.00000000e+00 -3.73693697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83775939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:-3.75, Z:0.01 [[ 9.94638655e-01 1.03411537e-01 0.00000000e+00 4.58274001e+01] [-1.03411537e-01 9.94638655e-01 0.00000000e+00 -3.74840786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14141081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.027552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.89, Y:-3.76, Z:0.01 [[ 9.94308864e-01 1.06535826e-01 0.00000000e+00 4.58894039e+01] [-1.06535826e-01 9.94308864e-01 0.00000000e+00 -3.76324371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45978827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.95, Y:-3.78, Z:0.01 [[ 9.94238075e-01 1.07194453e-01 0.00000000e+00 4.59507115e+01] [-1.07194453e-01 9.94238075e-01 0.00000000e+00 -3.77656873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89605167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:-3.79, Z:0.01 [[ 9.94279082e-01 1.06813423e-01 0.00000000e+00 4.60122470e+01] [-1.06813423e-01 9.94279082e-01 0.00000000e+00 -3.79269281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00188950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.207552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.07, Y:-3.80, Z:0.01 [[ 9.94067256e-01 1.08767141e-01 0.00000000e+00 4.60729252e+01] [-1.08767141e-01 9.94067256e-01 0.00000000e+00 -3.80437629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91114027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26755201799999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:46.14, Y:-3.82, Z:0.00 [[ 9.93663819e-01 1.12393122e-01 0.00000000e+00 4.61351256e+01] [-1.12393122e-01 9.93663819e-01 0.00000000e+00 -3.81956271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77088233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.20, Y:-3.84, Z:0.00 [[ 9.93265346e-01 1.15861785e-01 0.00000000e+00 4.61964938e+01] [-1.15861785e-01 9.93265346e-01 0.00000000e+00 -3.83586907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85779063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.387552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.26, Y:-3.84, Z:0.00 [[ 9.93122156e-01 1.17082805e-01 0.00000000e+00 4.62585840e+01] [-1.17082805e-01 9.93122156e-01 0.00000000e+00 -3.84403962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94837180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.32, Y:-3.86, Z:0.00 [[ 9.92852119e-01 1.19351036e-01 0.00000000e+00 4.63193080e+01] [-1.19351036e-01 9.92852119e-01 0.00000000e+00 -3.86166384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23684469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.38, Y:-3.87, Z:0.00 [[ 9.92842604e-01 1.19430162e-01 0.00000000e+00 4.63816744e+01] [-1.19430162e-01 9.92842604e-01 0.00000000e+00 -3.87421520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51173162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.44, Y:-3.89, Z:0.00 [[ 9.93065774e-01 1.17560060e-01 0.00000000e+00 4.64434517e+01] [-1.17560060e-01 9.93065774e-01 0.00000000e+00 -3.89194701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32245289e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.50, Y:-3.90, Z:0.00 [[ 9.93238446e-01 1.16092159e-01 0.00000000e+00 4.65041978e+01] [-1.16092159e-01 9.93238446e-01 0.00000000e+00 -3.90495756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14777883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.57, Y:-3.92, Z:0.00 [[ 9.93558300e-01 1.13322124e-01 0.00000000e+00 4.65656252e+01] [-1.13322124e-01 9.93558300e-01 0.00000000e+00 -3.92101095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75236817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:-3.93, Z:0.00 [[ 9.93886409e-01 1.10407452e-01 0.00000000e+00 4.66280104e+01] [-1.10407452e-01 9.93886409e-01 0.00000000e+00 -3.93334394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49732219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:-3.95, Z:0.00 [[ 9.94194544e-01 1.07597440e-01 0.00000000e+00 4.66894444e+01] [-1.07597440e-01 9.94194544e-01 0.00000000e+00 -3.94780622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99089840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.75, Y:-3.96, Z:0.00 [[ 9.94584006e-01 1.03935823e-01 0.00000000e+00 4.67516625e+01] [-1.03935823e-01 9.94584006e-01 0.00000000e+00 -3.96227319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53146522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.81, Y:-3.97, Z:0.00 [[ 9.94942010e-01 1.00450965e-01 0.00000000e+00 4.68133487e+01] [-1.00450965e-01 9.94942010e-01 0.00000000e+00 -3.97239520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29762898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:-3.98, Z:-0.00 [[ 9.95715791e-01 9.24665500e-02 0.00000000e+00 4.68746384e+01] [-9.24665500e-02 9.95715791e-01 0.00000000e+00 -3.98495832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20006775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.94, Y:-4.00, Z:0.00 [[ 9.96313973e-01 8.57815137e-02 0.00000000e+00 4.69371753e+01] [-8.57815137e-02 9.96313973e-01 0.00000000e+00 -3.99727078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10558240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.00, Y:-4.01, Z:0.00 [[ 9.96940140e-01 7.81687756e-02 0.00000000e+00 4.69996589e+01] [-7.81687756e-02 9.96940140e-01 0.00000000e+00 -4.00757231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15214768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.06, Y:-4.01, Z:0.00 [[ 9.97090220e-01 7.62305252e-02 0.00000000e+00 4.70617618e+01] [-7.62305252e-02 9.97090220e-01 0.00000000e+00 -4.01454940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57196464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.12, Y:-4.02, Z:0.00 [[ 9.97045334e-01 7.68153811e-02 0.00000000e+00 4.71246059e+01] [-7.68153811e-02 9.97045334e-01 0.00000000e+00 -4.02296280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18927741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:-4.03, Z:0.00 [[ 9.96777792e-01 8.02124246e-02 0.00000000e+00 4.71869818e+01] [-8.02124246e-02 9.96777792e-01 0.00000000e+00 -4.02848511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85405944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.347552017999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:-4.03, Z:0.00 [[ 9.96641329e-01 8.18905399e-02 0.00000000e+00 4.72483762e+01] [-8.18905399e-02 9.96641329e-01 0.00000000e+00 -4.03370780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08107303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.31, Y:-4.04, Z:0.00 [[ 9.96678440e-01 8.14376334e-02 0.00000000e+00 4.73108216e+01] [-8.14376334e-02 9.96678440e-01 0.00000000e+00 -4.03700184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01271624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.37, Y:-4.04, Z:0.00 [[ 9.96889849e-01 7.88075482e-02 0.00000000e+00 4.73731331e+01] [-7.88075482e-02 9.96889849e-01 0.00000000e+00 -4.04301758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75378234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.527552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:-4.05, Z:0.01 [[ 9.97284289e-01 7.36481290e-02 0.00000000e+00 4.74355066e+01] [-7.36481290e-02 9.97284289e-01 0.00000000e+00 -4.04673176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72942458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:-4.05, Z:0.01 [[ 9.97496068e-01 7.07219547e-02 0.00000000e+00 4.74986104e+01] [-7.07219547e-02 9.97496068e-01 0.00000000e+00 -4.04836480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31781265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:-4.05, Z:0.00 [[ 9.97703886e-01 6.77270638e-02 0.00000000e+00 4.75615108e+01] [-6.77270638e-02 9.97703886e-01 0.00000000e+00 -4.04692373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47891900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.707552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:-4.05, Z:0.00 [[ 9.97834383e-01 6.57764724e-02 0.00000000e+00 4.76241934e+01] [-6.57764724e-02 9.97834383e-01 0.00000000e+00 -4.04764651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89822818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:-4.04, Z:0.00 [[ 9.98136325e-01 6.10235793e-02 0.00000000e+00 4.76868013e+01] [-6.10235793e-02 9.98136325e-01 0.00000000e+00 -4.04409965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44443742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.75, Y:-4.04, Z:-0.00 [[ 9.98342461e-01 5.75528566e-02 0.00000000e+00 4.77505001e+01] [-5.75528566e-02 9.98342461e-01 0.00000000e+00 -4.04351362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68963487e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.887552017999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:-4.04, Z:0.00 [[ 9.98606084e-01 5.27815179e-02 0.00000000e+00 4.78140657e+01] [-5.27815179e-02 9.98606084e-01 0.00000000e+00 -4.03981948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45112784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.88, Y:-4.03, Z:0.00 [[ 9.98844575e-01 4.80574071e-02 0.00000000e+00 4.78779443e+01] [-4.80574071e-02 9.98844575e-01 0.00000000e+00 -4.03374814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65138034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.94, Y:-4.03, Z:0.00 [[ 9.98933365e-01 4.61750271e-02 0.00000000e+00 4.79412051e+01] [-4.61750271e-02 9.98933365e-01 0.00000000e+00 -4.03251212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76162193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.00, Y:-4.03, Z:0.00 [[ 9.98966571e-01 4.54509557e-02 0.00000000e+00 4.80043672e+01] [-4.54509557e-02 9.98966571e-01 0.00000000e+00 -4.02565886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36657898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.07, Y:-4.01, Z:0.00 [[ 9.99037618e-01 4.38615710e-02 0.00000000e+00 4.80683069e+01] [-4.38615710e-02 9.99037618e-01 0.00000000e+00 -4.01479826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.35593366e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.13, Y:-4.01, Z:0.00 [[ 9.99126986e-01 4.17763684e-02 0.00000000e+00 4.81304040e+01] [-4.17763684e-02 9.99126986e-01 0.00000000e+00 -4.01075162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04083613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.19, Y:-4.00, Z:0.00 [[ 9.99332784e-01 3.65237884e-02 0.00000000e+00 4.81949082e+01] [-3.65237884e-02 9.99332784e-01 0.00000000e+00 -3.99939948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58097939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.26, Y:-4.00, Z:0.00 [[ 9.99387334e-01 3.49993783e-02 0.00000000e+00 4.82577129e+01] [-3.49993783e-02 9.99387334e-01 0.00000000e+00 -3.99847639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62879459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.32, Y:-3.98, Z:0.00 [[ 9.99527066e-01 3.07513449e-02 0.00000000e+00 4.83224868e+01] [-3.07513449e-02 9.99527066e-01 0.00000000e+00 -3.98448395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61692952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.39, Y:-3.97, Z:0.00 [[ 9.99565613e-01 2.94717717e-02 0.00000000e+00 4.83860450e+01] [-2.94717717e-02 9.99565613e-01 0.00000000e+00 -3.97182318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05546599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.45, Y:-3.96, Z:0.00 [[ 9.99517120e-01 3.10729159e-02 0.00000000e+00 4.84502204e+01] [-3.10729159e-02 9.99517120e-01 0.00000000e+00 -3.96166868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53930860e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.51, Y:-3.94, Z:0.00 [[ 9.99356899e-01 3.58578999e-02 0.00000000e+00 4.85144292e+01] [-3.58578999e-02 9.99356899e-01 0.00000000e+00 -3.94153089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11126170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:-3.93, Z:0.00 [[ 9.99254614e-01 3.86033296e-02 0.00000000e+00 4.85783399e+01] [-3.86033296e-02 9.99254614e-01 0.00000000e+00 -3.93179253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80876705e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:-3.92, Z:-0.00 [[ 9.99137314e-01 4.15286424e-02 0.00000000e+00 4.86422089e+01] [-4.15286424e-02 9.99137314e-01 0.00000000e+00 -3.91610393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52286936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.71, Y:-3.91, Z:-0.00 [[ 9.99069062e-01 4.31394270e-02 0.00000000e+00 4.87069179e+01] [-4.31394270e-02 9.99069062e-01 0.00000000e+00 -3.90599645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74169739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.77, Y:-3.89, Z:-0.00 [[ 9.98990088e-01 4.49311033e-02 0.00000000e+00 4.87721697e+01] [-4.49311033e-02 9.98990088e-01 0.00000000e+00 -3.88846469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52703248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.84, Y:-3.88, Z:-0.00 [[ 9.98908413e-01 4.67116907e-02 0.00000000e+00 4.88363002e+01] [-4.67116907e-02 9.98908413e-01 0.00000000e+00 -3.87778708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78314180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.90, Y:-3.87, Z:-0.00 [[ 9.98766240e-01 4.96588111e-02 0.00000000e+00 4.88993525e+01] [-4.96588111e-02 9.98766240e-01 0.00000000e+00 -3.87061411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60920686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.96, Y:-3.86, Z:-0.01 [[ 9.98252429e-01 5.90938977e-02 0.00000000e+00 4.89622446e+01] [-5.90938977e-02 9.98252429e-01 0.00000000e+00 -3.85725325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95836992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.027552017999994 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:49.02, Y:-3.85, Z:-0.01 [[ 9.97724344e-01 6.74250144e-02 0.00000000e+00 4.90234809e+01] [-6.74250144e-02 9.97724344e-01 0.00000000e+00 -3.85158369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03916969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08755201799999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:49.09, Y:-3.84, Z:-0.01 [[ 9.96827530e-01 7.95919251e-02 0.00000000e+00 4.90850207e+01] [-7.95919251e-02 9.96827530e-01 0.00000000e+00 -3.84148530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56619561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14755201799999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:49.15, Y:-3.84, Z:-0.00 [[ 9.96510475e-01 8.34677988e-02 0.00000000e+00 4.91453958e+01] [-8.34677988e-02 9.96510475e-01 0.00000000e+00 -3.83857365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40311955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.207552017999994 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.84, Z:-0.00 [[ 9.96724938e-01 8.08665418e-02 0.00000000e+00 4.92051715e+01] [-8.08665418e-02 9.96724938e-01 0.00000000e+00 -3.83614027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99348765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26755201799999 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.84, Z:-0.01 [[ 9.97214859e-01 7.45823349e-02 0.00000000e+00 4.92656492e+01] [-7.45823349e-02 9.97214859e-01 0.00000000e+00 -3.83851417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34338498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32755201799999 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:49.33, Y:-3.84, Z:-0.01 [[ 9.97802948e-01 6.62516185e-02 0.00000000e+00 4.93267836e+01] [-6.62516185e-02 9.97802948e-01 0.00000000e+00 -3.83592704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56833136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.387552017999994 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:49.39, Y:-3.84, Z:-0.01 [[ 9.97905416e-01 6.46898812e-02 0.00000000e+00 4.93866142e+01] [-6.46898812e-02 9.97905416e-01 0.00000000e+00 -3.83876307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62286676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44755201799999 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:49.45, Y:-3.84, Z:-0.01 [[ 9.97860805e-01 6.53744125e-02 0.00000000e+00 4.94464272e+01] [-6.53744125e-02 9.97860805e-01 0.00000000e+00 -3.84081166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.15884861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50755201799999 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:49.51, Y:-3.84, Z:-0.01 [[ 9.97702359e-01 6.77495585e-02 0.00000000e+00 4.95052100e+01] [-6.77495585e-02 9.97702359e-01 0.00000000e+00 -3.83860070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08929282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56755201799999 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:-3.84, Z:-0.01 [[ 9.97658897e-01 6.83865802e-02 0.00000000e+00 4.95642002e+01] [-6.83865802e-02 9.97658897e-01 0.00000000e+00 -3.83929744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07699376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62755201799999 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:-3.84, Z:-0.01 [[ 9.97858954e-01 6.54026661e-02 0.00000000e+00 4.96223398e+01] [-6.54026661e-02 9.97858954e-01 0.00000000e+00 -3.84301590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41899804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68755201799999 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:-3.85, Z:-0.01 [[ 9.98000633e-01 6.32039234e-02 0.00000000e+00 4.96810740e+01] [-6.32039234e-02 9.98000633e-01 0.00000000e+00 -3.84649466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33877576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74755201799999 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.85, Z:-0.01 [[ 9.98035180e-01 6.26560466e-02 0.00000000e+00 4.97394782e+01] [-6.26560466e-02 9.98035180e-01 0.00000000e+00 -3.85038008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23232751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80755201799999 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:49.80, Y:-3.85, Z:-0.01 [[ 9.97997643e-01 6.32511199e-02 0.00000000e+00 4.97979728e+01] [-6.32511199e-02 9.97997643e-01 0.00000000e+00 -3.85435308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07249147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86755201799999 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:49.86, Y:-3.85, Z:-0.00 [[ 9.97727905e-01 6.73723117e-02 0.00000000e+00 4.98566900e+01] [-6.73723117e-02 9.97727905e-01 0.00000000e+00 -3.85449893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86169377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92755201799999 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:49.92, Y:-3.86, Z:-0.00 [[ 9.97454302e-01 7.13085904e-02 0.00000000e+00 4.99156983e+01] [-7.13085904e-02 9.97454302e-01 0.00000000e+00 -3.85775005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06288342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98755201799999 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:49.97, Y:-3.86, Z:-0.01 [[ 9.97146446e-01 7.54914964e-02 0.00000000e+00 4.99745176e+01] [-7.54914964e-02 9.97146446e-01 0.00000000e+00 -3.86061037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12190579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04755201799999 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:50.03, Y:-3.87, Z:-0.01 [[ 9.97034632e-01 7.69541572e-02 0.00000000e+00 5.00326661e+01] [-7.69541572e-02 9.97034632e-01 0.00000000e+00 -3.86590751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35477852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10755201799999 meters Centerline goodness : 0.998444 with order 1 Centerline is valid? [True, True] Translation: X:50.09, Y:-3.87, Z:-0.01 [[ 9.96948150e-01 7.80665450e-02 0.00000000e+00 5.00903149e+01] [-7.80665450e-02 9.96948150e-01 0.00000000e+00 -3.87144203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38416449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16755201799999 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:50.15, Y:-3.88, Z:-0.01 [[ 9.96973326e-01 7.77443718e-02 0.00000000e+00 5.01482736e+01] [-7.77443718e-02 9.96973326e-01 0.00000000e+00 -3.87911212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44560552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22755201799999 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:-3.89, Z:-0.01 [[ 9.96995996e-01 7.74531043e-02 0.00000000e+00 5.02064159e+01] [-7.74531043e-02 9.96995996e-01 0.00000000e+00 -3.88618147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68408835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28755201799999 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:50.26, Y:-3.89, Z:-0.01 [[ 9.97019056e-01 7.71556995e-02 0.00000000e+00 5.02647218e+01] [-7.71556995e-02 9.97019056e-01 0.00000000e+00 -3.89362829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34310845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34755201799999 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:50.32, Y:-3.90, Z:-0.01 [[ 9.97062447e-01 7.65929240e-02 0.00000000e+00 5.03231505e+01] [-7.65929240e-02 9.97062447e-01 0.00000000e+00 -3.90206423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81971041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40755201799999 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:50.38, Y:-3.91, Z:-0.00 [[ 9.97085838e-01 7.62878232e-02 0.00000000e+00 5.03809842e+01] [-7.62878232e-02 9.97085838e-01 0.00000000e+00 -3.90756517e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65255243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46755201799999 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:50.44, Y:-3.92, Z:-0.00 [[ 9.97122614e-01 7.58056219e-02 0.00000000e+00 5.04388182e+01] [-7.58056219e-02 9.97122614e-01 0.00000000e+00 -3.91557497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27051636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52755201799999 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:50.50, Y:-3.92, Z:-0.00 [[ 9.97399040e-01 7.20774240e-02 0.00000000e+00 5.04971561e+01] [-7.20774240e-02 9.97399040e-01 0.00000000e+00 -3.92421974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88403276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58755201799999 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:50.56, Y:-3.93, Z:-0.00 [[ 9.97623451e-01 6.89017440e-02 0.00000000e+00 5.05559195e+01] [-6.89017440e-02 9.97623451e-01 0.00000000e+00 -3.92955805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66672071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64755201799999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:-3.94, Z:-0.01 [[ 9.97964935e-01 6.37651019e-02 0.00000000e+00 5.06143754e+01] [-6.37651019e-02 9.97964935e-01 0.00000000e+00 -3.93800617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83388399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.707552017999994 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:50.67, Y:-3.94, Z:-0.01 [[ 9.98298236e-01 5.83149381e-02 0.00000000e+00 5.06732241e+01] [-5.83149381e-02 9.98298236e-01 0.00000000e+00 -3.94491349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83302729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76755201799999 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:-3.95, Z:-0.01 [[ 9.98409879e-01 5.63712194e-02 0.00000000e+00 5.07330708e+01] [-5.63712194e-02 9.98409879e-01 0.00000000e+00 -3.95087654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20212775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82755201799999 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:-3.95, Z:-0.00 [[ 9.98542910e-01 5.39634781e-02 0.00000000e+00 5.07914030e+01] [-5.39634781e-02 9.98542910e-01 0.00000000e+00 -3.95365910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73425155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.887552017999994 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:-3.95, Z:-0.00 [[ 9.98779365e-01 4.93941301e-02 0.00000000e+00 5.08514772e+01] [-4.93941301e-02 9.98779365e-01 0.00000000e+00 -3.95482969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28703116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94755201799999 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:-3.96, Z:-0.00 [[ 9.98941928e-01 4.59894061e-02 0.00000000e+00 5.09098430e+01] [-4.59894061e-02 9.98941928e-01 0.00000000e+00 -3.95632097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12653597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00755201799999 meters Centerline goodness : 0.997996 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:-3.96, Z:0.00 [[ 9.99018520e-01 4.42944221e-02 0.00000000e+00 5.09695503e+01] [-4.42944221e-02 9.99018520e-01 0.00000000e+00 -3.95535130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35714545e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06755201799999 meters Centerline goodness : 0.998171 with order 1 Centerline is valid? [True, True] Translation: X:51.03, Y:-3.95, Z:0.00 [[ 9.99010390e-01 4.44774116e-02 0.00000000e+00 5.10286496e+01] [-4.44774116e-02 9.99010390e-01 0.00000000e+00 -3.94972005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28630892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12755201799999 meters Centerline goodness : 0.997028 with order 1 Centerline is valid? [True, True] Translation: X:51.09, Y:-3.95, Z:-0.00 [[ 9.98967332e-01 4.54342372e-02 0.00000000e+00 5.10876465e+01] [-4.54342372e-02 9.98967332e-01 0.00000000e+00 -3.94952662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43629944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18755201799999 meters Centerline goodness : 0.996505 with order 1 Centerline is valid? [True, True] Translation: X:51.15, Y:-3.95, Z:-0.00 [[ 9.99006462e-01 4.45655557e-02 0.00000000e+00 5.11467428e+01] [-4.45655557e-02 9.99006462e-01 0.00000000e+00 -3.94603599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10424974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24755201799999 meters Centerline goodness : 0.995663 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:-3.94, Z:-0.01 [[ 9.99085558e-01 4.27556815e-02 0.00000000e+00 5.12058844e+01] [-4.27556815e-02 9.99085558e-01 0.00000000e+00 -3.94466794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61147575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30755201799999 meters Centerline goodness : 0.994379 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:-3.94, Z:-0.01 [[ 9.99257879e-01 3.85187177e-02 0.00000000e+00 5.12657117e+01] [-3.85187177e-02 9.99257879e-01 0.00000000e+00 -3.94163089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28787164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36755201799999 meters Centerline goodness : 0.993695 with order 1 Centerline is valid? [True, True] Translation: X:51.32, Y:-3.94, Z:-0.01 [[ 9.99309920e-01 3.71441066e-02 0.00000000e+00 5.13240458e+01] [-3.71441066e-02 9.99309920e-01 0.00000000e+00 -3.94096454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02164278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42755201799999 meters Centerline goodness : 0.992380 with order 1 Centerline is valid? [True, True] Translation: X:51.38, Y:-3.94, Z:-0.01 [[ 9.99189140e-01 4.02624100e-02 0.00000000e+00 5.13839646e+01] [-4.02624100e-02 9.99189140e-01 0.00000000e+00 -3.93627625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98888486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48755201799999 meters Centerline goodness : 0.991587 with order 1 Centerline is valid? [True, True] Translation: X:51.44, Y:-3.93, Z:-0.01 [[ 9.99019849e-01 4.42644548e-02 0.00000000e+00 5.14437279e+01] [-4.42644548e-02 9.99019849e-01 0.00000000e+00 -3.93370982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05634211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54755201799999 meters Centerline goodness : 0.990971 with order 1 Centerline is valid? [True, True] Translation: X:51.50, Y:-3.93, Z:-0.01 [[ 9.98812895e-01 4.87113951e-02 0.00000000e+00 5.15031958e+01] [-4.87113951e-02 9.98812895e-01 0.00000000e+00 -3.93334794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07051720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60755201799999 meters Centerline goodness : 0.989952 with order 1 Centerline is valid? [True, True] Translation: X:51.56, Y:-3.93, Z:-0.01 [[ 9.98758518e-01 4.98138777e-02 0.00000000e+00 5.15613500e+01] [-4.98138777e-02 9.98758518e-01 0.00000000e+00 -3.93218057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71933150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66755201799999 meters Centerline goodness : 0.987670 with order 1 Centerline is valid? [True, True] Translation: X:51.62, Y:-3.93, Z:-0.01 [[ 9.98741713e-01 5.01496775e-02 0.00000000e+00 5.16212780e+01] [-5.01496775e-02 9.98741713e-01 0.00000000e+00 -3.92856906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17478064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72755201799999 meters Centerline goodness : 0.989534 with order 1 Centerline is valid? [True, True] Translation: X:51.68, Y:-3.93, Z:-0.01 [[ 9.98729686e-01 5.03886228e-02 0.00000000e+00 5.16803555e+01] [-5.03886228e-02 9.98729686e-01 0.00000000e+00 -3.92605109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19353856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78755201799999 meters Centerline goodness : 0.987359 with order 1 Centerline is valid? [True, True] Translation: X:51.74, Y:-3.93, Z:-0.01 [[ 9.98505358e-01 5.46539180e-02 0.00000000e+00 5.17388843e+01] [-5.46539180e-02 9.98505358e-01 0.00000000e+00 -3.92904070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21802341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84755201799999 meters Centerline goodness : 0.988025 with order 1 Centerline is valid? [True, True] Translation: X:51.80, Y:-3.92, Z:-0.01 [[ 9.98465277e-01 5.53813267e-02 0.00000000e+00 5.17977098e+01] [-5.53813267e-02 9.98465277e-01 0.00000000e+00 -3.92485114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22949417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90755201799999 meters Centerline goodness : 0.986344 with order 1 Centerline is valid? [True, True] Translation: X:51.86, Y:-3.93, Z:-0.01 [[ 9.98159821e-01 6.06380382e-02 0.00000000e+00 5.18554745e+01] [-6.06380382e-02 9.98159821e-01 0.00000000e+00 -3.92691009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06159017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96755201799999 meters Centerline goodness : 0.984832 with order 1 Centerline is valid? [True, True] Translation: X:51.91, Y:-3.93, Z:-0.01 [[ 9.97791479e-01 6.64241221e-02 0.00000000e+00 5.19140311e+01] [-6.64241221e-02 9.97791479e-01 0.00000000e+00 -3.92812617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92672728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02755201799999 meters Centerline goodness : 0.987408 with order 1 Centerline is valid? [True, True] Translation: X:51.97, Y:-3.93, Z:-0.01 [[ 9.97824158e-01 6.59314006e-02 0.00000000e+00 5.19732451e+01] [-6.59314006e-02 9.97824158e-01 0.00000000e+00 -3.92637402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04990634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08755201799999 meters Centerline goodness : 0.985037 with order 1 Centerline is valid? [True, True] Translation: X:52.03, Y:-3.93, Z:-0.01 [[ 9.97739256e-01 6.72039897e-02 0.00000000e+00 5.20316013e+01] [-6.72039897e-02 9.97739256e-01 0.00000000e+00 -3.93408005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60348905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14755201799999 meters Centerline goodness : 0.986299 with order 1 Centerline is valid? [True, True] Translation: X:52.09, Y:-3.94, Z:-0.01 [[ 9.97842466e-01 6.56537291e-02 0.00000000e+00 5.20894575e+01] [-6.56537291e-02 9.97842466e-01 0.00000000e+00 -3.93875053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26745209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20755201799999 meters Centerline goodness : 0.985756 with order 1 Centerline is valid? [True, True] Translation: X:52.15, Y:-3.95, Z:-0.01 [[ 9.97942783e-01 6.41108552e-02 0.00000000e+00 5.21465924e+01] [-6.41108552e-02 9.97942783e-01 0.00000000e+00 -3.94691746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.04775226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26755201799999 meters Centerline goodness : 0.987258 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:-3.95, Z:-0.01 [[ 9.98176162e-01 6.03684407e-02 0.00000000e+00 5.22041714e+01] [-6.03684407e-02 9.98176162e-01 0.00000000e+00 -3.94935864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39036845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32755201799999 meters Centerline goodness : 0.987537 with order 1 Centerline is valid? [True, True] Translation: X:52.26, Y:-3.96, Z:-0.01 [[ 9.98233902e-01 5.94060399e-02 0.00000000e+00 5.22623861e+01] [-5.94060399e-02 9.98233902e-01 0.00000000e+00 -3.95567834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10276120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.387552017999994 meters Centerline goodness : 0.987903 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:-3.96, Z:-0.02 [[ 9.98461578e-01 5.54479638e-02 0.00000000e+00 5.23190857e+01] [-5.54479638e-02 9.98461578e-01 0.00000000e+00 -3.96497332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53665362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44755201799999 meters Centerline goodness : 0.987790 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:-3.97, Z:-0.01 [[ 9.98641922e-01 5.20990573e-02 0.00000000e+00 5.23764227e+01] [-5.20990573e-02 9.98641922e-01 0.00000000e+00 -3.97195978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40409892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50755201799999 meters Centerline goodness : 0.987787 with order 1 Centerline is valid? [True, True] Translation: X:52.43, Y:-3.98, Z:-0.01 [[ 9.98811226e-01 4.87456204e-02 0.00000000e+00 5.24339196e+01] [-4.87456204e-02 9.98811226e-01 0.00000000e+00 -3.97647898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24224921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56755201799999 meters Centerline goodness : 0.987556 with order 1 Centerline is valid? [True, True] Translation: X:52.49, Y:-3.98, Z:-0.01 [[ 9.99089222e-01 4.26699687e-02 0.00000000e+00 5.24924780e+01] [-4.26699687e-02 9.99089222e-01 0.00000000e+00 -3.98379992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22759066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62755201799999 meters Centerline goodness : 0.984712 with order 1 Centerline is valid? [True, True] Translation: X:52.55, Y:-3.99, Z:-0.01 [[ 9.99309140e-01 3.71650649e-02 0.00000000e+00 5.25505900e+01] [-3.71650649e-02 9.99309140e-01 0.00000000e+00 -3.99341934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89335910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68755201799999 meters Centerline goodness : 0.987175 with order 1 Centerline is valid? [True, True] Translation: X:52.61, Y:-3.99, Z:-0.01 [[ 9.99584756e-01 2.88151870e-02 0.00000000e+00 5.26100317e+01] [-2.88151870e-02 9.99584756e-01 0.00000000e+00 -3.99420297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22671674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74755201799999 meters Centerline goodness : 0.987047 with order 1 Centerline is valid? [True, True] Translation: X:52.67, Y:-4.00, Z:-0.01 [[ 9.99752002e-01 2.22695715e-02 0.00000000e+00 5.26691133e+01] [-2.22695715e-02 9.99752002e-01 0.00000000e+00 -3.99554738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01140229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80755201799999 meters Centerline goodness : 0.985847 with order 1 Centerline is valid? [True, True] Translation: X:52.73, Y:-4.00, Z:-0.01 [[ 9.99777508e-01 2.10934809e-02 0.00000000e+00 5.27278156e+01] [-2.10934809e-02 9.99777508e-01 0.00000000e+00 -4.00134200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.14153423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86755201799999 meters Centerline goodness : 0.987473 with order 1 Centerline is valid? [True, True] Translation: X:52.79, Y:-4.00, Z:-0.01 [[ 9.99845453e-01 1.75804016e-02 0.00000000e+00 5.27856975e+01] [-1.75804016e-02 9.99845453e-01 0.00000000e+00 -3.99821920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33546543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92755201799999 meters Centerline goodness : 0.986956 with order 1 Centerline is valid? [True, True] Translation: X:52.84, Y:-4.00, Z:-0.01 [[ 9.99827573e-01 1.85694469e-02 0.00000000e+00 5.28448247e+01] [-1.85694469e-02 9.99827573e-01 0.00000000e+00 -3.99540584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29378384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98755201799999 meters Centerline goodness : 0.987340 with order 1 Centerline is valid? [True, True] Translation: X:52.90, Y:-3.99, Z:-0.01 [[ 9.99798190e-01 2.00892743e-02 0.00000000e+00 5.29037499e+01] [-2.00892743e-02 9.99798190e-01 0.00000000e+00 -3.99493848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24820003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04755201799999 meters Centerline goodness : 0.986301 with order 1 Centerline is valid? [True, True] Translation: X:52.96, Y:-4.00, Z:-0.01 [[ 9.99769178e-01 2.14846716e-02 0.00000000e+00 5.29625390e+01] [-2.14846716e-02 9.99769178e-01 0.00000000e+00 -3.99526686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20040104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10755201799999 meters Centerline goodness : 0.985982 with order 1 Centerline is valid? [True, True] Translation: X:53.02, Y:-4.00, Z:-0.01 [[ 9.99816944e-01 1.91331628e-02 0.00000000e+00 5.30211873e+01] [-1.91331628e-02 9.99816944e-01 0.00000000e+00 -3.99599483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28298206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16755201799999 meters Centerline goodness : 0.988180 with order 1 Centerline is valid? [True, True] Translation: X:53.08, Y:-3.99, Z:-0.01 [[ 9.99898869e-01 1.42214954e-02 0.00000000e+00 5.30795323e+01] [-1.42214954e-02 9.99898869e-01 0.00000000e+00 -3.98835841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20706413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22755201799999 meters Centerline goodness : 0.987699 with order 1 Centerline is valid? [True, True] Translation: X:53.14, Y:-3.99, Z:-0.01 [[ 9.99742768e-01 2.26803604e-02 0.00000000e+00 5.31380516e+01] [-2.26803604e-02 9.99742768e-01 0.00000000e+00 -3.99041151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36213891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28755201799999 meters Centerline goodness : 0.987021 with order 1 Centerline is valid? [True, True] Translation: X:53.20, Y:-3.99, Z:-0.01 [[ 9.99603236e-01 2.81668289e-02 0.00000000e+00 5.31952553e+01] [-2.81668289e-02 9.99603236e-01 0.00000000e+00 -3.98782591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46363740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34755201799999 meters Centerline goodness : 0.986514 with order 1 Centerline is valid? [True, True] Translation: X:53.25, Y:-3.98, Z:-0.01 [[ 9.99180105e-01 4.04860298e-02 0.00000000e+00 5.32543208e+01] [-4.04860298e-02 9.99180105e-01 0.00000000e+00 -3.98263134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20647140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40755201799999 meters Centerline goodness : 0.987379 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:-3.97, Z:-0.01 [[ 9.98644649e-01 5.20467573e-02 0.00000000e+00 5.33138031e+01] [-5.20467573e-02 9.98644649e-01 0.00000000e+00 -3.97333251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51956750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46755201799999 meters Centerline goodness : 0.990574 with order 1 Centerline is valid? [True, True] Translation: X:53.37, Y:-3.96, Z:-0.01 [[ 9.98667834e-01 5.15999695e-02 0.00000000e+00 5.33725111e+01] [-5.15999695e-02 9.98667834e-01 0.00000000e+00 -3.96302512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06288918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52755201799999 meters Centerline goodness : 0.988658 with order 1 Centerline is valid? [True, True] Translation: X:53.43, Y:-3.97, Z:-0.01 [[ 9.97941570e-01 6.41297390e-02 0.00000000e+00 5.34297993e+01] [-6.41297390e-02 9.97941570e-01 0.00000000e+00 -3.97025467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72214373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58755201799999 meters Centerline goodness : 0.990795 with order 1 Centerline is valid? [True, True] Translation: X:53.49, Y:-3.96, Z:-0.01 [[ 9.97964518e-01 6.37716263e-02 0.00000000e+00 5.34890444e+01] [-6.37716263e-02 9.97964518e-01 0.00000000e+00 -3.96295044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78259744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64755201799999 meters Centerline goodness : 0.989079 with order 1 Centerline is valid? [True, True] Translation: X:53.55, Y:-3.97, Z:-0.01 [[ 9.96998952e-01 7.74150492e-02 0.00000000e+00 5.35467838e+01] [-7.74150492e-02 9.96998952e-01 0.00000000e+00 -3.97161103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63840350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70755201799999 meters Centerline goodness : 0.991295 with order 1 Centerline is valid? [True, True] Translation: X:53.60, Y:-3.97, Z:-0.01 [[ 9.97086706e-01 7.62764815e-02 0.00000000e+00 5.36049128e+01] [-7.62764815e-02 9.97086706e-01 0.00000000e+00 -3.96899286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96314059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76755201799999 meters Centerline goodness : 0.990301 with order 1 Centerline is valid? [True, True] Translation: X:53.66, Y:-3.97, Z:-0.01 [[ 9.96514358e-01 8.34214268e-02 0.00000000e+00 5.36630836e+01] [-8.34214268e-02 9.96514358e-01 0.00000000e+00 -3.97414778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55360194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82755201799999 meters Centerline goodness : 0.989847 with order 1 Centerline is valid? [True, True] Translation: X:53.72, Y:-3.98, Z:-0.00 [[ 9.95925753e-01 9.01770130e-02 0.00000000e+00 5.37197033e+01] [-9.01770130e-02 9.95925753e-01 0.00000000e+00 -3.98381777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31889875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88755201799999 meters Centerline goodness : 0.989182 with order 1 Centerline is valid? [True, True] Translation: X:53.78, Y:-3.99, Z:-0.01 [[ 9.95748595e-01 9.21126269e-02 0.00000000e+00 5.37769616e+01] [-9.21126269e-02 9.95748595e-01 0.00000000e+00 -3.99409475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41890344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94755201799999 meters Centerline goodness : 0.988697 with order 1 Centerline is valid? [True, True] Translation: X:53.83, Y:-4.01, Z:-0.01 [[ 9.95942650e-01 8.99902076e-02 0.00000000e+00 5.38336579e+01] [-8.99902076e-02 9.95942650e-01 0.00000000e+00 -4.00728317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98822228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00755201799999 meters Centerline goodness : 0.986716 with order 1 Centerline is valid? [True, True] Translation: X:53.89, Y:-4.03, Z:-0.01 [[ 9.95460707e-01 9.51734236e-02 0.00000000e+00 5.38913317e+01] [-9.51734236e-02 9.95460707e-01 0.00000000e+00 -4.02633339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11072656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06755201799999 meters Centerline goodness : 0.989222 with order 1 Centerline is valid? [True, True] Translation: X:53.95, Y:-4.04, Z:-0.01 [[ 9.96676775e-01 8.14580075e-02 0.00000000e+00 5.39496808e+01] [-8.14580075e-02 9.96676775e-01 0.00000000e+00 -4.03620236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24897618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12755201799999 meters Centerline goodness : 0.985971 with order 1 Centerline is valid? [True, True] Translation: X:54.01, Y:-4.06, Z:-0.01 [[ 9.96560160e-01 8.28724806e-02 0.00000000e+00 5.40054019e+01] [-8.28724806e-02 9.96560160e-01 0.00000000e+00 -4.05868076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24617038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18755201799999 meters Centerline goodness : 0.987192 with order 1 Centerline is valid? [True, True] Translation: X:54.06, Y:-4.07, Z:-0.01 [[ 9.97574575e-01 6.96058021e-02 0.00000000e+00 5.40627276e+01] [-6.96058021e-02 9.97574575e-01 0.00000000e+00 -4.06802628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08265306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24755201799999 meters Centerline goodness : 0.987812 with order 1 Centerline is valid? [True, True] Translation: X:54.12, Y:-4.08, Z:-0.01 [[ 9.97948290e-01 6.40250709e-02 0.00000000e+00 5.41192470e+01] [-6.40250709e-02 9.97948290e-01 0.00000000e+00 -4.08401364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10352640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30755201799999 meters Centerline goodness : 0.987743 with order 1 Centerline is valid? [True, True] Translation: X:54.18, Y:-4.10, Z:-0.01 [[ 9.98232948e-01 5.94220669e-02 0.00000000e+00 5.41761222e+01] [-5.94220669e-02 9.98232948e-01 0.00000000e+00 -4.09719260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.65237610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36755201799999 meters Centerline goodness : 0.985539 with order 1 Centerline is valid? [True, True] Translation: X:54.23, Y:-4.12, Z:-0.01 [[ 9.98381250e-01 5.68760110e-02 0.00000000e+00 5.42321172e+01] [-5.68760110e-02 9.98381250e-01 0.00000000e+00 -4.12094727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05839554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42755201799999 meters Centerline goodness : 0.985408 with order 1 Centerline is valid? [True, True] Translation: X:54.29, Y:-4.13, Z:-0.01 [[ 9.98663129e-01 5.16909547e-02 0.00000000e+00 5.42895153e+01] [-5.16909547e-02 9.98663129e-01 0.00000000e+00 -4.13005283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03028335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48755201799999 meters Centerline goodness : 0.986198 with order 1 Centerline is valid? [True, True] Translation: X:54.35, Y:-4.14, Z:-0.01 [[ 9.98755496e-01 4.98744368e-02 0.00000000e+00 5.43478845e+01] [-4.98744368e-02 9.98755496e-01 0.00000000e+00 -4.14284017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21737766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54755201799999 meters Centerline goodness : 0.987943 with order 1 Centerline is valid? [True, True] Translation: X:54.41, Y:-4.14, Z:-0.01 [[ 9.99039932e-01 4.38088326e-02 0.00000000e+00 5.44058183e+01] [-4.38088326e-02 9.99039932e-01 0.00000000e+00 -4.14423388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46429752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60755201799999 meters Centerline goodness : 0.987164 with order 1 Centerline is valid? [True, True] Translation: X:54.46, Y:-4.15, Z:-0.01 [[ 9.98825292e-01 4.84565421e-02 0.00000000e+00 5.44631582e+01] [-4.84565421e-02 9.98825292e-01 0.00000000e+00 -4.15209405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05492725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66755201799999 meters Centerline goodness : 0.986452 with order 1 Centerline is valid? [True, True] Translation: X:54.52, Y:-4.16, Z:-0.01 [[ 9.97941660e-01 6.41283346e-02 0.00000000e+00 5.45212293e+01] [-6.41283346e-02 9.97941660e-01 0.00000000e+00 -4.16330609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39672446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72755201799999 meters Centerline goodness : 0.987504 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:-4.16, Z:-0.01 [[ 9.97885496e-01 6.49964394e-02 0.00000000e+00 5.45796520e+01] [-6.49964394e-02 9.97885496e-01 0.00000000e+00 -4.16134965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35819801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78755201799999 meters Centerline goodness : 0.987406 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:-4.17, Z:-0.01 [[ 9.97480872e-01 7.09359548e-02 0.00000000e+00 5.46376644e+01] [-7.09359548e-02 9.97480872e-01 0.00000000e+00 -4.16811645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25141408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84755201799999 meters Centerline goodness : 0.986844 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:-4.17, Z:-0.01 [[ 9.97244800e-01 7.41809180e-02 0.00000000e+00 5.46945242e+01] [-7.41809180e-02 9.97244800e-01 0.00000000e+00 -4.17381107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24724484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90755201799999 meters Centerline goodness : 0.986167 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:-4.18, Z:-0.01 [[ 9.97029382e-01 7.70221449e-02 0.00000000e+00 5.47519741e+01] [-7.70221449e-02 9.97029382e-01 0.00000000e+00 -4.18202756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64406455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96755201799999 meters Centerline goodness : 0.987224 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:-4.18, Z:-0.01 [[ 9.96842872e-01 7.93995487e-02 0.00000000e+00 5.48085965e+01] [-7.93995487e-02 9.96842872e-01 0.00000000e+00 -4.18473447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92441446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02755201799999 meters Centerline goodness : 0.987016 with order 1 Centerline is valid? [True, True] Translation: X:54.87, Y:-4.19, Z:-0.01 [[ 9.96697130e-01 8.12085664e-02 0.00000000e+00 5.48651918e+01] [-8.12085664e-02 9.96697130e-01 0.00000000e+00 -4.19118645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00355726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08755201799999 meters Centerline goodness : 0.988042 with order 1 Centerline is valid? [True, True] Translation: X:54.92, Y:-4.20, Z:-0.00 [[ 9.96672067e-01 8.15155900e-02 0.00000000e+00 5.49228015e+01] [-8.15155900e-02 9.96672067e-01 0.00000000e+00 -4.20342673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10269403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14755201799999 meters Centerline goodness : 0.988852 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:-4.21, Z:-0.01 [[ 9.96888993e-01 7.88183679e-02 0.00000000e+00 5.49806899e+01] [-7.88183679e-02 9.96888993e-01 0.00000000e+00 -4.21286423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08595570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20755201799999 meters Centerline goodness : 0.990052 with order 1 Centerline is valid? [True, True] Translation: X:55.04, Y:-4.23, Z:-0.01 [[ 9.97072951e-01 7.64560623e-02 0.00000000e+00 5.50379669e+01] [-7.64560623e-02 9.97072951e-01 0.00000000e+00 -4.22542063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45094005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26755201799999 meters Centerline goodness : 0.992572 with order 1 Centerline is valid? [True, True] Translation: X:55.10, Y:-4.24, Z:-0.01 [[ 9.97110502e-01 7.59647674e-02 0.00000000e+00 5.50953761e+01] [-7.59647674e-02 9.97110502e-01 0.00000000e+00 -4.24008060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75704702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32755201799999 meters Centerline goodness : 0.991116 with order 1 Centerline is valid? [True, True] Translation: X:55.15, Y:-4.25, Z:-0.01 [[ 9.96802188e-01 7.99086821e-02 0.00000000e+00 5.51526988e+01] [-7.99086821e-02 9.96802188e-01 0.00000000e+00 -4.24775885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33248430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38755201799999 meters Centerline goodness : 0.992729 with order 1 Centerline is valid? [True, True] Translation: X:55.21, Y:-4.26, Z:-0.00 [[ 9.96120742e-01 8.79969757e-02 0.00000000e+00 5.52083132e+01] [-8.79969757e-02 9.96120742e-01 0.00000000e+00 -4.26214745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92175003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44755201799999 meters Centerline goodness : 0.993650 with order 1 Centerline is valid? [True, True] Translation: X:55.27, Y:-4.28, Z:-0.00 [[ 9.95600206e-01 9.37028755e-02 0.00000000e+00 5.52652637e+01] [-9.37028755e-02 9.95600206e-01 0.00000000e+00 -4.27799257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29873396e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50755201799999 meters Centerline goodness : 0.994167 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:-4.29, Z:-0.00 [[ 9.95717440e-01 9.24487978e-02 0.00000000e+00 5.53223162e+01] [-9.24487978e-02 9.95717440e-01 0.00000000e+00 -4.29039755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96201875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.567552017999986 meters Centerline goodness : 0.995274 with order 1 Centerline is valid? [True, True] Translation: X:55.38, Y:-4.31, Z:-0.00 [[ 9.96263116e-01 8.63701599e-02 0.00000000e+00 5.53791070e+01] [-8.63701599e-02 9.96263116e-01 0.00000000e+00 -4.30533946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04004919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62755201799999 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:55.44, Y:-4.32, Z:-0.00 [[ 9.97318445e-01 7.31841410e-02 0.00000000e+00 5.54365575e+01] [-7.31841410e-02 9.97318445e-01 0.00000000e+00 -4.32442053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93387761e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68755201799999 meters Centerline goodness : 0.996815 with order 1 Centerline is valid? [True, True] Translation: X:55.49, Y:-4.34, Z:0.00 [[ 9.98087472e-01 6.18174641e-02 0.00000000e+00 5.54932820e+01] [-6.18174641e-02 9.98087472e-01 0.00000000e+00 -4.33718855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59141197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74755201799999 meters Centerline goodness : 0.997472 with order 1 Centerline is valid? [True, True] Translation: X:55.55, Y:-4.35, Z:0.00 [[ 9.98471047e-01 5.52771892e-02 0.00000000e+00 5.55510912e+01] [-5.52771892e-02 9.98471047e-01 0.00000000e+00 -4.34891321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38581004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80755201799999 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:55.61, Y:-4.36, Z:0.00 [[ 9.98908277e-01 4.67146129e-02 0.00000000e+00 5.56088084e+01] [-4.67146129e-02 9.98908277e-01 0.00000000e+00 -4.36227291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96965961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86755201799999 meters Centerline goodness : 0.998217 with order 1 Centerline is valid? [True, True] Translation: X:55.67, Y:-4.37, Z:0.00 [[ 9.99057745e-01 4.34007118e-02 0.00000000e+00 5.56681821e+01] [-4.34007118e-02 9.99057745e-01 0.00000000e+00 -4.36852120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76726876e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92755201799999 meters Centerline goodness : 0.998567 with order 1 Centerline is valid? [True, True] Translation: X:55.73, Y:-4.37, Z:-0.00 [[ 9.99094618e-01 4.25434350e-02 0.00000000e+00 5.57270284e+01] [-4.25434350e-02 9.99094618e-01 0.00000000e+00 -4.37451549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72816763e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98755201799999 meters Centerline goodness : 0.997941 with order 1 Centerline is valid? [True, True] Translation: X:55.79, Y:-4.38, Z:0.00 [[ 9.99106967e-01 4.22524476e-02 0.00000000e+00 5.57862697e+01] [-4.22524476e-02 9.99106967e-01 0.00000000e+00 -4.38196014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39743630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04755201799999 meters Centerline goodness : 0.997856 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:-4.39, Z:0.00 [[ 9.99092848e-01 4.25849906e-02 0.00000000e+00 5.58450554e+01] [-4.25849906e-02 9.99092848e-01 0.00000000e+00 -4.38543137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21463088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10755201799999 meters Centerline goodness : 0.997965 with order 1 Centerline is valid? [True, True] Translation: X:55.90, Y:-4.39, Z:0.00 [[ 9.99146715e-01 4.13018299e-02 0.00000000e+00 5.59046227e+01] [-4.13018299e-02 9.99146715e-01 0.00000000e+00 -4.38783646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98230138e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16755201799999 meters Centerline goodness : 0.998486 with order 1 Centerline is valid? [True, True] Translation: X:55.96, Y:-4.39, Z:-0.00 [[ 9.99378677e-01 3.52456982e-02 0.00000000e+00 5.59631271e+01] [-3.52456982e-02 9.99378677e-01 0.00000000e+00 -4.39388474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79643900e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22755201799999 meters Centerline goodness : 0.998029 with order 1 Centerline is valid? [True, True] Translation: X:56.02, Y:-4.40, Z:0.00 [[ 9.99557105e-01 2.97589296e-02 0.00000000e+00 5.60223956e+01] [-2.97589296e-02 9.99557105e-01 0.00000000e+00 -4.39643262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07991732e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28755201799999 meters Centerline goodness : 0.997496 with order 1 Centerline is valid? [True, True] Translation: X:56.08, Y:-4.39, Z:0.00 [[ 9.99769991e-01 2.14467892e-02 0.00000000e+00 5.60827783e+01] [-2.14467892e-02 9.99769991e-01 0.00000000e+00 -4.39448212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22850896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34755201799999 meters Centerline goodness : 0.996883 with order 1 Centerline is valid? [True, True] Translation: X:56.14, Y:-4.40, Z:0.00 [[ 9.99854334e-01 1.70678037e-02 0.00000000e+00 5.61427484e+01] [-1.70678037e-02 9.99854334e-01 0.00000000e+00 -4.39750166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37391274e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40755201799999 meters Centerline goodness : 0.996571 with order 1 Centerline is valid? [True, True] Translation: X:56.20, Y:-4.40, Z:0.00 [[ 9.99905458e-01 1.37504601e-02 0.00000000e+00 5.62029095e+01] [-1.37504601e-02 9.99905458e-01 0.00000000e+00 -4.39597822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22100768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46755201799999 meters Centerline goodness : 0.995316 with order 1 Centerline is valid? [True, True] Translation: X:56.26, Y:-4.39, Z:0.00 [[ 9.99878454e-01 1.55909071e-02 0.00000000e+00 5.62631054e+01] [-1.55909071e-02 9.99878454e-01 0.00000000e+00 -4.39191867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41913134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52755201799999 meters Centerline goodness : 0.994444 with order 1 Centerline is valid? [True, True] Translation: X:56.32, Y:-4.39, Z:0.00 [[ 9.99821047e-01 1.89175362e-02 0.00000000e+00 5.63216228e+01] [-1.89175362e-02 9.99821047e-01 0.00000000e+00 -4.39058479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28122137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58755201799999 meters Centerline goodness : 0.993600 with order 1 Centerline is valid? [True, True] Translation: X:56.38, Y:-4.38, Z:-0.00 [[ 9.99723594e-01 2.35103174e-02 0.00000000e+00 5.63813312e+01] [-2.35103174e-02 9.99723594e-01 0.00000000e+00 -4.38349019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.79565679e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64755201799999 meters Centerline goodness : 0.992431 with order 1 Centerline is valid? [True, True] Translation: X:56.44, Y:-4.37, Z:-0.00 [[ 9.99608357e-01 2.79845194e-02 0.00000000e+00 5.64408823e+01] [-2.79845194e-02 9.99608357e-01 0.00000000e+00 -4.37463998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77250890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70755201799999 meters Centerline goodness : 0.992494 with order 1 Centerline is valid? [True, True] Translation: X:56.50, Y:-4.37, Z:-0.00 [[ 9.99575933e-01 2.91196630e-02 0.00000000e+00 5.65001165e+01] [-2.91196630e-02 9.99575933e-01 0.00000000e+00 -4.37207652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85442923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76755201799999 meters Centerline goodness : 0.990556 with order 1 Centerline is valid? [True, True] Translation: X:56.56, Y:-4.37, Z:-0.00 [[ 9.99524038e-01 3.08496082e-02 0.00000000e+00 5.65601465e+01] [-3.08496082e-02 9.99524038e-01 0.00000000e+00 -4.36580922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99833806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82755201799999 meters Centerline goodness : 0.988259 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:-4.36, Z:-0.01 [[ 9.99525136e-01 3.08140119e-02 0.00000000e+00 5.66184190e+01] [-3.08140119e-02 9.99525136e-01 0.00000000e+00 -4.35771037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35602574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88755201799999 meters Centerline goodness : 0.988489 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:-4.36, Z:-0.01 [[ 9.99578688e-01 2.90249334e-02 0.00000000e+00 5.66775114e+01] [-2.90249334e-02 9.99578688e-01 0.00000000e+00 -4.35535132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06320333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94755201799999 meters Centerline goodness : 0.985278 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:-4.35, Z:-0.01 [[ 9.99404420e-01 3.45080389e-02 0.00000000e+00 5.67363748e+01] [-3.45080389e-02 9.99404420e-01 0.00000000e+00 -4.35385067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00568377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00755201799999 meters Centerline goodness : 0.985743 with order 1 Centerline is valid? [True, True] Translation: X:56.79, Y:-4.35, Z:-0.01 [[ 9.99528521e-01 3.07039929e-02 0.00000000e+00 5.67946237e+01] [-3.07039929e-02 9.99528521e-01 0.00000000e+00 -4.34761744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60691233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.067552017999986 meters Centerline goodness : 0.984913 with order 1 Centerline is valid? [True, True] Translation: X:56.85, Y:-4.35, Z:-0.01 [[ 9.99382615e-01 3.51338670e-02 0.00000000e+00 5.68539813e+01] [-3.51338670e-02 9.99382615e-01 0.00000000e+00 -4.34908986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50921179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12755201799999 meters Centerline goodness : 0.984951 with order 1 Centerline is valid? [True, True] Translation: X:56.91, Y:-4.35, Z:-0.01 [[ 9.99381381e-01 3.51689659e-02 0.00000000e+00 5.69122438e+01] [-3.51689659e-02 9.99381381e-01 0.00000000e+00 -4.34618315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77850925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18755201799999 meters Centerline goodness : 0.983293 with order 1 Centerline is valid? [True, True] Translation: X:56.97, Y:-4.35, Z:-0.01 [[ 9.99179045e-01 4.05121664e-02 0.00000000e+00 5.69699098e+01] [-4.05121664e-02 9.99179045e-01 0.00000000e+00 -4.34676887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51631166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.247552017999986 meters Centerline goodness : 0.984813 with order 1 Centerline is valid? [True, True] Translation: X:57.03, Y:-4.34, Z:-0.00 [[ 9.99159238e-01 4.09977809e-02 0.00000000e+00 5.70287410e+01] [-4.09977809e-02 9.99159238e-01 0.00000000e+00 -4.34282876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29702930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30755201799999 meters Centerline goodness : 0.987262 with order 1 Centerline is valid? [True, True] Translation: X:57.09, Y:-4.34, Z:-0.01 [[ 9.99153158e-01 4.11456821e-02 0.00000000e+00 5.70870300e+01] [-4.11456821e-02 9.99153158e-01 0.00000000e+00 -4.33963155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76259519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36755201799999 meters Centerline goodness : 0.987730 with order 1 Centerline is valid? [True, True] Translation: X:57.14, Y:-4.34, Z:-0.01 [[ 9.99019826e-01 4.42649619e-02 0.00000000e+00 5.71439385e+01] [-4.42649619e-02 9.99019826e-01 0.00000000e+00 -4.33841004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85176814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42755201799999 meters Centerline goodness : 0.985417 with order 1 Centerline is valid? [True, True] Translation: X:57.20, Y:-4.35, Z:-0.01 [[ 9.98764252e-01 4.96987907e-02 0.00000000e+00 5.72018328e+01] [-4.96987907e-02 9.98764252e-01 0.00000000e+00 -4.34667152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15099365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48755201799999 meters Centerline goodness : 0.988305 with order 1 Centerline is valid? [True, True] Translation: X:57.26, Y:-4.35, Z:-0.01 [[ 9.99031407e-01 4.40028192e-02 0.00000000e+00 5.72591509e+01] [-4.40028192e-02 9.99031407e-01 0.00000000e+00 -4.34559001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66090567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54755201799999 meters Centerline goodness : 0.987360 with order 1 Centerline is valid? [True, True] Translation: X:57.32, Y:-4.35, Z:-0.01 [[ 9.99228767e-01 3.92666556e-02 0.00000000e+00 5.73171515e+01] [-3.92666556e-02 9.99228767e-01 0.00000000e+00 -4.35017272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42499538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60755201799999 meters Centerline goodness : 0.987818 with order 1 Centerline is valid? [True, True] Translation: X:57.37, Y:-4.36, Z:-0.01 [[ 9.99549724e-01 3.00058068e-02 0.00000000e+00 5.73745664e+01] [-3.00058068e-02 9.99549724e-01 0.00000000e+00 -4.35724157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01251095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66755201799999 meters Centerline goodness : 0.985666 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:-4.37, Z:-0.01 [[ 9.99714528e-01 2.38927279e-02 0.00000000e+00 5.74323851e+01] [-2.38927279e-02 9.99714528e-01 0.00000000e+00 -4.36946014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02408028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72755201799999 meters Centerline goodness : 0.985818 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:-4.37, Z:-0.01 [[ 9.99865664e-01 1.63906712e-02 0.00000000e+00 5.74904580e+01] [-1.63906712e-02 9.99865664e-01 0.00000000e+00 -4.37487878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01629941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78755201799999 meters Centerline goodness : 0.985446 with order 1 Centerline is valid? [True, True] Translation: X:57.55, Y:-4.38, Z:-0.01 [[ 9.99972575e-01 7.40598603e-03 0.00000000e+00 5.75494775e+01] [-7.40598603e-03 9.99972575e-01 0.00000000e+00 -4.37838681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.49437009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84755201799999 meters Centerline goodness : 0.985725 with order 1 Centerline is valid? [True, True] Translation: X:57.61, Y:-4.38, Z:-0.01 [[ 9.99988908e-01 4.70988008e-03 0.00000000e+00 5.76084755e+01] [-4.70988008e-03 9.99988908e-01 0.00000000e+00 -4.38285331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78698591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90755201799999 meters Centerline goodness : 0.985555 with order 1 Centerline is valid? [True, True] Translation: X:57.67, Y:-4.38, Z:-0.01 [[ 9.99999749e-01 7.08147941e-04 0.00000000e+00 5.76682408e+01] [-7.08147941e-04 9.99999749e-01 0.00000000e+00 -4.38492103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66619811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96755201799999 meters Centerline goodness : 0.986360 with order 1 Centerline is valid? [True, True] Translation: X:57.73, Y:-4.39, Z:-0.01 [[ 9.99999202e-01 1.26344666e-03 0.00000000e+00 5.77284380e+01] [-1.26344666e-03 9.99999202e-01 0.00000000e+00 -4.38720874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52083782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02755201799999 meters Centerline goodness : 0.985959 with order 1 Centerline is valid? [True, True] Translation: X:57.79, Y:-4.39, Z:-0.01 [[ 9.99998987e-01 1.42311540e-03 0.00000000e+00 5.77891889e+01] [-1.42311540e-03 9.99998987e-01 0.00000000e+00 -4.38586122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87250299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08755201799999 meters Centerline goodness : 0.988929 with order 1 Centerline is valid? [True, True] Translation: X:57.85, Y:-4.38, Z:-0.01 [[ 9.99996204e-01 -2.75545221e-03 0.00000000e+00 5.78500304e+01] [ 2.75545221e-03 9.99996204e-01 0.00000000e+00 -4.38058361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22782765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14755201799999 meters Centerline goodness : 0.989542 with order 1 Centerline is valid? [True, True] Translation: X:57.91, Y:-4.38, Z:-0.01 [[ 9.99996789e-01 -2.53408735e-03 0.00000000e+00 5.79121390e+01] [ 2.53408735e-03 9.99996789e-01 0.00000000e+00 -4.37839209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81885894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20755201799999 meters Centerline goodness : 0.986789 with order 1 Centerline is valid? [True, True] Translation: X:57.97, Y:-4.39, Z:-0.01 [[ 9.99991549e-01 4.11113113e-03 0.00000000e+00 5.79725611e+01] [-4.11113113e-03 9.99991549e-01 0.00000000e+00 -4.38865855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89946739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26755201799999 meters Centerline goodness : 0.986767 with order 1 Centerline is valid? [True, True] Translation: X:58.03, Y:-4.39, Z:-0.01 [[ 9.99991376e-01 4.15295372e-03 0.00000000e+00 5.80321959e+01] [-4.15295372e-03 9.99991376e-01 0.00000000e+00 -4.38921589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89494753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32755201799999 meters Centerline goodness : 0.987932 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:-4.39, Z:-0.01 [[ 9.99996651e-01 2.58807097e-03 0.00000000e+00 5.80923657e+01] [-2.58807097e-03 9.99996651e-01 0.00000000e+00 -4.38800976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41522683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38755201799999 meters Centerline goodness : 0.991283 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:-4.38, Z:-0.01 [[ 9.99997602e-01 -2.18984309e-03 0.00000000e+00 5.81530312e+01] [ 2.18984309e-03 9.99997602e-01 0.00000000e+00 -4.37832245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19347444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44755201799999 meters Centerline goodness : 0.989044 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:-4.39, Z:-0.01 [[ 9.99993724e-01 3.54280402e-03 0.00000000e+00 5.82139345e+01] [-3.54280402e-03 9.99993724e-01 0.00000000e+00 -4.38651956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07708551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50755201799999 meters Centerline goodness : 0.989008 with order 1 Centerline is valid? [True, True] Translation: X:58.27, Y:-4.39, Z:-0.01 [[ 9.99995743e-01 2.91782730e-03 0.00000000e+00 5.82738822e+01] [-2.91782730e-03 9.99995743e-01 0.00000000e+00 -4.38541495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79888462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.567552017999986 meters Centerline goodness : 0.989588 with order 1 Centerline is valid? [True, True] Translation: X:58.33, Y:-4.39, Z:-0.01 [[ 9.99999525e-01 9.74506521e-04 0.00000000e+00 5.83332081e+01] [-9.74506521e-04 9.99999525e-01 0.00000000e+00 -4.38648201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33830740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62755201799999 meters Centerline goodness : 0.989864 with order 1 Centerline is valid? [True, True] Translation: X:58.39, Y:-4.39, Z:-0.01 [[ 9.99997828e-01 2.08416666e-03 0.00000000e+00 5.83940433e+01] [-2.08416666e-03 9.99997828e-01 0.00000000e+00 -4.38914352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49897173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68755201799999 meters Centerline goodness : 0.990634 with order 1 Centerline is valid? [True, True] Translation: X:58.45, Y:-4.39, Z:-0.00 [[ 9.99999777e-01 6.67626636e-04 0.00000000e+00 5.84541974e+01] [-6.67626636e-04 9.99999777e-01 0.00000000e+00 -4.38720967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70726423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.747552017999986 meters Centerline goodness : 0.990671 with order 1 Centerline is valid? [True, True] Translation: X:58.52, Y:-4.39, Z:-0.01 [[ 9.99998410e-01 1.78342640e-03 0.00000000e+00 5.85150215e+01] [-1.78342640e-03 9.99998410e-01 0.00000000e+00 -4.38725368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37959526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80755201799999 meters Centerline goodness : 0.991626 with order 1 Centerline is valid? [True, True] Translation: X:58.58, Y:-4.39, Z:-0.01 [[ 9.99999931e-01 3.71964392e-04 0.00000000e+00 5.85750040e+01] [-3.71964392e-04 9.99999931e-01 0.00000000e+00 -4.38921404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23505834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86755201799999 meters Centerline goodness : 0.992461 with order 1 Centerline is valid? [True, True] Translation: X:58.64, Y:-4.38, Z:-0.01 [[ 9.99995928e-01 -2.85392273e-03 0.00000000e+00 5.86359068e+01] [ 2.85392273e-03 9.99995928e-01 0.00000000e+00 -4.37767708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04818429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.927552017999986 meters Centerline goodness : 0.991114 with order 1 Centerline is valid? [True, True] Translation: X:58.70, Y:-4.38, Z:-0.01 [[ 9.99992877e-01 3.77433476e-03 0.00000000e+00 5.86971392e+01] [-3.77433476e-03 9.99992877e-01 0.00000000e+00 -4.38466811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61136504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98755201799999 meters Centerline goodness : 0.991124 with order 1 Centerline is valid? [True, True] Translation: X:58.76, Y:-4.38, Z:-0.00 [[ 9.99983594e-01 5.72812108e-03 0.00000000e+00 5.87567535e+01] [-5.72812108e-03 9.99983594e-01 0.00000000e+00 -4.38206615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76106413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04755201799999 meters Centerline goodness : 0.990533 with order 1 Centerline is valid? [True, True] Translation: X:58.82, Y:-4.38, Z:-0.00 [[ 9.99984958e-01 5.48478583e-03 0.00000000e+00 5.88161070e+01] [-5.48478583e-03 9.99984958e-01 0.00000000e+00 -4.38063819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85336510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10755201799999 meters Centerline goodness : 0.990309 with order 1 Centerline is valid? [True, True] Translation: X:58.87, Y:-4.38, Z:-0.01 [[ 9.99999538e-01 9.61043656e-04 0.00000000e+00 5.88745994e+01] [-9.61043656e-04 9.99999538e-01 0.00000000e+00 -4.38153965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05532665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16755201799999 meters Centerline goodness : 0.990263 with order 1 Centerline is valid? [True, True] Translation: X:58.94, Y:-4.38, Z:-0.01 [[ 9.99995691e-01 -2.93557137e-03 0.00000000e+00 5.89353417e+01] [ 2.93557137e-03 9.99995691e-01 0.00000000e+00 -4.38277248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57744712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22755201799999 meters Centerline goodness : 0.990040 with order 1 Centerline is valid? [True, True] Translation: X:59.00, Y:-4.38, Z:-0.00 [[ 9.99978202e-01 -6.60268604e-03 0.00000000e+00 5.89969014e+01] [ 6.60268604e-03 9.99978202e-01 0.00000000e+00 -4.38187786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11865595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28755201799999 meters Centerline goodness : 0.989466 with order 1 Centerline is valid? [True, True] Translation: X:59.06, Y:-4.38, Z:-0.00 [[ 9.99983683e-01 -5.71256994e-03 0.00000000e+00 5.90580784e+01] [ 5.71256994e-03 9.99983683e-01 0.00000000e+00 -4.38301765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54007320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34755201799999 meters Centerline goodness : 0.989607 with order 1 Centerline is valid? [True, True] Translation: X:59.12, Y:-4.38, Z:-0.00 [[ 9.99998052e-01 -1.97368664e-03 0.00000000e+00 5.91202283e+01] [ 1.97368664e-03 9.99998052e-01 0.00000000e+00 -4.38323429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38092322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40755201799999 meters Centerline goodness : 0.989319 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:-4.38, Z:-0.01 [[ 9.99982427e-01 5.92829934e-03 0.00000000e+00 5.91812675e+01] [-5.92829934e-03 9.99982427e-01 0.00000000e+00 -4.38074792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36984340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46755201799999 meters Centerline goodness : 0.989931 with order 1 Centerline is valid? [True, True] Translation: X:59.24, Y:-4.38, Z:-0.01 [[ 9.99940985e-01 1.08640369e-02 0.00000000e+00 5.92395937e+01] [-1.08640369e-02 9.99940985e-01 0.00000000e+00 -4.38314558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91673929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52755201799999 meters Centerline goodness : 0.989522 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:-4.38, Z:-0.00 [[ 9.99880776e-01 1.54412806e-02 0.00000000e+00 5.92978900e+01] [-1.54412806e-02 9.99880776e-01 0.00000000e+00 -4.37986474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00672451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58755201799999 meters Centerline goodness : 0.989809 with order 1 Centerline is valid? [True, True] Translation: X:59.36, Y:-4.38, Z:-0.01 [[ 9.99806344e-01 1.96792891e-02 0.00000000e+00 5.93551574e+01] [-1.96792891e-02 9.99806344e-01 0.00000000e+00 -4.37651090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28817470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64755201799999 meters Centerline goodness : 0.988963 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:-4.38, Z:-0.00 [[ 9.99713027e-01 2.39554492e-02 0.00000000e+00 5.94142528e+01] [-2.39554492e-02 9.99713027e-01 0.00000000e+00 -4.37777652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78928123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70755201799999 meters Centerline goodness : 0.989815 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:-4.37, Z:-0.01 [[ 9.99691394e-01 2.48418306e-02 0.00000000e+00 5.94722339e+01] [-2.48418306e-02 9.99691394e-01 0.00000000e+00 -4.37270686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29088976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76755201799999 meters Centerline goodness : 0.989801 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:-4.37, Z:-0.00 [[ 9.99695430e-01 2.46788663e-02 0.00000000e+00 5.95308491e+01] [-2.46788663e-02 9.99695430e-01 0.00000000e+00 -4.37240226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39646284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82755201799999 meters Centerline goodness : 0.989218 with order 1 Centerline is valid? [True, True] Translation: X:59.59, Y:-4.38, Z:-0.00 [[ 9.99741305e-01 2.27447301e-02 0.00000000e+00 5.95895307e+01] [-2.27447301e-02 9.99741305e-01 0.00000000e+00 -4.37540676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54943756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88755201799999 meters Centerline goodness : 0.990377 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:-4.38, Z:-0.00 [[ 9.99833505e-01 1.82472340e-02 0.00000000e+00 5.96481361e+01] [-1.82472340e-02 9.99833505e-01 0.00000000e+00 -4.37514307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50010491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94755201799999 meters Centerline goodness : 0.989083 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:-4.38, Z:-0.00 [[ 9.99875721e-01 1.57652345e-02 0.00000000e+00 5.97073687e+01] [-1.57652345e-02 9.99875721e-01 0.00000000e+00 -4.37652711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20880772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00755201799999 meters Centerline goodness : 0.989622 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:-4.38, Z:-0.00 [[ 9.99886711e-01 1.50520629e-02 0.00000000e+00 5.97664887e+01] [-1.50520629e-02 9.99886711e-01 0.00000000e+00 -4.37832970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69134824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.067552017999986 meters Centerline goodness : 0.989588 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:-4.38, Z:-0.00 [[ 9.99872833e-01 1.59473551e-02 0.00000000e+00 5.98256266e+01] [-1.59473551e-02 9.99872833e-01 0.00000000e+00 -4.37970204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09294738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12755201799999 meters Centerline goodness : 0.989801 with order 1 Centerline is valid? [True, True] Translation: X:59.88, Y:-4.38, Z:-0.00 [[ 9.99841453e-01 1.78064064e-02 0.00000000e+00 5.98844492e+01] [-1.78064064e-02 9.99841453e-01 0.00000000e+00 -4.37920035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13863101e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18755201799999 meters Centerline goodness : 0.990425 with order 1 Centerline is valid? [True, True] Translation: X:59.94, Y:-4.38, Z:-0.00 [[ 9.99841935e-01 1.77793230e-02 0.00000000e+00 5.99436177e+01] [-1.77793230e-02 9.99841935e-01 0.00000000e+00 -4.38258321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43676392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.247552017999986 meters Centerline goodness : 0.990798 with order 1 Centerline is valid? [True, True] Translation: X:60.00, Y:-4.38, Z:-0.00 [[ 9.99876229e-01 1.57329999e-02 0.00000000e+00 6.00025980e+01] [-1.57329999e-02 9.99876229e-01 0.00000000e+00 -4.38479611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88298141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30755201799999 meters Centerline goodness : 0.991357 with order 1 Centerline is valid? [True, True] Translation: X:60.06, Y:-4.39, Z:-0.00 [[ 9.99912274e-01 1.32455546e-02 0.00000000e+00 6.00614627e+01] [-1.32455546e-02 9.99912274e-01 0.00000000e+00 -4.38646016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75123881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36755201799999 meters Centerline goodness : 0.991273 with order 1 Centerline is valid? [True, True] Translation: X:60.12, Y:-4.39, Z:-0.00 [[ 9.99947414e-01 1.02552070e-02 0.00000000e+00 6.01198627e+01] [-1.02552070e-02 9.99947414e-01 0.00000000e+00 -4.38917608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75838032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.427552017999986 meters Centerline goodness : 0.992075 with order 1 Centerline is valid? [True, True] Translation: X:60.18, Y:-4.39, Z:-0.00 [[ 9.99970873e-01 7.63238484e-03 0.00000000e+00 6.01787928e+01] [-7.63238484e-03 9.99970873e-01 0.00000000e+00 -4.39218822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94686197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48755201799999 meters Centerline goodness : 0.992137 with order 1 Centerline is valid? [True, True] Translation: X:60.24, Y:-4.39, Z:-0.00 [[ 9.99981470e-01 6.08766695e-03 0.00000000e+00 6.02363906e+01] [-6.08766695e-03 9.99981470e-01 0.00000000e+00 -4.39377043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80876795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54755201799999 meters Centerline goodness : 0.992226 with order 1 Centerline is valid? [True, True] Translation: X:60.29, Y:-4.40, Z:-0.00 [[ 9.99982431e-01 5.92773975e-03 0.00000000e+00 6.02944869e+01] [-5.92773975e-03 9.99982431e-01 0.00000000e+00 -4.39688068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46253690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.607552017999986 meters Centerline goodness : 0.992451 with order 1 Centerline is valid? [True, True] Translation: X:60.35, Y:-4.40, Z:-0.00 [[ 9.99983704e-01 5.70894998e-03 0.00000000e+00 6.03526698e+01] [-5.70894998e-03 9.99983704e-01 0.00000000e+00 -4.40286225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78231379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66755201799999 meters Centerline goodness : 0.991881 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:-4.40, Z:0.00 [[ 9.99980680e-01 6.21604950e-03 0.00000000e+00 6.04118133e+01] [-6.21604950e-03 9.99980680e-01 0.00000000e+00 -4.40304617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59319939e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72755201799999 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:60.47, Y:-4.41, Z:-0.00 [[ 9.99967309e-01 8.08581356e-03 0.00000000e+00 6.04690754e+01] [-8.08581356e-03 9.99967309e-01 0.00000000e+00 -4.40627145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22050788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78755201799999 meters Centerline goodness : 0.992509 with order 1 Centerline is valid? [True, True] Translation: X:60.53, Y:-4.41, Z:-0.00 [[ 9.99956515e-01 9.32561713e-03 0.00000000e+00 6.05272589e+01] [-9.32561713e-03 9.99956515e-01 0.00000000e+00 -4.41026157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88882647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84755201799999 meters Centerline goodness : 0.991101 with order 1 Centerline is valid? [True, True] Translation: X:60.59, Y:-4.42, Z:-0.00 [[ 9.99956486e-01 9.32873277e-03 0.00000000e+00 6.05861335e+01] [-9.32873277e-03 9.99956486e-01 0.00000000e+00 -4.41504160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36312848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90755201799999 meters Centerline goodness : 0.990783 with order 1 Centerline is valid? [True, True] Translation: X:60.64, Y:-4.42, Z:-0.00 [[ 9.99956579e-01 9.31877334e-03 0.00000000e+00 6.06445584e+01] [-9.31877334e-03 9.99956579e-01 0.00000000e+00 -4.41700004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74753629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96755201799999 meters Centerline goodness : 0.989547 with order 1 Centerline is valid? [True, True] Translation: X:60.70, Y:-4.42, Z:-0.01 [[ 9.99935229e-01 1.13814976e-02 0.00000000e+00 6.07028605e+01] [-1.13814976e-02 9.99935229e-01 0.00000000e+00 -4.42403072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11963736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02755201799999 meters Centerline goodness : 0.989826 with order 1 Centerline is valid? [True, True] Translation: X:60.76, Y:-4.43, Z:-0.00 [[ 9.99928321e-01 1.19730281e-02 0.00000000e+00 6.07615399e+01] [-1.19730281e-02 9.99928321e-01 0.00000000e+00 -4.42632156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55108407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08755201799999 meters Centerline goodness : 0.989712 with order 1 Centerline is valid? [True, True] Translation: X:60.82, Y:-4.43, Z:-0.00 [[ 9.99920103e-01 1.26407344e-02 0.00000000e+00 6.08201466e+01] [-1.26407344e-02 9.99920103e-01 0.00000000e+00 -4.42904191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62840144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14755201799999 meters Centerline goodness : 0.989514 with order 1 Centerline is valid? [True, True] Translation: X:60.88, Y:-4.44, Z:-0.01 [[ 9.99925391e-01 1.22152691e-02 0.00000000e+00 6.08771716e+01] [-1.22152691e-02 9.99925391e-01 0.00000000e+00 -4.43516339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96103346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20755201799999 meters Centerline goodness : 0.989504 with order 1 Centerline is valid? [True, True] Translation: X:60.94, Y:-4.44, Z:-0.00 [[ 9.99940368e-01 1.09206759e-02 0.00000000e+00 6.09353994e+01] [-1.09206759e-02 9.99940368e-01 0.00000000e+00 -4.43843592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94117228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26755201799999 meters Centerline goodness : 0.989881 with order 1 Centerline is valid? [True, True] Translation: X:60.99, Y:-4.44, Z:-0.00 [[ 9.99934394e-01 1.14546247e-02 0.00000000e+00 6.09945852e+01] [-1.14546247e-02 9.99934394e-01 0.00000000e+00 -4.44157380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07693964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32755201799999 meters Centerline goodness : 0.990491 with order 1 Centerline is valid? [True, True] Translation: X:61.05, Y:-4.45, Z:-0.00 [[ 9.99903458e-01 1.38951666e-02 0.00000000e+00 6.10521677e+01] [-1.38951666e-02 9.99903458e-01 0.00000000e+00 -4.44613123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76626091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38755201799999 meters Centerline goodness : 0.990187 with order 1 Centerline is valid? [True, True] Translation: X:61.11, Y:-4.45, Z:-0.00 [[ 9.99860989e-01 1.66734042e-02 0.00000000e+00 6.11110569e+01] [-1.66734042e-02 9.99860989e-01 0.00000000e+00 -4.45029576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51447144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44755201799999 meters Centerline goodness : 0.989834 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:-4.45, Z:-0.00 [[ 9.99793874e-01 2.03029225e-02 0.00000000e+00 6.11699493e+01] [-2.03029225e-02 9.99793874e-01 0.00000000e+00 -4.45349543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39396611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50755201799999 meters Centerline goodness : 0.989756 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:-4.46, Z:-0.00 [[ 9.99759397e-01 2.19350873e-02 0.00000000e+00 6.12282284e+01] [-2.19350873e-02 9.99759397e-01 0.00000000e+00 -4.45655531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91863981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.567552017999986 meters Centerline goodness : 0.990766 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:-4.46, Z:-0.00 [[ 9.99734362e-01 2.30478928e-02 0.00000000e+00 6.12867739e+01] [-2.30478928e-02 9.99734362e-01 0.00000000e+00 -4.46264288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28935838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62755201799999 meters Centerline goodness : 0.989817 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:-4.47, Z:-0.00 [[ 9.99740326e-01 2.27877101e-02 0.00000000e+00 6.13443284e+01] [-2.27877101e-02 9.99740326e-01 0.00000000e+00 -4.46884122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28566677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68755201799999 meters Centerline goodness : 0.989725 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:-4.47, Z:-0.00 [[ 9.99732617e-01 2.31234514e-02 0.00000000e+00 6.14030530e+01] [-2.31234514e-02 9.99732617e-01 0.00000000e+00 -4.47341219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57496988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.747552017999986 meters Centerline goodness : 0.989427 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:-4.48, Z:0.00 [[ 9.99692772e-01 2.47863385e-02 0.00000000e+00 6.14614174e+01] [-2.47863385e-02 9.99692772e-01 0.00000000e+00 -4.47781579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43899887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80755201799999 meters Centerline goodness : 0.990001 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:-4.48, Z:-0.00 [[ 9.99648916e-01 2.64961358e-02 0.00000000e+00 6.15190346e+01] [-2.64961358e-02 9.99648916e-01 0.00000000e+00 -4.48489143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84950143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86755201799999 meters Centerline goodness : 0.989918 with order 1 Centerline is valid? [True, True] Translation: X:61.58, Y:-4.49, Z:-0.00 [[ 9.99548572e-01 3.00441667e-02 0.00000000e+00 6.15776240e+01] [-3.00441667e-02 9.99548572e-01 0.00000000e+00 -4.49076370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27620415e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.927552017999986 meters Centerline goodness : 0.990859 with order 1 Centerline is valid? [True, True] Translation: X:61.63, Y:-4.50, Z:0.00 [[ 9.99438428e-01 3.35086447e-02 0.00000000e+00 6.16341417e+01] [-3.35086447e-02 9.99438428e-01 0.00000000e+00 -4.49525386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08803152e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98755201799999 meters Centerline goodness : 0.990675 with order 1 Centerline is valid? [True, True] Translation: X:61.69, Y:-4.50, Z:0.00 [[ 9.99412293e-01 3.42792785e-02 0.00000000e+00 6.16919436e+01] [-3.42792785e-02 9.99412293e-01 0.00000000e+00 -4.50269049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50103434e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04755201799999 meters Centerline goodness : 0.991630 with order 1 Centerline is valid? [True, True] Translation: X:61.75, Y:-4.51, Z:0.00 [[ 9.99371834e-01 3.54392148e-02 0.00000000e+00 6.17492348e+01] [-3.54392148e-02 9.99371834e-01 0.00000000e+00 -4.50711956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58500551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.107552017999986 meters Centerline goodness : 0.992134 with order 1 Centerline is valid? [True, True] Translation: X:61.81, Y:-4.51, Z:0.00 [[ 9.99355341e-01 3.59012860e-02 0.00000000e+00 6.18071415e+01] [-3.59012860e-02 9.99355341e-01 0.00000000e+00 -4.51499923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38196191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16755201799999 meters Centerline goodness : 0.991661 with order 1 Centerline is valid? [True, True] Translation: X:61.86, Y:-4.52, Z:0.00 [[ 9.99370367e-01 3.54805640e-02 0.00000000e+00 6.18642094e+01] [-3.54805640e-02 9.99370367e-01 0.00000000e+00 -4.52219321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55093475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22755201799999 meters Centerline goodness : 0.991573 with order 1 Centerline is valid? [True, True] Translation: X:61.92, Y:-4.53, Z:0.00 [[ 9.99445138e-01 3.33078981e-02 0.00000000e+00 6.19208973e+01] [-3.33078981e-02 9.99445138e-01 0.00000000e+00 -4.52886334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18172733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28755201799999 meters Centerline goodness : 0.990981 with order 1 Centerline is valid? [True, True] Translation: X:61.98, Y:-4.54, Z:-0.00 [[ 9.99519070e-01 3.10101525e-02 0.00000000e+00 6.19784049e+01] [-3.10101525e-02 9.99519070e-01 0.00000000e+00 -4.53660854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29943983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34755201799999 meters Centerline goodness : 0.991991 with order 1 Centerline is valid? [True, True] Translation: X:62.04, Y:-4.54, Z:-0.00 [[ 9.99601508e-01 2.82281036e-02 0.00000000e+00 6.20369830e+01] [-2.82281036e-02 9.99601508e-01 0.00000000e+00 -4.54096510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91017400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40755201799999 meters Centerline goodness : 0.990817 with order 1 Centerline is valid? [True, True] Translation: X:62.10, Y:-4.55, Z:-0.00 [[ 9.99613925e-01 2.77849149e-02 0.00000000e+00 6.20957466e+01] [-2.77849149e-02 9.99613925e-01 0.00000000e+00 -4.54535551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91121651e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46755201799999 meters Centerline goodness : 0.991384 with order 1 Centerline is valid? [True, True] Translation: X:62.15, Y:-4.55, Z:-0.00 [[ 9.99582350e-01 2.88985429e-02 0.00000000e+00 6.21532898e+01] [-2.88985429e-02 9.99582350e-01 0.00000000e+00 -4.55011335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02713700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52755201799999 meters Centerline goodness : 0.991026 with order 1 Centerline is valid? [True, True] Translation: X:62.21, Y:-4.55, Z:-0.00 [[ 9.99551696e-01 2.99400607e-02 0.00000000e+00 6.22108632e+01] [-2.99400607e-02 9.99551696e-01 0.00000000e+00 -4.55361083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50726424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58755201799999 meters Centerline goodness : 0.991279 with order 1 Centerline is valid? [True, True] Translation: X:62.27, Y:-4.56, Z:-0.00 [[ 9.99460868e-01 3.28325176e-02 0.00000000e+00 6.22696542e+01] [-3.28325176e-02 9.99460868e-01 0.00000000e+00 -4.55687386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05361131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64755201799999 meters Centerline goodness : 0.991072 with order 1 Centerline is valid? [True, True] Translation: X:62.33, Y:-4.56, Z:0.00 [[ 9.99267912e-01 3.82575572e-02 0.00000000e+00 6.23279660e+01] [-3.82575572e-02 9.99267912e-01 0.00000000e+00 -4.56005459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60977265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70755201799999 meters Centerline goodness : 0.991120 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:-4.56, Z:0.00 [[ 9.99282061e-01 3.78861824e-02 0.00000000e+00 6.23871125e+01] [-3.78861824e-02 9.99282061e-01 0.00000000e+00 -4.56355924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70081055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76755201799999 meters Centerline goodness : 0.990042 with order 1 Centerline is valid? [True, True] Translation: X:62.44, Y:-4.57, Z:0.00 [[ 9.99244986e-01 3.88517412e-02 0.00000000e+00 6.24444933e+01] [-3.88517412e-02 9.99244986e-01 0.00000000e+00 -4.56849562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47008943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82755201799999 meters Centerline goodness : 0.990308 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:-4.57, Z:0.00 [[ 9.99366802e-01 3.55808249e-02 0.00000000e+00 6.25032076e+01] [-3.55808249e-02 9.99366802e-01 0.00000000e+00 -4.57441303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74928864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88755201799999 meters Centerline goodness : 0.990898 with order 1 Centerline is valid? [True, True] Translation: X:62.56, Y:-4.58, Z:0.00 [[ 9.99565412e-01 2.94785763e-02 0.00000000e+00 6.25615676e+01] [-2.94785763e-02 9.99565412e-01 0.00000000e+00 -4.57716364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27306416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94755201799999 meters Centerline goodness : 0.990745 with order 1 Centerline is valid? [True, True] Translation: X:62.62, Y:-4.58, Z:-0.00 [[ 9.99729789e-01 2.32453972e-02 0.00000000e+00 6.26190291e+01] [-2.32453972e-02 9.99729789e-01 0.00000000e+00 -4.58063057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04407977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00755201799999 meters Centerline goodness : 0.990999 with order 1 Centerline is valid? [True, True] Translation: X:62.68, Y:-4.59, Z:-0.00 [[ 9.99845019e-01 1.76050272e-02 0.00000000e+00 6.26761344e+01] [-1.76050272e-02 9.99845019e-01 0.00000000e+00 -4.58941277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30118331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.067552017999986 meters Centerline goodness : 0.990599 with order 1 Centerline is valid? [True, True] Translation: X:62.74, Y:-4.59, Z:-0.00 [[ 9.99855480e-01 1.70005851e-02 0.00000000e+00 6.27350100e+01] [-1.70005851e-02 9.99855480e-01 0.00000000e+00 -4.59230006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79747107e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12755201799999 meters Centerline goodness : 0.990364 with order 1 Centerline is valid? [True, True] Translation: X:62.79, Y:-4.60, Z:-0.00 [[ 9.99878307e-01 1.56003478e-02 0.00000000e+00 6.27925858e+01] [-1.56003478e-02 9.99878307e-01 0.00000000e+00 -4.59651290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25564335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18755201799999 meters Centerline goodness : 0.990478 with order 1 Centerline is valid? [True, True] Translation: X:62.85, Y:-4.60, Z:0.00 [[ 9.99854359e-01 1.70663653e-02 0.00000000e+00 6.28509089e+01] [-1.70663653e-02 9.99854359e-01 0.00000000e+00 -4.59975850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45718887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.247552017999986 meters Centerline goodness : 0.990503 with order 1 Centerline is valid? [True, True] Translation: X:62.91, Y:-4.60, Z:0.00 [[ 9.99817704e-01 1.90934311e-02 0.00000000e+00 6.29090695e+01] [-1.90934311e-02 9.99817704e-01 0.00000000e+00 -4.60207924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45050563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30755201799999 meters Centerline goodness : 0.989701 with order 1 Centerline is valid? [True, True] Translation: X:62.97, Y:-4.61, Z:0.00 [[ 9.99777086e-01 2.11134560e-02 0.00000000e+00 6.29667252e+01] [-2.11134560e-02 9.99777086e-01 0.00000000e+00 -4.60593469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18979363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36755201799999 meters Centerline goodness : 0.990672 with order 1 Centerline is valid? [True, True] Translation: X:63.02, Y:-4.61, Z:-0.00 [[ 9.99704282e-01 2.43176597e-02 0.00000000e+00 6.30245641e+01] [-2.43176597e-02 9.99704282e-01 0.00000000e+00 -4.61092567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87253461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.427552017999986 meters Centerline goodness : 0.989700 with order 1 Centerline is valid? [True, True] Translation: X:63.08, Y:-4.61, Z:-0.00 [[ 9.99720513e-01 2.36409928e-02 0.00000000e+00 6.30829573e+01] [-2.36409928e-02 9.99720513e-01 0.00000000e+00 -4.61405791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94572173e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48755201799999 meters Centerline goodness : 0.989616 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:-4.62, Z:0.00 [[ 9.99751649e-01 2.22854439e-02 0.00000000e+00 6.31412090e+01] [-2.22854439e-02 9.99751649e-01 0.00000000e+00 -4.61671772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83992137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54755201799999 meters Centerline goodness : 0.989939 with order 1 Centerline is valid? [True, True] Translation: X:63.20, Y:-4.62, Z:0.00 [[ 9.99761238e-01 2.18510000e-02 0.00000000e+00 6.31978821e+01] [-2.18510000e-02 9.99761238e-01 0.00000000e+00 -4.62199487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03446950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.607552017999986 meters Centerline goodness : 0.989780 with order 1 Centerline is valid? [True, True] Translation: X:63.26, Y:-4.63, Z:-0.00 [[ 9.99822565e-01 1.88371564e-02 0.00000000e+00 6.32550928e+01] [-1.88371564e-02 9.99822565e-01 0.00000000e+00 -4.62750119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78434662e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66755201799999 meters Centerline goodness : 0.989859 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:-4.63, Z:0.00 [[ 9.99847968e-01 1.74367562e-02 0.00000000e+00 6.33129766e+01] [-1.74367562e-02 9.99847968e-01 0.00000000e+00 -4.63056757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64251956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72755201799999 meters Centerline goodness : 0.990679 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:-4.63, Z:-0.00 [[ 9.99901872e-01 1.40087953e-02 0.00000000e+00 6.33712971e+01] [-1.40087953e-02 9.99901872e-01 0.00000000e+00 -4.63497820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42975504e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.787552017999985 meters Centerline goodness : 0.990149 with order 1 Centerline is valid? [True, True] Translation: X:63.43, Y:-4.64, Z:-0.00 [[ 9.99898412e-01 1.42535879e-02 0.00000000e+00 6.34302607e+01] [-1.42535879e-02 9.99898412e-01 0.00000000e+00 -4.64055330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22668206e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84755201799999 meters Centerline goodness : 0.990188 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:-4.64, Z:-0.00 [[ 9.99866266e-01 1.63538802e-02 0.00000000e+00 6.34892730e+01] [-1.63538802e-02 9.99866266e-01 0.00000000e+00 -4.64408607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40031039e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90755201799999 meters Centerline goodness : 0.989982 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:-4.65, Z:0.00 [[ 9.99796298e-01 2.01832316e-02 0.00000000e+00 6.35468498e+01] [-2.01832316e-02 9.99796298e-01 0.00000000e+00 -4.64629020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14079076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96755201799999 meters Centerline goodness : 0.989757 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:-4.65, Z:0.01 [[ 9.99625672e-01 2.73590336e-02 0.00000000e+00 6.36054354e+01] [-2.73590336e-02 9.99625672e-01 0.00000000e+00 -4.65023587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27143229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.027552018 meters Centerline goodness : 0.990632 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:-4.65, Z:0.01 [[ 9.99483628e-01 3.21321712e-02 0.00000000e+00 6.36632143e+01] [-3.21321712e-02 9.99483628e-01 0.00000000e+00 -4.65308350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87736628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08755201799998 meters Centerline goodness : 0.990520 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:-4.66, Z:0.00 [[ 9.99300337e-01 3.74010172e-02 0.00000000e+00 6.37207533e+01] [-3.74010172e-02 9.99300337e-01 0.00000000e+00 -4.65945702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70794792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14755201799998 meters Centerline goodness : 0.990634 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:-4.67, Z:0.00 [[ 9.99076152e-01 4.29749098e-02 0.00000000e+00 6.37780026e+01] [-4.29749098e-02 9.99076152e-01 0.00000000e+00 -4.66657460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95398136e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20755201799999 meters Centerline goodness : 0.990448 with order 1 Centerline is valid? [True, True] Translation: X:63.83, Y:-4.67, Z:0.00 [[ 9.98955995e-01 4.56828174e-02 0.00000000e+00 6.38346552e+01] [-4.56828174e-02 9.98955995e-01 0.00000000e+00 -4.67106233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80787129e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26755201799999 meters Centerline goodness : 0.990027 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:-4.68, Z:0.00 [[ 9.98935487e-01 4.61290917e-02 0.00000000e+00 6.38927474e+01] [-4.61290917e-02 9.98935487e-01 0.00000000e+00 -4.67716448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93439020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32755201799999 meters Centerline goodness : 0.988760 with order 1 Centerline is valid? [True, True] Translation: X:63.95, Y:-4.68, Z:0.00 [[ 9.99046995e-01 4.36474730e-02 0.00000000e+00 6.39504632e+01] [-4.36474730e-02 9.99046995e-01 0.00000000e+00 -4.68499745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82092377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.387552018 meters Centerline goodness : 0.989386 with order 1 Centerline is valid? [True, True] Translation: X:64.01, Y:-4.70, Z:0.00 [[ 9.99288451e-01 3.77172517e-02 0.00000000e+00 6.40090061e+01] [-3.77172517e-02 9.99288451e-01 0.00000000e+00 -4.69536991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74778379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44755201799998 meters Centerline goodness : 0.989824 with order 1 Centerline is valid? [True, True] Translation: X:64.07, Y:-4.71, Z:0.00 [[ 9.99572256e-01 2.92456082e-02 0.00000000e+00 6.40650516e+01] [-2.92456082e-02 9.99572256e-01 0.00000000e+00 -4.70536977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05059072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50755201799998 meters Centerline goodness : 0.988955 with order 1 Centerline is valid? [True, True] Translation: X:64.12, Y:-4.71, Z:0.00 [[ 9.99662863e-01 2.59645996e-02 0.00000000e+00 6.41238426e+01] [-2.59645996e-02 9.99662863e-01 0.00000000e+00 -4.71272093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87247725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56755201799999 meters Centerline goodness : 0.990000 with order 1 Centerline is valid? [True, True] Translation: X:64.18, Y:-4.72, Z:0.00 [[ 9.99779969e-01 2.09765025e-02 0.00000000e+00 6.41805266e+01] [-2.09765025e-02 9.99779969e-01 0.00000000e+00 -4.72114405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54980314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62755201799999 meters Centerline goodness : 0.990115 with order 1 Centerline is valid? [True, True] Translation: X:64.24, Y:-4.73, Z:0.00 [[ 9.99852746e-01 1.71606229e-02 0.00000000e+00 6.42382289e+01] [-1.71606229e-02 9.99852746e-01 0.00000000e+00 -4.72895087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66124932e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68755201799999 meters Centerline goodness : 0.990709 with order 1 Centerline is valid? [True, True] Translation: X:64.30, Y:-4.74, Z:0.00 [[ 9.99867554e-01 1.62749467e-02 0.00000000e+00 6.42956824e+01] [-1.62749467e-02 9.99867554e-01 0.00000000e+00 -4.73508223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00738439e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.747552018 meters Centerline goodness : 0.989595 with order 1 Centerline is valid? [True, True] Translation: X:64.35, Y:-4.74, Z:0.00 [[ 9.99831541e-01 1.83545315e-02 0.00000000e+00 6.43532173e+01] [-1.83545315e-02 9.99831541e-01 0.00000000e+00 -4.73900321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54235280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.807552018 meters Centerline goodness : 0.992261 with order 1 Centerline is valid? [True, True] Translation: X:64.41, Y:-4.73, Z:0.01 [[ 9.99917887e-01 1.28147998e-02 0.00000000e+00 6.44114631e+01] [-1.28147998e-02 9.99917887e-01 0.00000000e+00 -4.73475563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94573341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86755201799998 meters Centerline goodness : 0.989639 with order 1 Centerline is valid? [True, True] Translation: X:64.47, Y:-4.75, Z:0.00 [[ 9.99829970e-01 1.84399538e-02 0.00000000e+00 6.44695453e+01] [-1.84399538e-02 9.99829970e-01 0.00000000e+00 -4.74826966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21103192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92755201799999 meters Centerline goodness : 0.989788 with order 1 Centerline is valid? [True, True] Translation: X:64.53, Y:-4.75, Z:-0.00 [[ 9.99899007e-01 1.42118470e-02 0.00000000e+00 6.45273783e+01] [-1.42118470e-02 9.99899007e-01 0.00000000e+00 -4.75199056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57645633e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98755201799999 meters Centerline goodness : 0.989586 with order 1 Centerline is valid? [True, True] Translation: X:64.59, Y:-4.76, Z:-0.00 [[ 9.99947411e-01 1.02554816e-02 0.00000000e+00 6.45850582e+01] [-1.02554816e-02 9.99947411e-01 0.00000000e+00 -4.75832846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84070014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04755201799999 meters Centerline goodness : 0.989482 with order 1 Centerline is valid? [True, True] Translation: X:64.64, Y:-4.76, Z:-0.00 [[ 9.99984840e-01 5.50626144e-03 0.00000000e+00 6.46439381e+01] [-5.50626144e-03 9.99984840e-01 0.00000000e+00 -4.75875342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16024539e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10755201799999 meters Centerline goodness : 0.989281 with order 1 Centerline is valid? [True, True] Translation: X:64.70, Y:-4.76, Z:0.00 [[ 9.99995329e-01 3.05634817e-03 0.00000000e+00 6.47030413e+01] [-3.05634817e-03 9.99995329e-01 0.00000000e+00 -4.75870808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47603104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.167552018 meters Centerline goodness : 0.990207 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:-4.76, Z:0.00 [[ 9.99995880e-01 2.87039707e-03 0.00000000e+00 6.47628091e+01] [-2.87039707e-03 9.99995880e-01 0.00000000e+00 -4.76345037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30839091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22755201799998 meters Centerline goodness : 0.989069 with order 1 Centerline is valid? [True, True] Translation: X:64.82, Y:-4.76, Z:0.00 [[ 9.99999531e-01 -9.68865379e-04 0.00000000e+00 6.48225329e+01] [ 9.68865379e-04 9.99999531e-01 0.00000000e+00 -4.76497478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44711829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28755201799999 meters Centerline goodness : 0.989761 with order 1 Centerline is valid? [True, True] Translation: X:64.88, Y:-4.77, Z:0.00 [[ 9.99992757e-01 -3.80615993e-03 0.00000000e+00 6.48825826e+01] [ 3.80615993e-03 9.99992757e-01 0.00000000e+00 -4.76791050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19587065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34755201799999 meters Centerline goodness : 0.990110 with order 1 Centerline is valid? [True, True] Translation: X:64.94, Y:-4.77, Z:0.00 [[ 9.99987147e-01 -5.07014509e-03 0.00000000e+00 6.49438612e+01] [ 5.07014509e-03 9.99987147e-01 0.00000000e+00 -4.77423132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57372723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40755201799999 meters Centerline goodness : 0.990056 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:-4.78, Z:0.00 [[ 9.99980297e-01 -6.27731657e-03 0.00000000e+00 6.50064030e+01] [ 6.27731657e-03 9.99980297e-01 0.00000000e+00 -4.77760702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.39719466e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46755201799999 meters Centerline goodness : 0.990821 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:-4.78, Z:0.00 [[ 9.99981293e-01 -6.11675035e-03 0.00000000e+00 6.50689774e+01] [ 6.11675035e-03 9.99981293e-01 0.00000000e+00 -4.78102137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19925390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.527552018 meters Centerline goodness : 0.991273 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:-4.78, Z:0.00 [[ 9.99991015e-01 -4.23911120e-03 0.00000000e+00 6.51315811e+01] [ 4.23911120e-03 9.99991015e-01 0.00000000e+00 -4.78429243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08238118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58755201799998 meters Centerline goodness : 0.991938 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:-4.79, Z:0.00 [[ 9.99998221e-01 -1.88648767e-03 0.00000000e+00 6.51939003e+01] [ 1.88648767e-03 9.99998221e-01 0.00000000e+00 -4.78876195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53499207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64755201799998 meters Centerline goodness : 0.991062 with order 1 Centerline is valid? [True, True] Translation: X:65.26, Y:-4.79, Z:0.00 [[ 9.99998726e-01 -1.59645518e-03 0.00000000e+00 6.52554512e+01] [ 1.59645518e-03 9.99998726e-01 0.00000000e+00 -4.78963578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15086497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70755201799999 meters Centerline goodness : 0.990977 with order 1 Centerline is valid? [True, True] Translation: X:65.32, Y:-4.79, Z:0.00 [[ 9.99998725e-01 -1.59681060e-03 0.00000000e+00 6.53167855e+01] [ 1.59681060e-03 9.99998725e-01 0.00000000e+00 -4.79292537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89541039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76755201799999 meters Centerline goodness : 0.989871 with order 1 Centerline is valid? [True, True] Translation: X:65.38, Y:-4.80, Z:0.00 [[ 9.99999974e-01 -2.26510773e-04 0.00000000e+00 6.53780594e+01] [ 2.26510773e-04 9.99999974e-01 0.00000000e+00 -4.79766052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24330498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82755201799999 meters Centerline goodness : 0.989816 with order 1 Centerline is valid? [True, True] Translation: X:65.44, Y:-4.80, Z:0.00 [[ 9.99999986e-01 1.69838507e-04 0.00000000e+00 6.54383358e+01] [-1.69838507e-04 9.99999986e-01 0.00000000e+00 -4.79810505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91269248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.887552018 meters Centerline goodness : 0.989440 with order 1 Centerline is valid? [True, True] Translation: X:65.50, Y:-4.80, Z:0.00 [[ 9.99999749e-01 7.08076323e-04 0.00000000e+00 6.54985351e+01] [-7.08076323e-04 9.99999749e-01 0.00000000e+00 -4.80255852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09814716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94755201799998 meters Centerline goodness : 0.989282 with order 1 Centerline is valid? [True, True] Translation: X:65.56, Y:-4.80, Z:0.00 [[ 9.99999791e-01 6.47286102e-04 0.00000000e+00 6.55595256e+01] [-6.47286102e-04 9.99999791e-01 0.00000000e+00 -4.80467342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99395469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00755201799998 meters Centerline goodness : 0.989642 with order 1 Centerline is valid? [True, True] Translation: X:65.62, Y:-4.81, Z:0.00 [[ 9.99999744e-01 7.16129683e-04 0.00000000e+00 6.56202495e+01] [-7.16129683e-04 9.99999744e-01 0.00000000e+00 -4.80675608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31897164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06755201799999 meters Centerline goodness : 0.990684 with order 1 Centerline is valid? [True, True] Translation: X:65.68, Y:-4.81, Z:0.00 [[ 9.99999194e-01 1.26984422e-03 0.00000000e+00 6.56810223e+01] [-1.26984422e-03 9.99999194e-01 0.00000000e+00 -4.80729372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79663777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12755201799999 meters Centerline goodness : 0.989950 with order 1 Centerline is valid? [True, True] Translation: X:65.74, Y:-4.81, Z:0.00 [[ 9.99999972e-01 2.36609030e-04 0.00000000e+00 6.57409105e+01] [-2.36609030e-04 9.99999972e-01 0.00000000e+00 -4.80935888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82542333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18755201799999 meters Centerline goodness : 0.990632 with order 1 Centerline is valid? [True, True] Translation: X:65.80, Y:-4.81, Z:0.00 [[ 9.99998199e-01 -1.89775633e-03 0.00000000e+00 6.58010998e+01] [ 1.89775633e-03 9.99998199e-01 0.00000000e+00 -4.81191201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60065749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.247552018 meters Centerline goodness : 0.990375 with order 1 Centerline is valid? [True, True] Translation: X:65.86, Y:-4.81, Z:0.00 [[ 9.99990416e-01 -4.37819719e-03 0.00000000e+00 6.58613653e+01] [ 4.37819719e-03 9.99990416e-01 0.00000000e+00 -4.81452631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24154327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30755201799998 meters Centerline goodness : 0.990792 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:-4.82, Z:0.00 [[ 9.99997571e-01 -2.20394919e-03 0.00000000e+00 6.59230716e+01] [ 2.20394919e-03 9.99997571e-01 0.00000000e+00 -4.81911593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99961048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36755201799998 meters Centerline goodness : 0.990451 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:-4.82, Z:0.00 [[ 9.99999618e-01 8.74225419e-04 0.00000000e+00 6.59849693e+01] [-8.74225419e-04 9.99999618e-01 0.00000000e+00 -4.81958109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28782383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42755201799999 meters Centerline goodness : 0.991284 with order 1 Centerline is valid? [True, True] Translation: X:66.05, Y:-4.82, Z:0.00 [[ 9.99992662e-01 3.83082567e-03 0.00000000e+00 6.60457964e+01] [-3.83082567e-03 9.99992662e-01 0.00000000e+00 -4.82183049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16409930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48755201799999 meters Centerline goodness : 0.991335 with order 1 Centerline is valid? [True, True] Translation: X:66.10, Y:-4.83, Z:0.00 [[ 9.99978509e-01 6.55605884e-03 0.00000000e+00 6.61048075e+01] [-6.55605884e-03 9.99978509e-01 0.00000000e+00 -4.82561390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44271227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54755201799999 meters Centerline goodness : 0.991490 with order 1 Centerline is valid? [True, True] Translation: X:66.16, Y:-4.83, Z:0.00 [[ 9.99941478e-01 1.08185673e-02 0.00000000e+00 6.61622565e+01] [-1.08185673e-02 9.99941478e-01 0.00000000e+00 -4.83057624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37171496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60755201799999 meters Centerline goodness : 0.990401 with order 1 Centerline is valid? [True, True] Translation: X:66.22, Y:-4.84, Z:0.00 [[ 9.99926607e-01 1.21153212e-02 0.00000000e+00 6.62197795e+01] [-1.21153212e-02 9.99926607e-01 0.00000000e+00 -4.83616721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28758936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.667552018 meters Centerline goodness : 0.990590 with order 1 Centerline is valid? [True, True] Translation: X:66.28, Y:-4.84, Z:0.00 [[ 9.99936291e-01 1.12877437e-02 0.00000000e+00 6.62785927e+01] [-1.12877437e-02 9.99936291e-01 0.00000000e+00 -4.84334313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90015834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72755201799998 meters Centerline goodness : 0.991673 with order 1 Centerline is valid? [True, True] Translation: X:66.34, Y:-4.85, Z:0.00 [[ 9.99965968e-01 8.24998237e-03 0.00000000e+00 6.63356397e+01] [-8.24998237e-03 9.99965968e-01 0.00000000e+00 -4.84885428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33868452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78755201799999 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:66.39, Y:-4.86, Z:-0.00 [[ 9.99978284e-01 6.59032431e-03 0.00000000e+00 6.63938881e+01] [-6.59032431e-03 9.99978284e-01 0.00000000e+00 -4.85596338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30201402e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84755201799999 meters Centerline goodness : 0.991041 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:-4.87, Z:-0.00 [[ 9.99993559e-01 3.58925389e-03 0.00000000e+00 6.64525251e+01] [-3.58925389e-03 9.99993559e-01 0.00000000e+00 -4.86552081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24645779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90755201799999 meters Centerline goodness : 0.991787 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:-4.87, Z:0.00 [[ 9.99998998e-01 1.41543411e-03 0.00000000e+00 6.65119401e+01] [-1.41543411e-03 9.99998998e-01 0.00000000e+00 -4.87144407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33150353e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96755201799999 meters Centerline goodness : 0.990962 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:-4.88, Z:0.00 [[ 9.99999807e-01 6.21807290e-04 0.00000000e+00 6.65711307e+01] [-6.21807290e-04 9.99999807e-01 0.00000000e+00 -4.87692519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41959924e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.027552018 meters Centerline goodness : 0.991365 with order 1 Centerline is valid? [True, True] Translation: X:66.63, Y:-4.89, Z:-0.00 [[ 9.99999623e-01 -8.68599513e-04 0.00000000e+00 6.66301355e+01] [ 8.68599513e-04 9.99999623e-01 0.00000000e+00 -4.88533712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.30512146e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08755201799998 meters Centerline goodness : 0.991562 with order 1 Centerline is valid? [True, True] Translation: X:66.69, Y:-4.89, Z:-0.00 [[ 9.99998462e-01 -1.75390057e-03 0.00000000e+00 6.66906560e+01] [ 1.75390057e-03 9.99998462e-01 0.00000000e+00 -4.89136578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84593047e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14755201799998 meters Centerline goodness : 0.991634 with order 1 Centerline is valid? [True, True] Translation: X:66.75, Y:-4.90, Z:-0.00 [[ 9.99995981e-01 -2.83498833e-03 0.00000000e+00 6.67504216e+01] [ 2.83498833e-03 9.99995981e-01 0.00000000e+00 -4.89742843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29655824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20755201799999 meters Centerline goodness : 0.991316 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:-4.91, Z:-0.00 [[ 9.99990668e-01 -4.32010851e-03 0.00000000e+00 6.68113892e+01] [ 4.32010851e-03 9.99990668e-01 0.00000000e+00 -4.90785249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74174752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26755201799999 meters Centerline goodness : 0.990734 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:-4.92, Z:-0.00 [[ 9.99976080e-01 -6.91662858e-03 0.00000000e+00 6.68735748e+01] [ 6.91662858e-03 9.99976080e-01 0.00000000e+00 -4.91680045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01243395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32755201799999 meters Centerline goodness : 0.992065 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:-4.93, Z:-0.00 [[ 9.99928979e-01 -1.19179480e-02 0.00000000e+00 6.69350600e+01] [ 1.19179480e-02 9.99928979e-01 0.00000000e+00 -4.92650268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93277031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.387552018 meters Centerline goodness : 0.990861 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:-4.93, Z:-0.01 [[ 9.99914947e-01 -1.30421892e-02 0.00000000e+00 6.69965303e+01] [ 1.30421892e-02 9.99914947e-01 0.00000000e+00 -4.93438390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05409522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44755201799998 meters Centerline goodness : 0.991759 with order 1 Centerline is valid? [True, True] Translation: X:67.06, Y:-4.94, Z:-0.01 [[ 9.99769295e-01 -2.14792298e-02 0.00000000e+00 6.70579880e+01] [ 2.14792298e-02 9.99769295e-01 0.00000000e+00 -4.94155025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20575883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50755201799998 meters Centerline goodness : 0.991244 with order 1 Centerline is valid? [True, True] Translation: X:67.12, Y:-4.96, Z:-0.01 [[ 9.99787826e-01 -2.05986154e-02 0.00000000e+00 6.71190960e+01] [ 2.05986154e-02 9.99787826e-01 0.00000000e+00 -4.95517482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85118879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56755201799999 meters Centerline goodness : 0.991565 with order 1 Centerline is valid? [True, True] Translation: X:67.18, Y:-4.96, Z:-0.00 [[ 9.99759506e-01 -2.19301306e-02 0.00000000e+00 6.71812190e+01] [ 2.19301306e-02 9.99759506e-01 0.00000000e+00 -4.96429071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89723999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62755201799999 meters Centerline goodness : 0.990989 with order 1 Centerline is valid? [True, True] Translation: X:67.24, Y:-4.97, Z:-0.00 [[ 9.99814009e-01 -1.92859138e-02 0.00000000e+00 6.72430850e+01] [ 1.92859138e-02 9.99814009e-01 0.00000000e+00 -4.97252051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57847395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68755201799999 meters Centerline goodness : 0.990725 with order 1 Centerline is valid? [True, True] Translation: X:67.31, Y:-4.98, Z:-0.00 [[ 9.99944156e-01 -1.05681145e-02 0.00000000e+00 6.73051095e+01] [ 1.05681145e-02 9.99944156e-01 0.00000000e+00 -4.97858802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58494636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.747552018 meters Centerline goodness : 0.990983 with order 1 Centerline is valid? [True, True] Translation: X:67.37, Y:-4.98, Z:-0.00 [[ 9.99999258e-01 -1.21827706e-03 0.00000000e+00 6.73675147e+01] [ 1.21827706e-03 9.99999258e-01 0.00000000e+00 -4.98200176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80255963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80755201799998 meters Centerline goodness : 0.990842 with order 1 Centerline is valid? [True, True] Translation: X:67.43, Y:-4.99, Z:-0.00 [[ 9.99985528e-01 5.37999024e-03 0.00000000e+00 6.74283812e+01] [-5.37999024e-03 9.99985528e-01 0.00000000e+00 -4.98547699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19796387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86755201799998 meters Centerline goodness : 0.991144 with order 1 Centerline is valid? [True, True] Translation: X:67.49, Y:-4.99, Z:-0.00 [[ 9.99890713e-01 1.47838659e-02 0.00000000e+00 6.74874065e+01] [-1.47838659e-02 9.99890713e-01 0.00000000e+00 -4.98799037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66154764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92755201799999 meters Centerline goodness : 0.991630 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:-4.99, Z:-0.00 [[ 9.99810921e-01 1.94453914e-02 0.00000000e+00 6.75439261e+01] [-1.94453914e-02 9.99810921e-01 0.00000000e+00 -4.99140843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77672020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98755201799999 meters Centerline goodness : 0.992695 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:-4.99, Z:0.00 [[ 9.99884301e-01 1.52113044e-02 0.00000000e+00 6.76034681e+01] [-1.52113044e-02 9.99884301e-01 0.00000000e+00 -4.98606939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37778820e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04755201799999 meters Centerline goodness : 0.991310 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:-5.00, Z:-0.00 [[ 9.99778949e-01 2.10250668e-02 0.00000000e+00 6.76618994e+01] [-2.10250668e-02 9.99778949e-01 0.00000000e+00 -4.99792869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22828216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10755201799999 meters Centerline goodness : 0.990557 with order 1 Centerline is valid? [True, True] Translation: X:67.72, Y:-5.00, Z:-0.00 [[ 9.99811802e-01 1.94000339e-02 0.00000000e+00 6.77194715e+01] [-1.94000339e-02 9.99811802e-01 0.00000000e+00 -5.00045085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.85040712e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.167552018 meters Centerline goodness : 0.990798 with order 1 Centerline is valid? [True, True] Translation: X:67.78, Y:-5.00, Z:-0.00 [[ 9.99869458e-01 1.61575391e-02 0.00000000e+00 6.77762255e+01] [-1.61575391e-02 9.99869458e-01 0.00000000e+00 -5.00315388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33351720e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22755201799998 meters Centerline goodness : 0.990290 with order 1 Centerline is valid? [True, True] Translation: X:67.83, Y:-5.01, Z:-0.00 [[ 9.99922509e-01 1.24489431e-02 0.00000000e+00 6.78345061e+01] [-1.24489431e-02 9.99922509e-01 0.00000000e+00 -5.00979183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84676283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28755201799999 meters Centerline goodness : 0.990418 with order 1 Centerline is valid? [True, True] Translation: X:67.89, Y:-5.02, Z:-0.00 [[ 9.99980195e-01 6.29361434e-03 0.00000000e+00 6.78926178e+01] [-6.29361434e-03 9.99980195e-01 0.00000000e+00 -5.01575749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82311400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34755201799999 meters Centerline goodness : 0.990597 with order 1 Centerline is valid? [True, True] Translation: X:67.95, Y:-5.02, Z:-0.00 [[ 9.99992938e-01 3.75805326e-03 0.00000000e+00 6.79509388e+01] [-3.75805326e-03 9.99992938e-01 0.00000000e+00 -5.02035592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54810048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40755201799999 meters Centerline goodness : 0.989959 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:-5.03, Z:-0.00 [[ 9.99988567e-01 4.78179559e-03 0.00000000e+00 6.80102273e+01] [-4.78179559e-03 9.99988567e-01 0.00000000e+00 -5.02595380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14322174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46755201799999 meters Centerline goodness : 0.989487 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:-5.03, Z:-0.00 [[ 9.99983656e-01 5.71723397e-03 0.00000000e+00 6.80686913e+01] [-5.71723397e-03 9.99983656e-01 0.00000000e+00 -5.02947570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24135797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.527552018 meters Centerline goodness : 0.989485 with order 1 Centerline is valid? [True, True] Translation: X:68.13, Y:-5.04, Z:-0.00 [[ 9.99971968e-01 7.48748570e-03 0.00000000e+00 6.81267414e+01] [-7.48748570e-03 9.99971968e-01 0.00000000e+00 -5.03575446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73793556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58755201799998 meters Centerline goodness : 0.989761 with order 1 Centerline is valid? [True, True] Translation: X:68.19, Y:-5.04, Z:-0.00 [[ 9.99958590e-01 9.10046820e-03 0.00000000e+00 6.81852842e+01] [-9.10046820e-03 9.99958590e-01 0.00000000e+00 -5.03788300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64180037e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64755201799998 meters Centerline goodness : 0.989053 with order 1 Centerline is valid? [True, True] Translation: X:68.24, Y:-5.04, Z:-0.00 [[ 9.99947504e-01 1.02464394e-02 0.00000000e+00 6.82430671e+01] [-1.02464394e-02 9.99947504e-01 0.00000000e+00 -5.04146771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98286858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70755201799999 meters Centerline goodness : 0.989264 with order 1 Centerline is valid? [True, True] Translation: X:68.30, Y:-5.05, Z:-0.00 [[ 9.99960868e-01 8.84663086e-03 0.00000000e+00 6.83014516e+01] [-8.84663086e-03 9.99960868e-01 0.00000000e+00 -5.04658083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58878380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76755201799999 meters Centerline goodness : 0.989188 with order 1 Centerline is valid? [True, True] Translation: X:68.36, Y:-5.05, Z:-0.00 [[ 9.99972664e-01 7.39394786e-03 0.00000000e+00 6.83606305e+01] [-7.39394786e-03 9.99972664e-01 0.00000000e+00 -5.04856316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77378452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82755201799999 meters Centerline goodness : 0.989256 with order 1 Centerline is valid? [True, True] Translation: X:68.42, Y:-5.05, Z:-0.00 [[ 9.99987259e-01 5.04799946e-03 0.00000000e+00 6.84181240e+01] [-5.04799946e-03 9.99987259e-01 0.00000000e+00 -5.05399336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49548641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.887552018 meters Centerline goodness : 0.989443 with order 1 Centerline is valid? [True, True] Translation: X:68.48, Y:-5.06, Z:-0.00 [[ 9.99997305e-01 2.32147952e-03 0.00000000e+00 6.84770930e+01] [-2.32147952e-03 9.99997305e-01 0.00000000e+00 -5.05841241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51816938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94755201799998 meters Centerline goodness : 0.989466 with order 1 Centerline is valid? [True, True] Translation: X:68.54, Y:-5.06, Z:-0.00 [[ 9.99999992e-01 -1.29398568e-04 0.00000000e+00 6.85373107e+01] [ 1.29398568e-04 9.99999992e-01 0.00000000e+00 -5.05970344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.53136581e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00755201799998 meters Centerline goodness : 0.989889 with order 1 Centerline is valid? [True, True] Translation: X:68.60, Y:-5.06, Z:-0.00 [[ 9.99999777e-01 6.67986713e-04 0.00000000e+00 6.85973366e+01] [-6.67986713e-04 9.99999777e-01 0.00000000e+00 -5.06344832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74266675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06755201799999 meters Centerline goodness : 0.989116 with order 1 Centerline is valid? [True, True] Translation: X:68.66, Y:-5.06, Z:0.00 [[ 9.99998848e-01 1.51812790e-03 0.00000000e+00 6.86576618e+01] [-1.51812790e-03 9.99998848e-01 0.00000000e+00 -5.06451966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15992768e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12755201799999 meters Centerline goodness : 0.988719 with order 1 Centerline is valid? [True, True] Translation: X:68.72, Y:-5.07, Z:-0.00 [[ 9.99999063e-01 1.36861369e-03 0.00000000e+00 6.87171567e+01] [-1.36861369e-03 9.99999063e-01 0.00000000e+00 -5.06633200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27370272e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18755201799999 meters Centerline goodness : 0.989628 with order 1 Centerline is valid? [True, True] Translation: X:68.78, Y:-5.07, Z:-0.00 [[ 9.99999256e-01 -1.22020561e-03 0.00000000e+00 6.87765693e+01] [ 1.22020561e-03 9.99999256e-01 0.00000000e+00 -5.07034987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80064755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.247552018 meters Centerline goodness : 0.989431 with order 1 Centerline is valid? [True, True] Translation: X:68.84, Y:-5.07, Z:-0.00 [[ 9.99998998e-01 -1.41590322e-03 0.00000000e+00 6.88373426e+01] [ 1.41590322e-03 9.99998998e-01 0.00000000e+00 -5.07493831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64782628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30755201799998 meters Centerline goodness : 0.990048 with order 1 Centerline is valid? [True, True] Translation: X:68.90, Y:-5.08, Z:-0.00 [[ 9.99992884e-01 -3.77259301e-03 0.00000000e+00 6.88992178e+01] [ 3.77259301e-03 9.99992884e-01 0.00000000e+00 -5.07642819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72746088e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36755201799998 meters Centerline goodness : 0.989993 with order 1 Centerline is valid? [True, True] Translation: X:68.96, Y:-5.08, Z:-0.00 [[ 9.99990870e-01 -4.27320243e-03 0.00000000e+00 6.89598324e+01] [ 4.27320243e-03 9.99990870e-01 0.00000000e+00 -5.08128750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46306874e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42755201799999 meters Centerline goodness : 0.989755 with order 1 Centerline is valid? [True, True] Translation: X:69.02, Y:-5.09, Z:-0.00 [[ 9.99971421e-01 -7.56017161e-03 0.00000000e+00 6.90220958e+01] [ 7.56017161e-03 9.99971421e-01 0.00000000e+00 -5.08719140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26711645e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48755201799999 meters Centerline goodness : 0.989609 with order 1 Centerline is valid? [True, True] Translation: X:69.08, Y:-5.09, Z:0.00 [[ 9.99956133e-01 -9.36653417e-03 0.00000000e+00 6.90841429e+01] [ 9.36653417e-03 9.99956133e-01 0.00000000e+00 -5.09067876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35632080e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54755201799999 meters Centerline goodness : 0.990131 with order 1 Centerline is valid? [True, True] Translation: X:69.15, Y:-5.10, Z:-0.00 [[ 9.99969093e-01 -7.86216395e-03 0.00000000e+00 6.91453607e+01] [ 7.86216395e-03 9.99969093e-01 0.00000000e+00 -5.09695800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13785944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60755201799999 meters Centerline goodness : 0.989517 with order 1 Centerline is valid? [True, True] Translation: X:69.21, Y:-5.10, Z:-0.00 [[ 9.99979688e-01 -6.37358547e-03 0.00000000e+00 6.92072826e+01] [ 6.37358547e-03 9.99979688e-01 0.00000000e+00 -5.10110965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63668843e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66755201799998 meters Centerline goodness : 0.991043 with order 1 Centerline is valid? [True, True] Translation: X:69.27, Y:-5.10, Z:0.00 [[ 1.00000000e+00 4.19653932e-06 0.00000000e+00 6.92688174e+01] [-4.19653932e-06 1.00000000e+00 0.00000000e+00 -5.10170729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71273769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72755201799998 meters Centerline goodness : 0.990088 with order 1 Centerline is valid? [True, True] Translation: X:69.33, Y:-5.11, Z:0.00 [[ 9.99985957e-01 5.29969225e-03 0.00000000e+00 6.93286593e+01] [-5.29969225e-03 9.99985957e-01 0.00000000e+00 -5.10696549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23582575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78755201799999 meters Centerline goodness : 0.989656 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:-5.11, Z:0.00 [[ 9.99974698e-01 7.11353774e-03 0.00000000e+00 6.93875630e+01] [-7.11353774e-03 9.99974698e-01 0.00000000e+00 -5.10971262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06417202e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84755201799999 meters Centerline goodness : 0.990076 with order 1 Centerline is valid? [True, True] Translation: X:69.45, Y:-5.11, Z:0.00 [[ 9.99968912e-01 7.88515397e-03 0.00000000e+00 6.94450644e+01] [-7.88515397e-03 9.99968912e-01 0.00000000e+00 -5.11124666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41325921e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90755201799999 meters Centerline goodness : 0.990199 with order 1 Centerline is valid? [True, True] Translation: X:69.50, Y:-5.12, Z:0.00 [[ 9.99953388e-01 9.65515508e-03 0.00000000e+00 6.95038927e+01] [-9.65515508e-03 9.99953388e-01 0.00000000e+00 -5.11665983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03401146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96755201799999 meters Centerline goodness : 0.991224 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:-5.12, Z:0.00 [[ 9.99980615e-01 6.22648969e-03 0.00000000e+00 6.95627088e+01] [-6.22648969e-03 9.99980615e-01 0.00000000e+00 -5.12053727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14479077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.027552018 meters Centerline goodness : 0.991835 with order 1 Centerline is valid? [True, True] Translation: X:69.62, Y:-5.12, Z:0.00 [[ 9.99982651e-01 5.89040902e-03 0.00000000e+00 6.96219787e+01] [-5.89040902e-03 9.99982651e-01 0.00000000e+00 -5.12275927e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16593559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08755201799998 meters Centerline goodness : 0.991460 with order 1 Centerline is valid? [True, True] Translation: X:69.68, Y:-5.13, Z:0.00 [[ 9.99985496e-01 5.38593340e-03 0.00000000e+00 6.96793474e+01] [-5.38593340e-03 9.99985496e-01 0.00000000e+00 -5.12745939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34481188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14755201799998 meters Centerline goodness : 0.992224 with order 1 Centerline is valid? [True, True] Translation: X:69.74, Y:-5.13, Z:0.00 [[ 9.99977979e-01 6.63636305e-03 0.00000000e+00 6.97379126e+01] [-6.63636305e-03 9.99977979e-01 0.00000000e+00 -5.13165498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37328956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20755201799999 meters Centerline goodness : 0.991887 with order 1 Centerline is valid? [True, True] Translation: X:69.80, Y:-5.13, Z:0.00 [[ 9.99957854e-01 9.18095103e-03 0.00000000e+00 6.97965516e+01] [-9.18095103e-03 9.99957854e-01 0.00000000e+00 -5.13242350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97219784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26755201799999 meters Centerline goodness : 0.990903 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:-5.14, Z:0.00 [[ 9.99947095e-01 1.02862962e-02 0.00000000e+00 6.98544343e+01] [-1.02862962e-02 9.99947095e-01 0.00000000e+00 -5.13696469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54975132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32755201799999 meters Centerline goodness : 0.991107 with order 1 Centerline is valid? [True, True] Translation: X:69.91, Y:-5.14, Z:0.00 [[ 9.99955427e-01 9.44164146e-03 0.00000000e+00 6.99132943e+01] [-9.44164146e-03 9.99955427e-01 0.00000000e+00 -5.13959441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76552607e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.387552018 meters Centerline goodness : 0.991466 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:-5.14, Z:0.00 [[ 9.99959616e-01 8.98696011e-03 0.00000000e+00 6.99724967e+01] [-8.98696011e-03 9.99959616e-01 0.00000000e+00 -5.14156701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61429102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44755201799998 meters Centerline goodness : 0.991603 with order 1 Centerline is valid? [True, True] Translation: X:70.03, Y:-5.14, Z:0.00 [[ 9.99979817e-01 6.35332126e-03 0.00000000e+00 7.00306745e+01] [-6.35332126e-03 9.99979817e-01 0.00000000e+00 -5.14473179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56083702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50755201799998 meters Centerline goodness : 0.990954 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:-5.15, Z:0.01 [[ 9.99986075e-01 5.27733131e-03 0.00000000e+00 7.00895542e+01] [-5.27733131e-03 9.99986075e-01 0.00000000e+00 -5.14797621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05696334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56755201799999 meters Centerline goodness : 0.990404 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:-5.15, Z:0.01 [[ 9.99987363e-01 5.02736685e-03 0.00000000e+00 7.01468101e+01] [-5.02736685e-03 9.99987363e-01 0.00000000e+00 -5.15157355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02803064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62755201799999 meters Centerline goodness : 0.990991 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:-5.15, Z:0.01 [[ 9.99981947e-01 6.00874190e-03 0.00000000e+00 7.02055434e+01] [-6.00874190e-03 9.99981947e-01 0.00000000e+00 -5.14972955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22137944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68755201799999 meters Centerline goodness : 0.990622 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:-5.15, Z:0.01 [[ 9.99985610e-01 5.36461926e-03 0.00000000e+00 7.02633471e+01] [-5.36461926e-03 9.99985610e-01 0.00000000e+00 -5.15214750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01072561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.747552018 meters Centerline goodness : 0.990540 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:-5.15, Z:0.01 [[ 9.99987833e-01 4.93301222e-03 0.00000000e+00 7.03221366e+01] [-4.93301222e-03 9.99987833e-01 0.00000000e+00 -5.15475421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90007502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80755201799998 meters Centerline goodness : 0.990262 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:-5.15, Z:0.01 [[ 9.99976862e-01 6.80255832e-03 0.00000000e+00 7.03809624e+01] [-6.80255832e-03 9.99976862e-01 0.00000000e+00 -5.15356664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55199297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86755201799998 meters Centerline goodness : 0.990417 with order 1 Centerline is valid? [True, True] Translation: X:70.44, Y:-5.15, Z:0.01 [[ 9.99954583e-01 9.53057204e-03 0.00000000e+00 7.04390863e+01] [-9.53057204e-03 9.99954583e-01 0.00000000e+00 -5.15395703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11445338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92755201799999 meters Centerline goodness : 0.989879 with order 1 Centerline is valid? [True, True] Translation: X:70.50, Y:-5.15, Z:0.01 [[ 9.99947465e-01 1.02501914e-02 0.00000000e+00 7.04980099e+01] [-1.02501914e-02 9.99947465e-01 0.00000000e+00 -5.15447578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01307850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98755201799999 meters Centerline goodness : 0.990544 with order 1 Centerline is valid? [True, True] Translation: X:70.56, Y:-5.16, Z:0.01 [[ 9.99983380e-01 5.76542932e-03 0.00000000e+00 7.05563892e+01] [-5.76542932e-03 9.99983380e-01 0.00000000e+00 -5.15799240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18862524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04755201799999 meters Centerline goodness : 0.990685 with order 1 Centerline is valid? [True, True] Translation: X:70.61, Y:-5.16, Z:0.01 [[ 9.99999787e-01 -6.52636968e-04 0.00000000e+00 7.06149893e+01] [ 6.52636968e-04 9.99999787e-01 0.00000000e+00 -5.16257196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54619431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10755201799999 meters Centerline goodness : 0.989646 with order 1 Centerline is valid? [True, True] Translation: X:70.67, Y:-5.17, Z:0.00 [[ 9.99994771e-01 -3.23379319e-03 0.00000000e+00 7.06749454e+01] [ 3.23379319e-03 9.99994771e-01 0.00000000e+00 -5.16824412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54006646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16755201799998 meters Centerline goodness : 0.989723 with order 1 Centerline is valid? [True, True] Translation: X:70.74, Y:-5.17, Z:0.00 [[ 9.99994562e-01 -3.29800085e-03 0.00000000e+00 7.07356908e+01] [ 3.29800085e-03 9.99994562e-01 0.00000000e+00 -5.17367685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15454430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22755201799998 meters Centerline goodness : 0.990217 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:-5.18, Z:0.00 [[ 9.99999981e-01 1.93923226e-04 0.00000000e+00 7.07969361e+01] [-1.93923226e-04 9.99999981e-01 0.00000000e+00 -5.17638492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65088873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28755201799999 meters Centerline goodness : 0.988580 with order 1 Centerline is valid? [True, True] Translation: X:70.86, Y:-5.18, Z:0.00 [[ 9.99955816e-01 9.40035733e-03 0.00000000e+00 7.08563520e+01] [-9.40035733e-03 9.99955816e-01 0.00000000e+00 -5.17923310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88274148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34755201799999 meters Centerline goodness : 0.987746 with order 1 Centerline is valid? [True, True] Translation: X:70.91, Y:-5.18, Z:0.00 [[ 9.99900093e-01 1.41351833e-02 0.00000000e+00 7.09143370e+01] [-1.41351833e-02 9.99900093e-01 0.00000000e+00 -5.18074163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89031480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40755201799999 meters Centerline goodness : 0.988632 with order 1 Centerline is valid? [True, True] Translation: X:70.97, Y:-5.18, Z:0.01 [[ 9.99859834e-01 1.67425431e-02 0.00000000e+00 7.09726606e+01] [-1.67425431e-02 9.99859834e-01 0.00000000e+00 -5.18253934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02561528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46755201799999 meters Centerline goodness : 0.989111 with order 1 Centerline is valid? [True, True] Translation: X:71.03, Y:-5.19, Z:0.01 [[ 9.99853146e-01 1.71372718e-02 0.00000000e+00 7.10302884e+01] [-1.71372718e-02 9.99853146e-01 0.00000000e+00 -5.18704140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90858392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.527552018 meters Centerline goodness : 0.989429 with order 1 Centerline is valid? [True, True] Translation: X:71.09, Y:-5.19, Z:0.00 [[ 9.99898521e-01 1.42459427e-02 0.00000000e+00 7.10886496e+01] [-1.42459427e-02 9.99898521e-01 0.00000000e+00 -5.18916723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29164059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58755201799998 meters Centerline goodness : 0.990358 with order 1 Centerline is valid? [True, True] Translation: X:71.15, Y:-5.19, Z:0.00 [[ 9.99937693e-01 1.11628832e-02 0.00000000e+00 7.11470583e+01] [-1.11628832e-02 9.99937693e-01 0.00000000e+00 -5.19351064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09516249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64755201799998 meters Centerline goodness : 0.990683 with order 1 Centerline is valid? [True, True] Translation: X:71.21, Y:-5.20, Z:-0.00 [[ 9.99978757e-01 6.51807240e-03 0.00000000e+00 7.12059281e+01] [-6.51807240e-03 9.99978757e-01 0.00000000e+00 -5.19875741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04462199e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70755201799999 meters Centerline goodness : 0.990350 with order 1 Centerline is valid? [True, True] Translation: X:71.26, Y:-5.20, Z:-0.00 [[ 9.99992268e-01 3.93251886e-03 0.00000000e+00 7.12643117e+01] [-3.93251886e-03 9.99992268e-01 0.00000000e+00 -5.20398622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47737069e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76755201799999 meters Centerline goodness : 0.990958 with order 1 Centerline is valid? [True, True] Translation: X:71.32, Y:-5.21, Z:0.00 [[ 9.99995580e-01 2.97320586e-03 0.00000000e+00 7.13235340e+01] [-2.97320586e-03 9.99995580e-01 0.00000000e+00 -5.20685577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10014260e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82755201799999 meters Centerline goodness : 0.990687 with order 1 Centerline is valid? [True, True] Translation: X:71.38, Y:-5.21, Z:0.00 [[ 9.99987259e-01 5.04796544e-03 0.00000000e+00 7.13818904e+01] [-5.04796544e-03 9.99987259e-01 0.00000000e+00 -5.21116641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76387450e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.887552018 meters Centerline goodness : 0.990274 with order 1 Centerline is valid? [True, True] Translation: X:71.44, Y:-5.21, Z:0.00 [[ 9.99971902e-01 7.49639449e-03 0.00000000e+00 7.14409467e+01] [-7.49639449e-03 9.99971902e-01 0.00000000e+00 -5.21453547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37675682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94755201799998 meters Centerline goodness : 0.989970 with order 1 Centerline is valid? [True, True] Translation: X:71.50, Y:-5.22, Z:0.00 [[ 9.99979085e-01 6.46763696e-03 0.00000000e+00 7.14995306e+01] [-6.46763696e-03 9.99979085e-01 0.00000000e+00 -5.21907494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29889743e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00755201799998 meters Centerline goodness : 0.989376 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:-5.23, Z:0.00 [[ 9.99997958e-01 2.02071808e-03 0.00000000e+00 7.15571253e+01] [-2.02071808e-03 9.99997958e-01 0.00000000e+00 -5.22562504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88347424e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06755201799999 meters Centerline goodness : 0.988059 with order 1 Centerline is valid? [True, True] Translation: X:71.62, Y:-5.23, Z:0.00 [[ 9.99999342e-01 1.14724117e-03 0.00000000e+00 7.16164977e+01] [-1.14724117e-03 9.99999342e-01 0.00000000e+00 -5.23018627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48105955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12755201799999 meters Centerline goodness : 0.988549 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:-5.23, Z:0.00 [[ 9.99995949e-01 2.84624016e-03 0.00000000e+00 7.16771026e+01] [-2.84624016e-03 9.99995949e-01 0.00000000e+00 -5.23428875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95412716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18755201799999 meters Centerline goodness : 0.989565 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:-5.24, Z:0.00 [[ 9.99986323e-01 5.23013362e-03 0.00000000e+00 7.17365342e+01] [-5.23013362e-03 9.99986323e-01 0.00000000e+00 -5.23856223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42965193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.247552018 meters Centerline goodness : 0.990158 with order 1 Centerline is valid? [True, True] Translation: X:71.80, Y:-5.24, Z:0.00 [[ 9.99979854e-01 6.34749343e-03 0.00000000e+00 7.17951352e+01] [-6.34749343e-03 9.99979854e-01 0.00000000e+00 -5.24490119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18488414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30755201799998 meters Centerline goodness : 0.990773 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:-5.25, Z:0.00 [[ 9.99968125e-01 7.98430968e-03 0.00000000e+00 7.18524236e+01] [-7.98430968e-03 9.99968125e-01 0.00000000e+00 -5.25042167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17249182e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36755201799998 meters Centerline goodness : 0.990529 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:-5.26, Z:0.00 [[ 9.99952695e-01 9.72668429e-03 0.00000000e+00 7.19108002e+01] [-9.72668429e-03 9.99952695e-01 0.00000000e+00 -5.25649336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02705508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42755201799999 meters Centerline goodness : 0.989716 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:-5.26, Z:0.00 [[ 9.99946995e-01 1.02959855e-02 0.00000000e+00 7.19692776e+01] [-1.02959855e-02 9.99946995e-01 0.00000000e+00 -5.26113266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87002592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48755201799999 meters Centerline goodness : 0.989303 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:-5.27, Z:0.01 [[ 9.99926003e-01 1.21650514e-02 0.00000000e+00 7.20278928e+01] [-1.21650514e-02 9.99926003e-01 0.00000000e+00 -5.26610535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88804771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54755201799999 meters Centerline goodness : 0.989759 with order 1 Centerline is valid? [True, True] Translation: X:72.09, Y:-5.27, Z:0.00 [[ 9.99974309e-01 7.16803918e-03 0.00000000e+00 7.20862564e+01] [-7.16803918e-03 9.99974309e-01 0.00000000e+00 -5.27417032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43793320e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60755201799999 meters Centerline goodness : 0.989815 with order 1 Centerline is valid? [True, True] Translation: X:72.14, Y:-5.28, Z:0.01 [[ 9.99961912e-01 8.72774617e-03 0.00000000e+00 7.21449737e+01] [-8.72774617e-03 9.99961912e-01 0.00000000e+00 -5.27897433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49156086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66755201799998 meters Centerline goodness : 0.989836 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:-5.28, Z:0.01 [[ 9.99956965e-01 9.27732315e-03 0.00000000e+00 7.22033086e+01] [-9.27732315e-03 9.99956965e-01 0.00000000e+00 -5.28365886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78135111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72755201799998 meters Centerline goodness : 0.990090 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:-5.29, Z:0.01 [[ 9.99945731e-01 1.04180201e-02 0.00000000e+00 7.22604850e+01] [-1.04180201e-02 9.99945731e-01 0.00000000e+00 -5.29303820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66305311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78755201799999 meters Centerline goodness : 0.990393 with order 1 Centerline is valid? [True, True] Translation: X:72.32, Y:-5.30, Z:0.00 [[ 9.99954019e-01 9.58954779e-03 0.00000000e+00 7.23195788e+01] [-9.58954779e-03 9.99954019e-01 0.00000000e+00 -5.29774739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54166793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84755201799999 meters Centerline goodness : 0.990334 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:-5.31, Z:0.01 [[ 9.99911138e-01 1.33310112e-02 0.00000000e+00 7.23775442e+01] [-1.33310112e-02 9.99911138e-01 0.00000000e+00 -5.30567179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20121476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90755201799999 meters Centerline goodness : 0.989996 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-5.31, Z:-0.00 [[ 9.99934010e-01 1.14881006e-02 0.00000000e+00 7.24364131e+01] [-1.14881006e-02 9.99934010e-01 0.00000000e+00 -5.31380034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64229010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96755201799999 meters Centerline goodness : 0.989819 with order 1 Centerline is valid? [True, True] Translation: X:72.49, Y:-5.32, Z:0.01 [[ 9.99934589e-01 1.14375581e-02 0.00000000e+00 7.24945127e+01] [-1.14375581e-02 9.99934589e-01 0.00000000e+00 -5.31546314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76929693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02755201799998 meters Centerline goodness : 0.990524 with order 1 Centerline is valid? [True, True] Translation: X:72.55, Y:-5.32, Z:0.00 [[ 9.99960460e-01 8.89259119e-03 0.00000000e+00 7.25529044e+01] [-8.89259119e-03 9.99960460e-01 0.00000000e+00 -5.32029626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51486495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08755201799998 meters Centerline goodness : 0.990167 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:-5.33, Z:0.00 [[ 9.99965073e-01 8.35776290e-03 0.00000000e+00 7.26099551e+01] [-8.35776290e-03 9.99965073e-01 0.00000000e+00 -5.32846545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21328349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14755201799998 meters Centerline goodness : 0.990437 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:-5.33, Z:0.00 [[ 9.99968044e-01 7.99440513e-03 0.00000000e+00 7.26688401e+01] [-7.99440513e-03 9.99968044e-01 0.00000000e+00 -5.33491646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84267041e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20755201799999 meters Centerline goodness : 0.989714 with order 1 Centerline is valid? [True, True] Translation: X:72.73, Y:-5.34, Z:0.00 [[ 9.99972780e-01 7.37826251e-03 0.00000000e+00 7.27275520e+01] [-7.37826251e-03 9.99972780e-01 0.00000000e+00 -5.33965278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10797771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26755201799999 meters Centerline goodness : 0.991418 with order 1 Centerline is valid? [True, True] Translation: X:72.79, Y:-5.35, Z:-0.00 [[ 9.99982052e-01 5.99128858e-03 0.00000000e+00 7.27851971e+01] [-5.99128858e-03 9.99982052e-01 0.00000000e+00 -5.34628056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52925029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32755201799999 meters Centerline goodness : 0.990616 with order 1 Centerline is valid? [True, True] Translation: X:72.84, Y:-5.36, Z:-0.00 [[ 9.99962271e-01 8.68654804e-03 0.00000000e+00 7.28437439e+01] [-8.68654804e-03 9.99962271e-01 0.00000000e+00 -5.35624626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06388162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.387552018 meters Centerline goodness : 0.991016 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:-5.36, Z:0.00 [[ 9.99959601e-01 8.98863873e-03 0.00000000e+00 7.29023992e+01] [-8.98863873e-03 9.99959601e-01 0.00000000e+00 -5.36018437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30974344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44755201799998 meters Centerline goodness : 0.991644 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:-5.37, Z:-0.00 [[ 9.99950232e-01 9.97669674e-03 0.00000000e+00 7.29604629e+01] [-9.97669674e-03 9.99950232e-01 0.00000000e+00 -5.36989958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50742469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50755201799998 meters Centerline goodness : 0.991822 with order 1 Centerline is valid? [True, True] Translation: X:73.02, Y:-5.37, Z:-0.00 [[ 9.99979645e-01 6.38043915e-03 0.00000000e+00 7.30178633e+01] [-6.38043915e-03 9.99979645e-01 0.00000000e+00 -5.37318885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96815387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56755201799999 meters Centerline goodness : 0.991062 with order 1 Centerline is valid? [True, True] Translation: X:73.08, Y:-5.38, Z:-0.00 [[ 9.99992075e-01 3.98131042e-03 0.00000000e+00 7.30764069e+01] [-3.98131042e-03 9.99992075e-01 0.00000000e+00 -5.37734443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55195479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62755201799999 meters Centerline goodness : 0.991577 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:-5.38, Z:-0.00 [[ 9.99999994e-01 -1.10129453e-04 0.00000000e+00 7.31349050e+01] [ 1.10129453e-04 9.99999994e-01 0.00000000e+00 -5.38095301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27668011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68755201799999 meters Centerline goodness : 0.991228 with order 1 Centerline is valid? [True, True] Translation: X:73.20, Y:-5.39, Z:-0.00 [[ 9.99998667e-01 -1.63261806e-03 0.00000000e+00 7.31955634e+01] [ 1.63261806e-03 9.99998667e-01 0.00000000e+00 -5.38638001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76108696e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.747552018 meters Centerline goodness : 0.991173 with order 1 Centerline is valid? [True, True] Translation: X:73.26, Y:-5.39, Z:-0.00 [[ 9.99994373e-01 -3.35470206e-03 0.00000000e+00 7.32567308e+01] [ 3.35470206e-03 9.99994373e-01 0.00000000e+00 -5.39134322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11114649e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80755201799998 meters Centerline goodness : 0.991392 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:-5.39, Z:0.00 [[ 9.99989383e-01 -4.60805773e-03 0.00000000e+00 7.33180524e+01] [ 4.60805773e-03 9.99989383e-01 0.00000000e+00 -5.39416646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51882079e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86755201799998 meters Centerline goodness : 0.991721 with order 1 Centerline is valid? [True, True] Translation: X:73.38, Y:-5.40, Z:0.00 [[ 9.99989682e-01 -4.54265094e-03 0.00000000e+00 7.33803974e+01] [ 4.54265094e-03 9.99989682e-01 0.00000000e+00 -5.39966167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49152230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92755201799999 meters Centerline goodness : 0.991469 with order 1 Centerline is valid? [True, True] Translation: X:73.44, Y:-5.41, Z:-0.00 [[ 9.99980743e-01 -6.20591722e-03 0.00000000e+00 7.34420455e+01] [ 6.20591722e-03 9.99980743e-01 0.00000000e+00 -5.40585498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25591247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98755201799999 meters Centerline goodness : 0.992359 with order 1 Centerline is valid? [True, True] Translation: X:73.50, Y:-5.41, Z:-0.00 [[ 9.99970131e-01 -7.72898262e-03 0.00000000e+00 7.35046740e+01] [ 7.72898262e-03 9.99970131e-01 0.00000000e+00 -5.40866065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52155149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04755201799999 meters Centerline goodness : 0.992022 with order 1 Centerline is valid? [True, True] Translation: X:73.57, Y:-5.41, Z:-0.00 [[ 9.99986435e-01 -5.20870513e-03 0.00000000e+00 7.35666050e+01] [ 5.20870513e-03 9.99986435e-01 0.00000000e+00 -5.41433056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15215684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10755201799999 meters Centerline goodness : 0.992284 with order 1 Centerline is valid? [True, True] Translation: X:73.63, Y:-5.42, Z:-0.00 [[ 9.99999206e-01 -1.26018274e-03 0.00000000e+00 7.36282245e+01] [ 1.26018274e-03 9.99999206e-01 0.00000000e+00 -5.41768839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79404346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16755201799998 meters Centerline goodness : 0.990687 with order 1 Centerline is valid? [True, True] Translation: X:73.69, Y:-5.42, Z:-0.00 [[ 9.99964117e-01 8.47135070e-03 0.00000000e+00 7.36885321e+01] [-8.47135070e-03 9.99964117e-01 0.00000000e+00 -5.41794813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73067591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22755201799998 meters Centerline goodness : 0.991709 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:-5.42, Z:-0.00 [[ 9.99827290e-01 1.85846575e-02 0.00000000e+00 7.37464557e+01] [-1.85846575e-02 9.99827290e-01 0.00000000e+00 -5.42052980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81697718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28755201799999 meters Centerline goodness : 0.990788 with order 1 Centerline is valid? [True, True] Translation: X:73.80, Y:-5.42, Z:-0.00 [[ 9.99739556e-01 2.28214918e-02 0.00000000e+00 7.38042658e+01] [-2.28214918e-02 9.99739556e-01 0.00000000e+00 -5.42212793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11238022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34755201799999 meters Centerline goodness : 0.991000 with order 1 Centerline is valid? [True, True] Translation: X:73.86, Y:-5.42, Z:-0.00 [[ 9.99666598e-01 2.58203811e-02 0.00000000e+00 7.38615822e+01] [-2.58203811e-02 9.99666598e-01 0.00000000e+00 -5.42348864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33359702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40755201799999 meters Centerline goodness : 0.991248 with order 1 Centerline is valid? [True, True] Translation: X:73.92, Y:-5.43, Z:-0.00 [[ 9.99612936e-01 2.78204488e-02 0.00000000e+00 7.39197645e+01] [-2.78204488e-02 9.99612936e-01 0.00000000e+00 -5.42931028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44967296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46755201799999 meters Centerline goodness : 0.990707 with order 1 Centerline is valid? [True, True] Translation: X:73.98, Y:-5.43, Z:-0.00 [[ 9.99634808e-01 2.70231384e-02 0.00000000e+00 7.39769522e+01] [-2.70231384e-02 9.99634808e-01 0.00000000e+00 -5.43314673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62813833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52755201799998 meters Centerline goodness : 0.990996 with order 1 Centerline is valid? [True, True] Translation: X:74.03, Y:-5.44, Z:-0.00 [[ 9.99620321e-01 2.75538488e-02 0.00000000e+00 7.40345663e+01] [-2.75538488e-02 9.99620321e-01 0.00000000e+00 -5.43864367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99165903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58755201799998 meters Centerline goodness : 0.991532 with order 1 Centerline is valid? [True, True] Translation: X:74.09, Y:-5.45, Z:-0.00 [[ 9.99707082e-01 2.42022778e-02 0.00000000e+00 7.40931885e+01] [-2.42022778e-02 9.99707082e-01 0.00000000e+00 -5.44531288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85502959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64755201799998 meters Centerline goodness : 0.990445 with order 1 Centerline is valid? [True, True] Translation: X:74.15, Y:-5.45, Z:-0.00 [[ 9.99771959e-01 2.13548634e-02 0.00000000e+00 7.41509114e+01] [-2.13548634e-02 9.99771959e-01 0.00000000e+00 -5.44944043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57880073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70755201799999 meters Centerline goodness : 0.990340 with order 1 Centerline is valid? [True, True] Translation: X:74.21, Y:-5.45, Z:-0.00 [[ 9.99840302e-01 1.78709499e-02 0.00000000e+00 7.42073259e+01] [-1.78709499e-02 9.99840302e-01 0.00000000e+00 -5.45416258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24202718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76755201799999 meters Centerline goodness : 0.991884 with order 1 Centerline is valid? [True, True] Translation: X:74.26, Y:-5.46, Z:-0.00 [[ 9.99960431e-01 8.89589679e-03 0.00000000e+00 7.42648130e+01] [-8.89589679e-03 9.99960431e-01 0.00000000e+00 -5.45559886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50691234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82755201799999 meters Centerline goodness : 0.989394 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:-5.47, Z:-0.00 [[ 9.99919129e-01 1.27175601e-02 0.00000000e+00 7.43215498e+01] [-1.27175601e-02 9.99919129e-01 0.00000000e+00 -5.46825918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12916770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.887552018 meters Centerline goodness : 0.989252 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:-5.47, Z:-0.01 [[ 9.99898949e-01 1.42159013e-02 0.00000000e+00 7.43790615e+01] [-1.42159013e-02 9.99898949e-01 0.00000000e+00 -5.47310160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72658440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94755201799998 meters Centerline goodness : 0.989104 with order 1 Centerline is valid? [True, True] Translation: X:74.44, Y:-5.48, Z:-0.01 [[ 9.99931438e-01 1.17098323e-02 0.00000000e+00 7.44374764e+01] [-1.17098323e-02 9.99931438e-01 0.00000000e+00 -5.47808199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87591546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00755201799998 meters Centerline goodness : 0.989827 with order 1 Centerline is valid? [True, True] Translation: X:74.50, Y:-5.48, Z:-0.01 [[ 9.99945728e-01 1.04183506e-02 0.00000000e+00 7.44951435e+01] [-1.04183506e-02 9.99945728e-01 0.00000000e+00 -5.48193855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36640029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06755201799999 meters Centerline goodness : 0.989449 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:-5.48, Z:-0.00 [[ 9.99984212e-01 5.61927983e-03 0.00000000e+00 7.45538687e+01] [-5.61927983e-03 9.99984212e-01 0.00000000e+00 -5.48446266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37720993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12755201799999 meters Centerline goodness : 0.990433 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:-5.49, Z:-0.01 [[ 9.99999957e-01 -2.92707057e-04 0.00000000e+00 7.46120357e+01] [ 2.92707057e-04 9.99999957e-01 0.00000000e+00 -5.48927009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96363282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18755201799999 meters Centerline goodness : 0.990572 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:-5.49, Z:-0.01 [[ 9.99982923e-01 -5.84419952e-03 0.00000000e+00 7.46727073e+01] [ 5.84419952e-03 9.99982923e-01 0.00000000e+00 -5.49108212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05030771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.247552018 meters Centerline goodness : 0.990438 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:-5.49, Z:-0.01 [[ 9.99980465e-01 -6.25051816e-03 0.00000000e+00 7.47349224e+01] [ 6.25051816e-03 9.99980465e-01 0.00000000e+00 -5.49218924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85037414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30755201799998 meters Centerline goodness : 0.990397 with order 1 Centerline is valid? [True, True] Translation: X:74.80, Y:-5.49, Z:-0.00 [[ 9.99983787e-01 -5.69444580e-03 0.00000000e+00 7.47969558e+01] [ 5.69444580e-03 9.99983787e-01 0.00000000e+00 -5.49329977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58015984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36755201799998 meters Centerline goodness : 0.991104 with order 1 Centerline is valid? [True, True] Translation: X:74.86, Y:-5.50, Z:-0.00 [[ 9.99973865e-01 -7.22981510e-03 0.00000000e+00 7.48586808e+01] [ 7.22981510e-03 9.99973865e-01 0.00000000e+00 -5.49662323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58266856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42755201799999 meters Centerline goodness : 0.990529 with order 1 Centerline is valid? [True, True] Translation: X:74.92, Y:-5.50, Z:-0.00 [[ 9.99955886e-01 -9.39282368e-03 0.00000000e+00 7.49205529e+01] [ 9.39282368e-03 9.99955886e-01 0.00000000e+00 -5.49798857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24050063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48755201799999 meters Centerline goodness : 0.990316 with order 1 Centerline is valid? [True, True] Translation: X:74.98, Y:-5.50, Z:-0.01 [[ 9.99955426e-01 -9.44168694e-03 0.00000000e+00 7.49823103e+01] [ 9.44168694e-03 9.99955426e-01 0.00000000e+00 -5.49830713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25401422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54755201799999 meters Centerline goodness : 0.990582 with order 1 Centerline is valid? [True, True] Translation: X:75.04, Y:-5.50, Z:-0.01 [[ 9.99991162e-01 -4.20423605e-03 0.00000000e+00 7.50446771e+01] [ 4.20423605e-03 9.99991162e-01 0.00000000e+00 -5.49873122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48140598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60755201799999 meters Centerline goodness : 0.990756 with order 1 Centerline is valid? [True, True] Translation: X:75.11, Y:-5.50, Z:-0.01 [[ 9.99997319e-01 2.31551056e-03 0.00000000e+00 7.51074516e+01] [-2.31551056e-03 9.99997319e-01 0.00000000e+00 -5.49800915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69535565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66755201799998 meters Centerline goodness : 0.990172 with order 1 Centerline is valid? [True, True] Translation: X:75.17, Y:-5.49, Z:-0.01 [[ 9.99878897e-01 1.55624751e-02 0.00000000e+00 7.51670366e+01] [-1.55624751e-02 9.99878897e-01 0.00000000e+00 -5.49419722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08437169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72755201799998 meters Centerline goodness : 0.989829 with order 1 Centerline is valid? [True, True] Translation: X:75.23, Y:-5.49, Z:-0.01 [[ 9.99692177e-01 2.48103023e-02 0.00000000e+00 7.52250086e+01] [-2.48103023e-02 9.99692177e-01 0.00000000e+00 -5.49176179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43940767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78755201799999 meters Centerline goodness : 0.990429 with order 1 Centerline is valid? [True, True] Translation: X:75.28, Y:-5.49, Z:-0.00 [[ 9.99537381e-01 3.04142185e-02 0.00000000e+00 7.52824825e+01] [-3.04142185e-02 9.99537381e-01 0.00000000e+00 -5.49135503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98888349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84755201799999 meters Centerline goodness : 0.989505 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:-5.49, Z:-0.01 [[ 9.99253524e-01 3.86315384e-02 0.00000000e+00 7.53417728e+01] [-3.86315384e-02 9.99253524e-01 0.00000000e+00 -5.49160575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07189786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90755201799999 meters Centerline goodness : 0.988745 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:-5.50, Z:-0.01 [[ 9.99177186e-01 4.05579889e-02 0.00000000e+00 7.54002794e+01] [-4.05579889e-02 9.99177186e-01 0.00000000e+00 -5.49626969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36678466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96755201799999 meters Centerline goodness : 0.990129 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:-5.50, Z:-0.01 [[ 9.99355333e-01 3.59015160e-02 0.00000000e+00 7.54591985e+01] [-3.59015160e-02 9.99355333e-01 0.00000000e+00 -5.50122393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05889145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02755201799998 meters Centerline goodness : 0.989934 with order 1 Centerline is valid? [True, True] Translation: X:75.52, Y:-5.51, Z:-0.01 [[ 9.99371358e-01 3.54526204e-02 0.00000000e+00 7.55164492e+01] [-3.54526204e-02 9.99371358e-01 0.00000000e+00 -5.50776398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52611410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08755201799998 meters Centerline goodness : 0.989974 with order 1 Centerline is valid? [True, True] Translation: X:75.57, Y:-5.51, Z:-0.01 [[ 9.99473524e-01 3.24449619e-02 0.00000000e+00 7.55743028e+01] [-3.24449619e-02 9.99473524e-01 0.00000000e+00 -5.51318493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25550997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14755201799998 meters Centerline goodness : 0.989540 with order 1 Centerline is valid? [True, True] Translation: X:75.63, Y:-5.52, Z:-0.01 [[ 9.99585655e-01 2.87840005e-02 0.00000000e+00 7.56330030e+01] [-2.87840005e-02 9.99585655e-01 0.00000000e+00 -5.51922666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57790613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20755201799999 meters Centerline goodness : 0.990103 with order 1 Centerline is valid? [True, True] Translation: X:75.69, Y:-5.53, Z:-0.01 [[ 9.99740086e-01 2.27982374e-02 0.00000000e+00 7.56913666e+01] [-2.27982374e-02 9.99740086e-01 0.00000000e+00 -5.52687256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03609079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26755201799999 meters Centerline goodness : 0.989653 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:-5.53, Z:-0.01 [[ 9.99886846e-01 1.50430889e-02 0.00000000e+00 7.57492837e+01] [-1.50430889e-02 9.99886846e-01 0.00000000e+00 -5.53105696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07067560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32755201799999 meters Centerline goodness : 0.989990 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:-5.54, Z:-0.01 [[ 9.99982282e-01 5.95273659e-03 0.00000000e+00 7.58074232e+01] [-5.95273659e-03 9.99982282e-01 0.00000000e+00 -5.53691219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27399498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38755201799998 meters Centerline goodness : 0.990472 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:-5.54, Z:-0.01 [[ 9.99999595e-01 8.99977783e-04 0.00000000e+00 7.58664959e+01] [-8.99977783e-04 9.99999595e-01 0.00000000e+00 -5.53961374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32694068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44755201799998 meters Centerline goodness : 0.990519 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:-5.54, Z:-0.01 [[ 9.99999757e-01 -6.97167305e-04 0.00000000e+00 7.59264073e+01] [ 6.97167305e-04 9.99999757e-01 0.00000000e+00 -5.54273904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45227333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50755201799998 meters Centerline goodness : 0.991144 with order 1 Centerline is valid? [True, True] Translation: X:75.99, Y:-5.54, Z:-0.01 [[ 9.99999766e-01 -6.83895846e-04 0.00000000e+00 7.59870368e+01] [ 6.83895846e-04 9.99999766e-01 0.00000000e+00 -5.54403652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28016628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56755201799999 meters Centerline goodness : 0.990865 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:-5.54, Z:-0.01 [[ 9.99999996e-01 -8.83184673e-05 0.00000000e+00 7.60479527e+01] [ 8.83184673e-05 9.99999996e-01 0.00000000e+00 -5.54319696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36293683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62755201799999 meters Centerline goodness : 0.990575 with order 1 Centerline is valid? [True, True] Translation: X:76.11, Y:-5.54, Z:-0.01 [[ 9.99995658e-01 -2.94681417e-03 0.00000000e+00 7.61087290e+01] [ 2.94681417e-03 9.99995658e-01 0.00000000e+00 -5.54151596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17029700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68755201799999 meters Centerline goodness : 0.991029 with order 1 Centerline is valid? [True, True] Translation: X:76.17, Y:-5.54, Z:-0.01 [[ 9.99998773e-01 -1.56676163e-03 0.00000000e+00 7.61699980e+01] [ 1.56676163e-03 9.99998773e-01 0.00000000e+00 -5.53791001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22808757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.747552018 meters Centerline goodness : 0.990622 with order 1 Centerline is valid? [True, True] Translation: X:76.23, Y:-5.54, Z:-0.01 [[ 9.99999418e-01 1.07930083e-03 0.00000000e+00 7.62318267e+01] [-1.07930083e-03 9.99999418e-01 0.00000000e+00 -5.53818991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35611464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80755201799998 meters Centerline goodness : 0.990450 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:-5.54, Z:-0.01 [[ 9.99988448e-01 4.80673080e-03 0.00000000e+00 7.62925952e+01] [-4.80673080e-03 9.99988448e-01 0.00000000e+00 -5.53747432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34570949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86755201799998 meters Centerline goodness : 0.989766 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:-5.54, Z:-0.01 [[ 9.99979119e-01 6.46231540e-03 0.00000000e+00 7.63512970e+01] [-6.46231540e-03 9.99979119e-01 0.00000000e+00 -5.53771694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42507839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92755201799999 meters Centerline goodness : 0.990943 with order 1 Centerline is valid? [True, True] Translation: X:76.41, Y:-5.54, Z:-0.01 [[ 9.99963791e-01 8.50980780e-03 0.00000000e+00 7.64097455e+01] [-8.50980780e-03 9.99963791e-01 0.00000000e+00 -5.53774129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45708127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98755201799999 meters Centerline goodness : 0.989963 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:-5.54, Z:-0.01 [[ 9.99910388e-01 1.33871229e-02 0.00000000e+00 7.64673641e+01] [-1.33871229e-02 9.99910388e-01 0.00000000e+00 -5.53657669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32602872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04755201799999 meters Centerline goodness : 0.989358 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:-5.54, Z:-0.01 [[ 9.99888474e-01 1.49344979e-02 0.00000000e+00 7.65263648e+01] [-1.49344979e-02 9.99888474e-01 0.00000000e+00 -5.53809717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58938022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10755201799999 meters Centerline goodness : 0.990197 with order 1 Centerline is valid? [True, True] Translation: X:76.58, Y:-5.54, Z:-0.01 [[ 9.99911435e-01 1.33087080e-02 0.00000000e+00 7.65836997e+01] [-1.33087080e-02 9.99911435e-01 0.00000000e+00 -5.54109604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03788947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16755201799998 meters Centerline goodness : 0.991498 with order 1 Centerline is valid? [True, True] Translation: X:76.64, Y:-5.54, Z:-0.02 [[ 9.99934363e-01 1.14573377e-02 0.00000000e+00 7.66425086e+01] [-1.14573377e-02 9.99934363e-01 0.00000000e+00 -5.54459426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73001615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22755201799998 meters Centerline goodness : 0.991793 with order 1 Centerline is valid? [True, True] Translation: X:76.70, Y:-5.55, Z:-0.02 [[ 9.99941073e-01 1.08559041e-02 0.00000000e+00 7.67007876e+01] [-1.08559041e-02 9.99941073e-01 0.00000000e+00 -5.54841315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83227484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28755201799999 meters Centerline goodness : 0.991544 with order 1 Centerline is valid? [True, True] Translation: X:76.76, Y:-5.55, Z:-0.02 [[ 9.99941328e-01 1.08323882e-02 0.00000000e+00 7.67595009e+01] [-1.08323882e-02 9.99941328e-01 0.00000000e+00 -5.55212410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87244573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34755201799999 meters Centerline goodness : 0.991382 with order 1 Centerline is valid? [True, True] Translation: X:76.82, Y:-5.56, Z:-0.01 [[ 9.99920014e-01 1.26477139e-02 0.00000000e+00 7.68169110e+01] [-1.26477139e-02 9.99920014e-01 0.00000000e+00 -5.55699065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40345609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40755201799999 meters Centerline goodness : 0.990814 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:-5.56, Z:-0.01 [[ 9.99918799e-01 1.27434710e-02 0.00000000e+00 7.68754824e+01] [-1.27434710e-02 9.99918799e-01 0.00000000e+00 -5.56036847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42705571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46755201799999 meters Centerline goodness : 0.990896 with order 1 Centerline is valid? [True, True] Translation: X:76.93, Y:-5.56, Z:-0.02 [[ 9.99937025e-01 1.12225242e-02 0.00000000e+00 7.69343779e+01] [-1.12225242e-02 9.99937025e-01 0.00000000e+00 -5.56400462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04804947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52755201799998 meters Centerline goodness : 0.989901 with order 1 Centerline is valid? [True, True] Translation: X:76.99, Y:-5.57, Z:-0.02 [[ 9.99946960e-01 1.02993937e-02 0.00000000e+00 7.69924503e+01] [-1.02993937e-02 9.99946960e-01 0.00000000e+00 -5.56731212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19036922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58755201799998 meters Centerline goodness : 0.990361 with order 1 Centerline is valid? [True, True] Translation: X:77.05, Y:-5.57, Z:-0.02 [[ 9.99959329e-01 9.01883564e-03 0.00000000e+00 7.70509645e+01] [-9.01883564e-03 9.99959329e-01 0.00000000e+00 -5.57158001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24447496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64755201799998 meters Centerline goodness : 0.990402 with order 1 Centerline is valid? [True, True] Translation: X:77.11, Y:-5.58, Z:-0.02 [[ 9.99970067e-01 7.73720878e-03 0.00000000e+00 7.71097367e+01] [-7.73720878e-03 9.99970067e-01 0.00000000e+00 -5.57549605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40851613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70755201799999 meters Centerline goodness : 0.991356 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:-5.58, Z:-0.02 [[ 9.99946872e-01 1.03079342e-02 0.00000000e+00 7.71687038e+01] [-1.03079342e-02 9.99946872e-01 0.00000000e+00 -5.57798963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36759040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76755201799999 meters Centerline goodness : 0.990708 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:-5.58, Z:-0.02 [[ 9.99907170e-01 1.36254074e-02 0.00000000e+00 7.72279253e+01] [-1.36254074e-02 9.99907170e-01 0.00000000e+00 -5.57947133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23091741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82755201799999 meters Centerline goodness : 0.989868 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:-5.58, Z:-0.02 [[ 9.99879761e-01 1.55068729e-02 0.00000000e+00 7.72860021e+01] [-1.55068729e-02 9.99879761e-01 0.00000000e+00 -5.58110339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58051699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88755201799998 meters Centerline goodness : 0.990133 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:-5.58, Z:-0.02 [[ 9.99842022e-01 1.77744504e-02 0.00000000e+00 7.73452622e+01] [-1.77744504e-02 9.99842022e-01 0.00000000e+00 -5.58217106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17499146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94755201799998 meters Centerline goodness : 0.989409 with order 1 Centerline is valid? [True, True] Translation: X:77.40, Y:-5.59, Z:-0.02 [[ 9.99834255e-01 1.82061198e-02 0.00000000e+00 7.74029749e+01] [-1.82061198e-02 9.99834255e-01 0.00000000e+00 -5.58532479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73429154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00755201799998 meters Centerline goodness : 0.990647 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:-5.59, Z:-0.02 [[ 9.99865923e-01 1.63748397e-02 0.00000000e+00 7.74613537e+01] [-1.63748397e-02 9.99865923e-01 0.00000000e+00 -5.58793794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25347415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06755201799999 meters Centerline goodness : 0.990429 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:-5.59, Z:-0.02 [[ 9.99873742e-01 1.58902680e-02 0.00000000e+00 7.75201321e+01] [-1.58902680e-02 9.99873742e-01 0.00000000e+00 -5.59348422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08292102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12755201799999 meters Centerline goodness : 0.992077 with order 1 Centerline is valid? [True, True] Translation: X:77.58, Y:-5.60, Z:-0.02 [[ 9.99907472e-01 1.36032187e-02 0.00000000e+00 7.75785745e+01] [-1.36032187e-02 9.99907472e-01 0.00000000e+00 -5.59698576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36826454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18755201799999 meters Centerline goodness : 0.991405 with order 1 Centerline is valid? [True, True] Translation: X:77.64, Y:-5.60, Z:-0.02 [[ 9.99874404e-01 1.58485480e-02 0.00000000e+00 7.76368580e+01] [-1.58485480e-02 9.99874404e-01 0.00000000e+00 -5.60030904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95531662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.247552018 meters Centerline goodness : 0.991763 with order 1 Centerline is valid? [True, True] Translation: X:77.69, Y:-5.60, Z:-0.02 [[ 9.99883531e-01 1.52618330e-02 0.00000000e+00 7.76947261e+01] [-1.52618330e-02 9.99883531e-01 0.00000000e+00 -5.60395228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16853840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30755201799998 meters Centerline goodness : 0.991325 with order 1 Centerline is valid? [True, True] Translation: X:77.75, Y:-5.61, Z:-0.02 [[ 9.99842532e-01 1.77457295e-02 0.00000000e+00 7.77526682e+01] [-1.77457295e-02 9.99842532e-01 0.00000000e+00 -5.61085740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86479753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36755201799998 meters Centerline goodness : 0.991583 with order 1 Centerline is valid? [True, True] Translation: X:77.81, Y:-5.61, Z:-0.02 [[ 9.99852374e-01 1.71822511e-02 0.00000000e+00 7.78109415e+01] [-1.71822511e-02 9.99852374e-01 0.00000000e+00 -5.61377248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15523396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42755201799999 meters Centerline goodness : 0.991495 with order 1 Centerline is valid? [True, True] Translation: X:77.87, Y:-5.62, Z:-0.02 [[ 9.99802231e-01 1.98871382e-02 0.00000000e+00 7.78687706e+01] [-1.98871382e-02 9.99802231e-01 0.00000000e+00 -5.61755863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22274541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48755201799999 meters Centerline goodness : 0.991222 with order 1 Centerline is valid? [True, True] Translation: X:77.93, Y:-5.62, Z:-0.02 [[ 9.99772057e-01 2.13502778e-02 0.00000000e+00 7.79267599e+01] [-2.13502778e-02 9.99772057e-01 0.00000000e+00 -5.62240568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40700959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54755201799999 meters Centerline goodness : 0.992689 with order 1 Centerline is valid? [True, True] Translation: X:77.98, Y:-5.62, Z:-0.02 [[ 9.99846981e-01 1.74932661e-02 0.00000000e+00 7.79846523e+01] [-1.74932661e-02 9.99846981e-01 0.00000000e+00 -5.62039098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48107085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60755201799999 meters Centerline goodness : 0.991260 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:-5.63, Z:-0.02 [[ 9.99752766e-01 2.22352769e-02 0.00000000e+00 7.80425733e+01] [-2.22352769e-02 9.99752766e-01 0.00000000e+00 -5.63129232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48684693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66755201799998 meters Centerline goodness : 0.991455 with order 1 Centerline is valid? [True, True] Translation: X:78.10, Y:-5.64, Z:-0.02 [[ 9.99794406e-01 2.02767530e-02 0.00000000e+00 7.81006678e+01] [-2.02767530e-02 9.99794406e-01 0.00000000e+00 -5.63557273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39117883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72755201799998 meters Centerline goodness : 0.991765 with order 1 Centerline is valid? [True, True] Translation: X:78.16, Y:-5.64, Z:-0.02 [[ 9.99854443e-01 1.70614688e-02 0.00000000e+00 7.81572068e+01] [-1.70614688e-02 9.99854443e-01 0.00000000e+00 -5.64009795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28116886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78755201799999 meters Centerline goodness : 0.991339 with order 1 Centerline is valid? [True, True] Translation: X:78.21, Y:-5.64, Z:-0.02 [[ 9.99873345e-01 1.59152317e-02 0.00000000e+00 7.82141811e+01] [-1.59152317e-02 9.99873345e-01 0.00000000e+00 -5.64424309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27590350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84755201799999 meters Centerline goodness : 0.991373 with order 1 Centerline is valid? [True, True] Translation: X:78.27, Y:-5.65, Z:-0.02 [[ 9.99887578e-01 1.49943539e-02 0.00000000e+00 7.82719062e+01] [-1.49943539e-02 9.99887578e-01 0.00000000e+00 -5.65044972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32037938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90755201799999 meters Centerline goodness : 0.990995 with order 1 Centerline is valid? [True, True] Translation: X:78.33, Y:-5.65, Z:-0.02 [[ 9.99867583e-01 1.62731564e-02 0.00000000e+00 7.83294715e+01] [-1.62731564e-02 9.99867583e-01 0.00000000e+00 -5.65446503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34281721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96755201799999 meters Centerline goodness : 0.990811 with order 1 Centerline is valid? [True, True] Translation: X:78.39, Y:-5.66, Z:-0.02 [[ 9.99826811e-01 1.86104431e-02 0.00000000e+00 7.83872732e+01] [-1.86104431e-02 9.99826811e-01 0.00000000e+00 -5.65872077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40698849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02755201799998 meters Centerline goodness : 0.990916 with order 1 Centerline is valid? [True, True] Translation: X:78.44, Y:-5.66, Z:-0.02 [[ 9.99743141e-01 2.26638802e-02 0.00000000e+00 7.84439196e+01] [-2.26638802e-02 9.99743141e-01 0.00000000e+00 -5.66114124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35216210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08755201799998 meters Centerline goodness : 0.990781 with order 1 Centerline is valid? [True, True] Translation: X:78.50, Y:-5.66, Z:-0.03 [[ 9.99603919e-01 2.81426030e-02 0.00000000e+00 7.85024245e+01] [-2.81426030e-02 9.99603919e-01 0.00000000e+00 -5.66427104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59116276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14755201799998 meters Centerline goodness : 0.991189 with order 1 Centerline is valid? [True, True] Translation: X:78.56, Y:-5.67, Z:-0.02 [[ 9.99478218e-01 3.23000151e-02 0.00000000e+00 7.85602483e+01] [-3.23000151e-02 9.99478218e-01 0.00000000e+00 -5.66644979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38900037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20755201799999 meters Centerline goodness : 0.990558 with order 1 Centerline is valid? [True, True] Translation: X:78.62, Y:-5.67, Z:-0.02 [[ 9.99468626e-01 3.25954974e-02 0.00000000e+00 7.86165394e+01] [-3.25954974e-02 9.99468626e-01 0.00000000e+00 -5.66960382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46479703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26755201799999 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:78.68, Y:-5.67, Z:-0.02 [[ 9.99618149e-01 2.76325278e-02 0.00000000e+00 7.86752453e+01] [-2.76325278e-02 9.99618149e-01 0.00000000e+00 -5.66734264e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31360669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32755201799999 meters Centerline goodness : 0.990569 with order 1 Centerline is valid? [True, True] Translation: X:78.73, Y:-5.68, Z:-0.02 [[ 9.99562215e-01 2.95868103e-02 0.00000000e+00 7.87337861e+01] [-2.95868103e-02 9.99562215e-01 0.00000000e+00 -5.67845137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41466981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38755201799998 meters Centerline goodness : 0.990807 with order 1 Centerline is valid? [True, True] Translation: X:78.79, Y:-5.68, Z:-0.03 [[ 9.99639498e-01 2.68490821e-02 0.00000000e+00 7.87908419e+01] [-2.68490821e-02 9.99639498e-01 0.00000000e+00 -5.68468865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60701072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44755201799998 meters Centerline goodness : 0.991070 with order 1 Centerline is valid? [True, True] Translation: X:78.85, Y:-5.69, Z:-0.03 [[ 9.99697416e-01 2.45982882e-02 0.00000000e+00 7.88487443e+01] [-2.45982882e-02 9.99697416e-01 0.00000000e+00 -5.69119964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86269823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50755201799998 meters Centerline goodness : 0.991042 with order 1 Centerline is valid? [True, True] Translation: X:78.91, Y:-5.69, Z:-0.03 [[ 9.99733313e-01 2.30933494e-02 0.00000000e+00 7.89069170e+01] [-2.30933494e-02 9.99733313e-01 0.00000000e+00 -5.69483875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79924424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56755201799999 meters Centerline goodness : 0.991478 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:-5.70, Z:-0.03 [[ 9.99732346e-01 2.31351806e-02 0.00000000e+00 7.89637355e+01] [-2.31351806e-02 9.99732346e-01 0.00000000e+00 -5.69975469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97647357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62755201799999 meters Centerline goodness : 0.993121 with order 1 Centerline is valid? [True, True] Translation: X:79.02, Y:-5.71, Z:-0.03 [[ 9.99757640e-01 2.20150386e-02 0.00000000e+00 7.90209984e+01] [-2.20150386e-02 9.99757640e-01 0.00000000e+00 -5.70526932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90888939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68755201799999 meters Centerline goodness : 0.991640 with order 1 Centerline is valid? [True, True] Translation: X:79.08, Y:-5.71, Z:-0.03 [[ 9.99713307e-01 2.39437463e-02 0.00000000e+00 7.90783300e+01] [-2.39437463e-02 9.99713307e-01 0.00000000e+00 -5.71063186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99779793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.747552018 meters Centerline goodness : 0.991364 with order 1 Centerline is valid? [True, True] Translation: X:79.14, Y:-5.72, Z:-0.03 [[ 9.99631555e-01 2.71431994e-02 0.00000000e+00 7.91357497e+01] [-2.71431994e-02 9.99631555e-01 0.00000000e+00 -5.71674025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99839971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80755201799998 meters Centerline goodness : 0.990489 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:-5.72, Z:-0.03 [[ 9.99524102e-01 3.08475046e-02 0.00000000e+00 7.91935177e+01] [-3.08475046e-02 9.99524102e-01 0.00000000e+00 -5.72051393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92614127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86755201799998 meters Centerline goodness : 0.990430 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:-5.72, Z:-0.03 [[ 9.99446293e-01 3.32732231e-02 0.00000000e+00 7.92500293e+01] [-3.32732231e-02 9.99446293e-01 0.00000000e+00 -5.72451809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81365948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92755201799999 meters Centerline goodness : 0.990265 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:-5.73, Z:-0.03 [[ 9.99229395e-01 3.92506771e-02 0.00000000e+00 7.93070066e+01] [-3.92506771e-02 9.99229395e-01 0.00000000e+00 -5.73266509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10731056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98755201799999 meters Centerline goodness : 0.992816 with order 1 Centerline is valid? [True, True] Translation: X:79.37, Y:-5.73, Z:-0.03 [[ 9.99171724e-01 4.06923388e-02 0.00000000e+00 7.93652221e+01] [-4.06923388e-02 9.99171724e-01 0.00000000e+00 -5.73168468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80578850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04755201799999 meters Centerline goodness : 0.991781 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:-5.74, Z:-0.03 [[ 9.98801478e-01 4.89449477e-02 0.00000000e+00 7.94222961e+01] [-4.89449477e-02 9.98801478e-01 0.00000000e+00 -5.74105528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56837315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10755201799999 meters Centerline goodness : 0.991775 with order 1 Centerline is valid? [True, True] Translation: X:79.48, Y:-5.75, Z:-0.03 [[ 9.98448351e-01 5.56856358e-02 0.00000000e+00 7.94790975e+01] [-5.56856358e-02 9.98448351e-01 0.00000000e+00 -5.75211565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67545637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16755201799998 meters Centerline goodness : 0.988866 with order 1 Centerline is valid? [True, True] Translation: X:79.54, Y:-5.77, Z:-0.03 [[ 9.97872873e-01 6.51899469e-02 0.00000000e+00 7.95363057e+01] [-6.51899469e-02 9.97872873e-01 0.00000000e+00 -5.77122772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13366522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22755201799998 meters Centerline goodness : 0.989198 with order 1 Centerline is valid? [True, True] Translation: X:79.59, Y:-5.79, Z:-0.03 [[ 9.97947636e-01 6.40352715e-02 0.00000000e+00 7.95919768e+01] [-6.40352715e-02 9.97947636e-01 0.00000000e+00 -5.78671246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32717279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28755201799999 meters Centerline goodness : 0.988996 with order 1 Centerline is valid? [True, True] Translation: X:79.65, Y:-5.80, Z:-0.03 [[ 9.98145908e-01 6.08666340e-02 0.00000000e+00 7.96488575e+01] [-6.08666340e-02 9.98145908e-01 0.00000000e+00 -5.80394861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36782633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34755201799999 meters Centerline goodness : 0.988944 with order 1 Centerline is valid? [True, True] Translation: X:79.71, Y:-5.82, Z:-0.03 [[ 9.98572554e-01 5.34121254e-02 0.00000000e+00 7.97061446e+01] [-5.34121254e-02 9.98572554e-01 0.00000000e+00 -5.81977531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31391965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40755201799999 meters Centerline goodness : 0.991257 with order 1 Centerline is valid? [True, True] Translation: X:79.76, Y:-5.82, Z:-0.03 [[ 9.99226551e-01 3.93230167e-02 0.00000000e+00 7.97638790e+01] [-3.93230167e-02 9.99226551e-01 0.00000000e+00 -5.82167863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02351005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46755201799999 meters Centerline goodness : 0.989074 with order 1 Centerline is valid? [True, True] Translation: X:79.82, Y:-5.85, Z:-0.03 [[ 9.99135622e-01 4.15693352e-02 0.00000000e+00 7.98210435e+01] [-4.15693352e-02 9.99135622e-01 0.00000000e+00 -5.84693154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21657886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52755201799998 meters Centerline goodness : 0.992277 with order 1 Centerline is valid? [True, True] Translation: X:79.88, Y:-5.85, Z:-0.03 [[ 9.99543889e-01 3.01995618e-02 0.00000000e+00 7.98789698e+01] [-3.01995618e-02 9.99543889e-01 0.00000000e+00 -5.84958387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93315034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58755201799998 meters Centerline goodness : 0.992021 with order 1 Centerline is valid? [True, True] Translation: X:79.94, Y:-5.86, Z:-0.03 [[ 9.99635743e-01 2.69885547e-02 0.00000000e+00 7.99358300e+01] [-2.69885547e-02 9.99635743e-01 0.00000000e+00 -5.86308936e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09740120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64755201799998 meters Centerline goodness : 0.990652 with order 1 Centerline is valid? [True, True] Translation: X:79.99, Y:-5.88, Z:-0.03 [[ 9.99486369e-01 3.20468075e-02 0.00000000e+00 7.99932015e+01] [-3.20468075e-02 9.99486369e-01 0.00000000e+00 -5.88242854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37484221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70755201799999 meters Centerline goodness : 0.992260 with order 1 Centerline is valid? [True, True] Translation: X:80.05, Y:-5.88, Z:-0.03 [[ 9.99814807e-01 1.92445456e-02 0.00000000e+00 8.00513718e+01] [-1.92445456e-02 9.99814807e-01 0.00000000e+00 -5.88171026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26975797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76755201799999 meters Centerline goodness : 0.992750 with order 1 Centerline is valid? [True, True] Translation: X:80.11, Y:-5.90, Z:-0.03 [[ 9.99914116e-01 1.31057317e-02 0.00000000e+00 8.01086918e+01] [-1.31057317e-02 9.99914116e-01 0.00000000e+00 -5.89577982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40635458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82755201799999 meters Centerline goodness : 0.993123 with order 1 Centerline is valid? [True, True] Translation: X:80.17, Y:-5.90, Z:-0.03 [[ 9.99942381e-01 1.07347106e-02 0.00000000e+00 8.01672077e+01] [-1.07347106e-02 9.99942381e-01 0.00000000e+00 -5.90378460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31969664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88755201799998 meters Centerline goodness : 0.993043 with order 1 Centerline is valid? [True, True] Translation: X:80.23, Y:-5.91, Z:-0.03 [[ 9.99923148e-01 1.23974719e-02 0.00000000e+00 8.02253103e+01] [-1.23974719e-02 9.99923148e-01 0.00000000e+00 -5.91396218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28978599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94755201799998 meters Centerline goodness : 0.992634 with order 1 Centerline is valid? [True, True] Translation: X:80.28, Y:-5.92, Z:-0.03 [[ 9.99862766e-01 1.65665040e-02 0.00000000e+00 8.02836237e+01] [-1.65665040e-02 9.99862766e-01 0.00000000e+00 -5.92405990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31408456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00755201799998 meters Centerline goodness : 0.992365 with order 1 Centerline is valid? [True, True] Translation: X:80.34, Y:-5.93, Z:-0.03 [[ 9.99804586e-01 1.97683883e-02 0.00000000e+00 8.03413656e+01] [-1.97683883e-02 9.99804586e-01 0.00000000e+00 -5.93049507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19698535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06755201799999 meters Centerline goodness : 0.992487 with order 1 Centerline is valid? [True, True] Translation: X:80.40, Y:-5.94, Z:-0.03 [[ 9.99740184e-01 2.27939631e-02 0.00000000e+00 8.03999901e+01] [-2.27939631e-02 9.99740184e-01 0.00000000e+00 -5.94344569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34798724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12755201799999 meters Centerline goodness : 0.992757 with order 1 Centerline is valid? [True, True] Translation: X:80.46, Y:-5.95, Z:-0.03 [[ 9.99762907e-01 2.17745242e-02 0.00000000e+00 8.04580482e+01] [-2.17745242e-02 9.99762907e-01 0.00000000e+00 -5.95073074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37592971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18755201799999 meters Centerline goodness : 0.991686 with order 1 Centerline is valid? [True, True] Translation: X:80.52, Y:-5.96, Z:-0.03 [[ 9.99774169e-01 2.12511496e-02 0.00000000e+00 8.05159456e+01] [-2.12511496e-02 9.99774169e-01 0.00000000e+00 -5.96437319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37708331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24755201799998 meters Centerline goodness : 0.991139 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:-5.98, Z:-0.03 [[ 9.99666318e-01 2.58312189e-02 0.00000000e+00 8.05736295e+01] [-2.58312189e-02 9.99666318e-01 0.00000000e+00 -5.97800310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76350054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30755201799998 meters Centerline goodness : 0.991055 with order 1 Centerline is valid? [True, True] Translation: X:80.63, Y:-5.99, Z:-0.03 [[ 9.99542001e-01 3.02619920e-02 0.00000000e+00 8.06310358e+01] [-3.02619920e-02 9.99542001e-01 0.00000000e+00 -5.98758109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07578727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36755201799998 meters Centerline goodness : 0.990037 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:-6.00, Z:-0.03 [[ 9.99490797e-01 3.19084094e-02 0.00000000e+00 8.06899095e+01] [-3.19084094e-02 9.99490797e-01 0.00000000e+00 -5.99594480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62691089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42755201799999 meters Centerline goodness : 0.990673 with order 1 Centerline is valid? [True, True] Translation: X:80.75, Y:-6.01, Z:-0.03 [[ 9.99547705e-01 3.00729903e-02 0.00000000e+00 8.07465711e+01] [-3.00729903e-02 9.99547705e-01 0.00000000e+00 -6.00936505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14453730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48755201799999 meters Centerline goodness : 0.989890 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:-6.02, Z:-0.03 [[ 9.99795324e-01 2.02314057e-02 0.00000000e+00 8.08044049e+01] [-2.02314057e-02 9.99795324e-01 0.00000000e+00 -6.02060452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54654585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54755201799999 meters Centerline goodness : 0.989616 with order 1 Centerline is valid? [True, True] Translation: X:80.86, Y:-6.04, Z:-0.03 [[ 9.99910637e-01 1.33685601e-02 0.00000000e+00 8.08615315e+01] [-1.33685601e-02 9.99910637e-01 0.00000000e+00 -6.03584827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16334039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60755201799999 meters Centerline goodness : 0.989604 with order 1 Centerline is valid? [True, True] Translation: X:80.92, Y:-6.05, Z:-0.03 [[ 9.99951045e-01 9.89484244e-03 0.00000000e+00 8.09200553e+01] [-9.89484244e-03 9.99951045e-01 0.00000000e+00 -6.04510580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23169352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66755201799998 meters Centerline goodness : 0.990758 with order 1 Centerline is valid? [True, True] Translation: X:80.98, Y:-6.06, Z:-0.03 [[ 9.99973266e-01 7.31211339e-03 0.00000000e+00 8.09787252e+01] [-7.31211339e-03 9.99973266e-01 0.00000000e+00 -6.05584534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17236311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72755201799998 meters Centerline goodness : 0.991295 with order 1 Centerline is valid? [True, True] Translation: X:81.04, Y:-6.07, Z:-0.03 [[ 9.99987110e-01 5.07743884e-03 0.00000000e+00 8.10375033e+01] [-5.07743884e-03 9.99987110e-01 0.00000000e+00 -6.06509650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76250097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78755201799999 meters Centerline goodness : 0.991472 with order 1 Centerline is valid? [True, True] Translation: X:81.10, Y:-6.07, Z:-0.02 [[ 9.99948316e-01 1.01668680e-02 0.00000000e+00 8.10970497e+01] [-1.01668680e-02 9.99948316e-01 0.00000000e+00 -6.07033436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08691942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84755201799999 meters Centerline goodness : 0.991480 with order 1 Centerline is valid? [True, True] Translation: X:81.16, Y:-6.08, Z:-0.02 [[ 9.99974207e-01 7.18228623e-03 0.00000000e+00 8.11551491e+01] [-7.18228623e-03 9.99974207e-01 0.00000000e+00 -6.07792872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31758938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90755201799999 meters Centerline goodness : 0.992538 with order 1 Centerline is valid? [True, True] Translation: X:81.21, Y:-6.09, Z:-0.03 [[ 9.99977981e-01 6.63600921e-03 0.00000000e+00 8.12139272e+01] [-6.63600921e-03 9.99977981e-01 0.00000000e+00 -6.08982172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58899980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96755201799999 meters Centerline goodness : 0.992702 with order 1 Centerline is valid? [True, True] Translation: X:81.27, Y:-6.10, Z:-0.03 [[ 9.99999600e-01 8.94129273e-04 0.00000000e+00 8.12731119e+01] [-8.94129273e-04 9.99999600e-01 0.00000000e+00 -6.09812752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71975238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02755201799998 meters Centerline goodness : 0.992022 with order 1 Centerline is valid? [True, True] Translation: X:81.33, Y:-6.11, Z:-0.02 [[ 9.99998953e-01 1.44672142e-03 0.00000000e+00 8.13324021e+01] [-1.44672142e-03 9.99998953e-01 0.00000000e+00 -6.10928388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28416543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08755201799998 meters Centerline goodness : 0.992882 with order 1 Centerline is valid? [True, True] Translation: X:81.39, Y:-6.12, Z:-0.02 [[ 9.99999199e-01 -1.26558893e-03 0.00000000e+00 8.13922718e+01] [ 1.26558893e-03 9.99999199e-01 0.00000000e+00 -6.11723551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94267426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14755201799998 meters Centerline goodness : 0.993252 with order 1 Centerline is valid? [True, True] Translation: X:81.45, Y:-6.12, Z:-0.02 [[ 9.99999925e-01 -3.86109636e-04 0.00000000e+00 8.14527996e+01] [ 3.86109636e-04 9.99999925e-01 0.00000000e+00 -6.12005389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08692699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20755201799999 meters Centerline goodness : 0.992539 with order 1 Centerline is valid? [True, True] Translation: X:81.51, Y:-6.13, Z:-0.02 [[ 9.99997685e-01 -2.15151479e-03 0.00000000e+00 8.15127942e+01] [ 2.15151479e-03 9.99997685e-01 0.00000000e+00 -6.12834926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72202700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26755201799999 meters Centerline goodness : 0.993906 with order 1 Centerline is valid? [True, True] Translation: X:81.57, Y:-6.14, Z:-0.02 [[ 9.99997098e-01 -2.40911738e-03 0.00000000e+00 8.15726576e+01] [ 2.40911738e-03 9.99997098e-01 0.00000000e+00 -6.13513945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17987287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32755201799999 meters Centerline goodness : 0.994118 with order 1 Centerline is valid? [True, True] Translation: X:81.63, Y:-6.14, Z:-0.02 [[ 9.99988628e-01 -4.76903926e-03 0.00000000e+00 8.16323502e+01] [ 4.76903926e-03 9.99988628e-01 0.00000000e+00 -6.14136880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65762013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38755201799998 meters Centerline goodness : 0.994304 with order 1 Centerline is valid? [True, True] Translation: X:81.69, Y:-6.15, Z:-0.02 [[ 9.99981226e-01 -6.12753242e-03 0.00000000e+00 8.16930424e+01] [ 6.12753242e-03 9.99981226e-01 0.00000000e+00 -6.14862328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28700711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44755201799998 meters Centerline goodness : 0.993769 with order 1 Centerline is valid? [True, True] Translation: X:81.75, Y:-6.15, Z:-0.02 [[ 9.99969302e-01 -7.83554316e-03 0.00000000e+00 8.17545418e+01] [ 7.83554316e-03 9.99969302e-01 0.00000000e+00 -6.15305847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73525967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50755201799998 meters Centerline goodness : 0.993760 with order 1 Centerline is valid? [True, True] Translation: X:81.82, Y:-6.16, Z:-0.02 [[ 9.99980359e-01 -6.26745909e-03 0.00000000e+00 8.18158112e+01] [ 6.26745909e-03 9.99980359e-01 0.00000000e+00 -6.15703617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86271181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56755201799999 meters Centerline goodness : 0.994498 with order 1 Centerline is valid? [True, True] Translation: X:81.88, Y:-6.16, Z:-0.02 [[ 9.99969539e-01 -7.80518954e-03 0.00000000e+00 8.18763946e+01] [ 7.80518954e-03 9.99969539e-01 0.00000000e+00 -6.16170832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79490870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62755201799999 meters Centerline goodness : 0.994272 with order 1 Centerline is valid? [True, True] Translation: X:81.94, Y:-6.17, Z:-0.02 [[ 9.99952837e-01 -9.71199501e-03 0.00000000e+00 8.19376512e+01] [ 9.71199501e-03 9.99952837e-01 0.00000000e+00 -6.16581007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66225080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68755201799999 meters Centerline goodness : 0.994507 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:-6.17, Z:-0.01 [[ 9.99849235e-01 -1.73639763e-02 0.00000000e+00 8.19978189e+01] [ 1.73639763e-02 9.99849235e-01 0.00000000e+00 -6.17236488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37786785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74755201799998 meters Centerline goodness : 0.994687 with order 1 Centerline is valid? [True, True] Translation: X:82.06, Y:-6.18, Z:-0.02 [[ 9.99755971e-01 -2.20906864e-02 0.00000000e+00 8.20599791e+01] [ 2.20906864e-02 9.99755971e-01 0.00000000e+00 -6.18214405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94337823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80755201799998 meters Centerline goodness : 0.994767 with order 1 Centerline is valid? [True, True] Translation: X:82.12, Y:-6.18, Z:-0.01 [[ 9.99531784e-01 -3.05976012e-02 0.00000000e+00 8.21210736e+01] [ 3.05976012e-02 9.99531784e-01 0.00000000e+00 -6.18357926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07191783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86755201799998 meters Centerline goodness : 0.994319 with order 1 Centerline is valid? [True, True] Translation: X:82.18, Y:-6.19, Z:-0.01 [[ 9.99402737e-01 -3.45567505e-02 0.00000000e+00 8.21826326e+01] [ 3.45567505e-02 9.99402737e-01 0.00000000e+00 -6.18831133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63275316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92755201799999 meters Centerline goodness : 0.995213 with order 1 Centerline is valid? [True, True] Translation: X:82.24, Y:-6.19, Z:-0.01 [[ 9.99351318e-01 -3.60131008e-02 0.00000000e+00 8.22434796e+01] [ 3.60131008e-02 9.99351318e-01 0.00000000e+00 -6.19458534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25555312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98755201799999 meters Centerline goodness : 0.995415 with order 1 Centerline is valid? [True, True] Translation: X:82.31, Y:-6.20, Z:-0.01 [[ 9.99276823e-01 -3.80240723e-02 0.00000000e+00 8.23056921e+01] [ 3.80240723e-02 9.99276823e-01 0.00000000e+00 -6.19628613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09447371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04755201799999 meters Centerline goodness : 0.995056 with order 1 Centerline is valid? [True, True] Translation: X:82.37, Y:-6.20, Z:-0.01 [[ 9.99279173e-01 -3.79622795e-02 0.00000000e+00 8.23671461e+01] [ 3.79622795e-02 9.99279173e-01 0.00000000e+00 -6.19685945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37233083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10755201799999 meters Centerline goodness : 0.995393 with order 1 Centerline is valid? [True, True] Translation: X:82.43, Y:-6.20, Z:-0.01 [[ 9.99251349e-01 -3.86877365e-02 0.00000000e+00 8.24296491e+01] [ 3.86877365e-02 9.99251349e-01 0.00000000e+00 -6.20018980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54602145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16755201799998 meters Centerline goodness : 0.995043 with order 1 Centerline is valid? [True, True] Translation: X:82.49, Y:-6.20, Z:-0.01 [[ 9.99182430e-01 -4.04285905e-02 0.00000000e+00 8.24916396e+01] [ 4.04285905e-02 9.99182430e-01 0.00000000e+00 -6.20234575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17282384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22755201799998 meters Centerline goodness : 0.995134 with order 1 Centerline is valid? [True, True] Translation: X:82.55, Y:-6.20, Z:-0.01 [[ 9.99111155e-01 -4.21532953e-02 0.00000000e+00 8.25533392e+01] [ 4.21532953e-02 9.99111155e-01 0.00000000e+00 -6.20430978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50061523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28755201799999 meters Centerline goodness : 0.994393 with order 1 Centerline is valid? [True, True] Translation: X:82.62, Y:-6.21, Z:-0.01 [[ 9.99034669e-01 -4.39286952e-02 0.00000000e+00 8.26153701e+01] [ 4.39286952e-02 9.99034669e-01 0.00000000e+00 -6.20731875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60372520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34755201799999 meters Centerline goodness : 0.994228 with order 1 Centerline is valid? [True, True] Translation: X:82.68, Y:-6.21, Z:-0.01 [[ 9.99030178e-01 -4.40307072e-02 0.00000000e+00 8.26775659e+01] [ 4.40307072e-02 9.99030178e-01 0.00000000e+00 -6.20898782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46903850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40755201799999 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:82.74, Y:-6.21, Z:-0.01 [[ 9.99120861e-01 -4.19226051e-02 0.00000000e+00 8.27392811e+01] [ 4.19226051e-02 9.99120861e-01 0.00000000e+00 -6.21016032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48477422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46755201799999 meters Centerline goodness : 0.992594 with order 1 Centerline is valid? [True, True] Translation: X:82.80, Y:-6.21, Z:-0.01 [[ 9.99277884e-01 -3.79961909e-02 0.00000000e+00 8.28020908e+01] [ 3.79961909e-02 9.99277884e-01 0.00000000e+00 -6.20906139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63744695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52755201799998 meters Centerline goodness : 0.992668 with order 1 Centerline is valid? [True, True] Translation: X:82.86, Y:-6.21, Z:-0.01 [[ 9.99385886e-01 -3.50406907e-02 0.00000000e+00 8.28647371e+01] [ 3.50406907e-02 9.99385886e-01 0.00000000e+00 -6.20938896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30994235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58755201799998 meters Centerline goodness : 0.990666 with order 1 Centerline is valid? [True, True] Translation: X:82.93, Y:-6.21, Z:-0.01 [[ 9.99490215e-01 -3.19266334e-02 0.00000000e+00 8.29265405e+01] [ 3.19266334e-02 9.99490215e-01 0.00000000e+00 -6.20694541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05689423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64755201799998 meters Centerline goodness : 0.990183 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:-6.21, Z:-0.01 [[ 9.99559274e-01 -2.96859735e-02 0.00000000e+00 8.29891922e+01] [ 2.96859735e-02 9.99559274e-01 0.00000000e+00 -6.20759492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44162788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70755201799999 meters Centerline goodness : 0.988926 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:-6.21, Z:-0.01 [[ 9.99714137e-01 -2.39090996e-02 0.00000000e+00 8.30507534e+01] [ 2.39090996e-02 9.99714137e-01 0.00000000e+00 -6.21316398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75752893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76755201799999 meters Centerline goodness : 0.988522 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:-6.21, Z:-0.01 [[ 9.99735867e-01 -2.29825172e-02 0.00000000e+00 8.31130506e+01] [ 2.29825172e-02 9.99735867e-01 0.00000000e+00 -6.21403408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43553085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82755201799999 meters Centerline goodness : 0.989473 with order 1 Centerline is valid? [True, True] Translation: X:83.18, Y:-6.21, Z:-0.01 [[ 9.99716398e-01 -2.38143546e-02 0.00000000e+00 8.31756469e+01] [ 2.38143546e-02 9.99716398e-01 0.00000000e+00 -6.21132467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01856090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88755201799998 meters Centerline goodness : 0.989271 with order 1 Centerline is valid? [True, True] Translation: X:83.24, Y:-6.22, Z:-0.01 [[ 9.99757993e-01 -2.19989691e-02 0.00000000e+00 8.32378796e+01] [ 2.19989691e-02 9.99757993e-01 0.00000000e+00 -6.21574880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78048540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94755201799998 meters Centerline goodness : 0.989255 with order 1 Centerline is valid? [True, True] Translation: X:83.30, Y:-6.22, Z:-0.01 [[ 9.99803671e-01 -1.98146328e-02 0.00000000e+00 8.32991555e+01] [ 1.98146328e-02 9.99803671e-01 0.00000000e+00 -6.21804791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16622416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00755201799998 meters Centerline goodness : 0.988253 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:-6.23, Z:-0.01 [[ 9.99868730e-01 -1.62025488e-02 0.00000000e+00 8.33607269e+01] [ 1.62025488e-02 9.99868730e-01 0.00000000e+00 -6.22518289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52572709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06755201799999 meters Centerline goodness : 0.989664 with order 1 Centerline is valid? [True, True] Translation: X:83.42, Y:-6.23, Z:-0.01 [[ 9.99846850e-01 -1.75007855e-02 0.00000000e+00 8.34224088e+01] [ 1.75007855e-02 9.99846850e-01 0.00000000e+00 -6.22612281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83564128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12755201799999 meters Centerline goodness : 0.989640 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:-6.23, Z:-0.01 [[ 9.99861161e-01 -1.66631034e-02 0.00000000e+00 8.34845462e+01] [ 1.66631034e-02 9.99861161e-01 0.00000000e+00 -6.23117908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41417639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18755201799999 meters Centerline goodness : 0.990405 with order 1 Centerline is valid? [True, True] Translation: X:83.55, Y:-6.24, Z:-0.00 [[ 9.99864332e-01 -1.64717239e-02 0.00000000e+00 8.35456928e+01] [ 1.64717239e-02 9.99864332e-01 0.00000000e+00 -6.23683218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94371571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24755201799998 meters Centerline goodness : 0.989784 with order 1 Centerline is valid? [True, True] Translation: X:83.61, Y:-6.24, Z:-0.00 [[ 9.99866632e-01 -1.63315331e-02 0.00000000e+00 8.36073319e+01] [ 1.63315331e-02 9.99866632e-01 0.00000000e+00 -6.24486864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55157527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30755201799998 meters Centerline goodness : 0.990440 with order 1 Centerline is valid? [True, True] Translation: X:83.67, Y:-6.25, Z:-0.01 [[ 9.99900328e-01 -1.41185526e-02 0.00000000e+00 8.36681940e+01] [ 1.41185526e-02 9.99900328e-01 0.00000000e+00 -6.25158579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95177856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36755201799998 meters Centerline goodness : 0.990689 with order 1 Centerline is valid? [True, True] Translation: X:83.73, Y:-6.26, Z:-0.01 [[ 9.99944179e-01 -1.05658852e-02 0.00000000e+00 8.37293573e+01] [ 1.05658852e-02 9.99944179e-01 0.00000000e+00 -6.25786693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.98265772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42755201799999 meters Centerline goodness : 0.991532 with order 1 Centerline is valid? [True, True] Translation: X:83.79, Y:-6.26, Z:-0.01 [[ 9.99989738e-01 -4.53032186e-03 0.00000000e+00 8.37902593e+01] [ 4.53032186e-03 9.99989738e-01 0.00000000e+00 -6.26372146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61112839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48755201799999 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:83.85, Y:-6.27, Z:-0.01 [[ 9.99996605e-01 -2.60582714e-03 0.00000000e+00 8.38504271e+01] [ 2.60582714e-03 9.99996605e-01 0.00000000e+00 -6.26850757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48917738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54755201799999 meters Centerline goodness : 0.991740 with order 1 Centerline is valid? [True, True] Translation: X:83.91, Y:-6.28, Z:-0.01 [[ 1.00000000e+00 -1.63719347e-05 0.00000000e+00 8.39105091e+01] [ 1.63719347e-05 1.00000000e+00 0.00000000e+00 -6.27606012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51903386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60755201799998 meters Centerline goodness : 0.992329 with order 1 Centerline is valid? [True, True] Translation: X:83.97, Y:-6.28, Z:-0.00 [[ 9.99999178e-01 1.28219774e-03 0.00000000e+00 8.39706966e+01] [-1.28219774e-03 9.99999178e-01 0.00000000e+00 -6.28200286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93440457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66755201799998 meters Centerline goodness : 0.994387 with order 1 Centerline is valid? [True, True] Translation: X:84.03, Y:-6.29, Z:-0.00 [[ 9.99999154e-01 -1.30110007e-03 0.00000000e+00 8.40298864e+01] [ 1.30110007e-03 9.99999154e-01 0.00000000e+00 -6.29274221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19185408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72755201799998 meters Centerline goodness : 0.994124 with order 1 Centerline is valid? [True, True] Translation: X:84.09, Y:-6.30, Z:-0.00 [[ 9.99990130e-01 -4.44294269e-03 0.00000000e+00 8.40899987e+01] [ 4.44294269e-03 9.99990130e-01 0.00000000e+00 -6.30041050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91426295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78755201799999 meters Centerline goodness : 0.994959 with order 1 Centerline is valid? [True, True] Translation: X:84.15, Y:-6.31, Z:-0.00 [[ 9.99956323e-01 -9.34626629e-03 0.00000000e+00 8.41501101e+01] [ 9.34626629e-03 9.99956323e-01 0.00000000e+00 -6.30773164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19716500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84755201799999 meters Centerline goodness : 0.995111 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:-6.32, Z:-0.00 [[ 9.99929639e-01 -1.18624597e-02 0.00000000e+00 8.42109924e+01] [ 1.18624597e-02 9.99929639e-01 0.00000000e+00 -6.31790599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81767671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90755201799999 meters Centerline goodness : 0.995924 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:-6.33, Z:0.00 [[ 9.99891914e-01 -1.47024114e-02 0.00000000e+00 8.42717781e+01] [ 1.47024114e-02 9.99891914e-01 0.00000000e+00 -6.32600040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34371014e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96755201799999 meters Centerline goodness : 0.996428 with order 1 Centerline is valid? [True, True] Translation: X:84.33, Y:-6.34, Z:-0.00 [[ 9.99869873e-01 -1.61318482e-02 0.00000000e+00 8.43328038e+01] [ 1.61318482e-02 9.99869873e-01 0.00000000e+00 -6.33682684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31976307e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02755201799998 meters Centerline goodness : 0.996424 with order 1 Centerline is valid? [True, True] Translation: X:84.39, Y:-6.34, Z:-0.00 [[ 9.99854824e-01 -1.70390906e-02 0.00000000e+00 8.43937860e+01] [ 1.70390906e-02 9.99854824e-01 0.00000000e+00 -6.34410507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92559645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08755201799998 meters Centerline goodness : 0.997187 with order 1 Centerline is valid? [True, True] Translation: X:84.45, Y:-6.35, Z:-0.00 [[ 9.99847175e-01 -1.74821997e-02 0.00000000e+00 8.44545006e+01] [ 1.74821997e-02 9.99847175e-01 0.00000000e+00 -6.34970020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45497277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14755201799998 meters Centerline goodness : 0.996829 with order 1 Centerline is valid? [True, True] Translation: X:84.51, Y:-6.36, Z:-0.00 [[ 9.99874513e-01 -1.58416813e-02 0.00000000e+00 8.45144841e+01] [ 1.58416813e-02 9.99874513e-01 0.00000000e+00 -6.35840372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04865340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20755201799999 meters Centerline goodness : 0.997287 with order 1 Centerline is valid? [True, True] Translation: X:84.57, Y:-6.36, Z:0.00 [[ 9.99953750e-01 -9.61757165e-03 0.00000000e+00 8.45747369e+01] [ 9.61757165e-03 9.99953750e-01 0.00000000e+00 -6.36399262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91728834e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26755201799999 meters Centerline goodness : 0.997064 with order 1 Centerline is valid? [True, True] Translation: X:84.64, Y:-6.37, Z:0.00 [[ 9.99994794e-01 -3.22665218e-03 0.00000000e+00 8.46354128e+01] [ 3.22665218e-03 9.99994794e-01 0.00000000e+00 -6.36898507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01945310e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32755201799999 meters Centerline goodness : 0.998194 with order 1 Centerline is valid? [True, True] Translation: X:84.70, Y:-6.38, Z:-0.00 [[ 9.99981592e-01 6.06757816e-03 0.00000000e+00 8.46956310e+01] [-6.06757816e-03 9.99981592e-01 0.00000000e+00 -6.37840296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68268700e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38755201799998 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:84.76, Y:-6.39, Z:0.00 [[ 9.99940735e-01 1.08869594e-02 0.00000000e+00 8.47558538e+01] [-1.08869594e-02 9.99940735e-01 0.00000000e+00 -6.38554997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45289222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44755201799998 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:84.81, Y:-6.40, Z:0.00 [[ 9.99858480e-01 1.68232086e-02 0.00000000e+00 8.48147563e+01] [-1.68232086e-02 9.99858480e-01 0.00000000e+00 -6.39687559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34620311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50755201799998 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:84.87, Y:-6.41, Z:0.00 [[ 9.99795566e-01 2.02194570e-02 0.00000000e+00 8.48743121e+01] [-2.02194570e-02 9.99795566e-01 0.00000000e+00 -6.40647230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28373801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56755201799999 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:84.93, Y:-6.42, Z:0.00 [[ 9.99665247e-01 2.58726609e-02 0.00000000e+00 8.49319404e+01] [-2.58726609e-02 9.99665247e-01 0.00000000e+00 -6.41917772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98237864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62755201799999 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:84.99, Y:-6.44, Z:0.00 [[ 9.99616622e-01 2.76877085e-02 0.00000000e+00 8.49910039e+01] [-2.76877085e-02 9.99616622e-01 0.00000000e+00 -6.43652873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68123010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68755201799999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:-6.45, Z:0.01 [[ 9.99615889e-01 2.77141590e-02 0.00000000e+00 8.50495520e+01] [-2.77141590e-02 9.99615889e-01 0.00000000e+00 -6.45054848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03908935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74755201799998 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:-6.47, Z:0.01 [[ 9.99671300e-01 2.56377014e-02 0.00000000e+00 8.51080005e+01] [-2.56377014e-02 9.99671300e-01 0.00000000e+00 -6.47088670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15198363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80755201799998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:85.17, Y:-6.50, Z:0.01 [[ 9.99730923e-01 2.31965717e-02 0.00000000e+00 8.51668327e+01] [-2.31965717e-02 9.99730923e-01 0.00000000e+00 -6.49545263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69213962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.23, Y:-6.52, Z:0.01 [[ 9.99752717e-01 2.22374744e-02 0.00000000e+00 8.52269882e+01] [-2.22374744e-02 9.99752717e-01 0.00000000e+00 -6.51617672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73633133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.29, Y:-6.54, Z:0.01 [[ 9.99739079e-01 2.28423516e-02 0.00000000e+00 8.52872903e+01] [-2.28423516e-02 9.99739079e-01 0.00000000e+00 -6.54203597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24173276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.35, Y:-6.57, Z:0.01 [[ 9.99655516e-01 2.62459315e-02 0.00000000e+00 8.53473624e+01] [-2.62459315e-02 9.99655516e-01 0.00000000e+00 -6.57183228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08066849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.41, Y:-6.59, Z:0.01 [[ 9.99578696e-01 2.90246427e-02 0.00000000e+00 8.54086377e+01] [-2.90246427e-02 9.99578696e-01 0.00000000e+00 -6.59413579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10758588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.47, Y:-6.62, Z:0.01 [[ 9.99506122e-01 3.14247074e-02 0.00000000e+00 8.54702089e+01] [-3.14247074e-02 9.99506122e-01 0.00000000e+00 -6.62390792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27866856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:-6.65, Z:0.01 [[ 9.99498182e-01 3.16762516e-02 0.00000000e+00 8.55315422e+01] [-3.16762516e-02 9.99498182e-01 0.00000000e+00 -6.64700379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20474493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:-6.68, Z:0.01 [[ 9.99527231e-01 3.07459707e-02 0.00000000e+00 8.55924391e+01] [-3.07459707e-02 9.99527231e-01 0.00000000e+00 -6.68326915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73043058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.65, Y:-6.71, Z:0.01 [[ 9.99567034e-01 2.94235483e-02 0.00000000e+00 8.56544112e+01] [-2.94235483e-02 9.99567034e-01 0.00000000e+00 -6.70727724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90617959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.72, Y:-6.74, Z:0.00 [[ 9.99678260e-01 2.53648805e-02 0.00000000e+00 8.57154772e+01] [-2.53648805e-02 9.99678260e-01 0.00000000e+00 -6.74007094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68587605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.78, Y:-6.76, Z:0.01 [[ 9.99700551e-01 2.44705789e-02 0.00000000e+00 8.57759460e+01] [-2.44705789e-02 9.99700551e-01 0.00000000e+00 -6.75817459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46728371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.84, Y:-6.79, Z:0.01 [[ 9.99778126e-01 2.10641561e-02 0.00000000e+00 8.58368711e+01] [-2.10641561e-02 9.99778126e-01 0.00000000e+00 -6.79136073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24099344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.90, Y:-6.83, Z:0.01 [[ 9.99820251e-01 1.89595729e-02 0.00000000e+00 8.58960154e+01] [-1.89595729e-02 9.99820251e-01 0.00000000e+00 -6.82893879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92923492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.96, Y:-6.83, Z:0.01 [[ 9.99970676e-01 7.65811964e-03 0.00000000e+00 8.59570019e+01] [-7.65811964e-03 9.99970676e-01 0.00000000e+00 -6.83321869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07314231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.02, Y:-6.86, Z:0.01 [[ 9.99982295e-01 5.95060614e-03 0.00000000e+00 8.60175342e+01] [-5.95060614e-03 9.99982295e-01 0.00000000e+00 -6.86337784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05410245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.08, Y:-6.89, Z:0.01 [[ 9.99993968e-01 3.47339568e-03 0.00000000e+00 8.60785569e+01] [-3.47339568e-03 9.99993968e-01 0.00000000e+00 -6.88626409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48825824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.14, Y:-6.92, Z:0.01 [[ 9.99983032e-01 5.82535894e-03 0.00000000e+00 8.61374439e+01] [-5.82535894e-03 9.99983032e-01 0.00000000e+00 -6.91707194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78199663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.20, Y:-6.95, Z:0.01 [[ 9.99968164e-01 7.97941671e-03 0.00000000e+00 8.61970385e+01] [-7.97941671e-03 9.99968164e-01 0.00000000e+00 -6.94860140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04172640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.26, Y:-6.97, Z:0.01 [[ 9.99956493e-01 9.32804761e-03 0.00000000e+00 8.62578696e+01] [-9.32804761e-03 9.99956493e-01 0.00000000e+00 -6.97139240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53003383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:86.32, Y:-6.99, Z:0.01 [[ 9.99944660e-01 1.05202768e-02 0.00000000e+00 8.63192854e+01] [-1.05202768e-02 9.99944660e-01 0.00000000e+00 -6.98649479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24758685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.38, Y:-6.99, Z:0.01 [[ 9.99280714e-01 3.79216861e-02 0.00000000e+00 8.63806692e+01] [-3.79216861e-02 9.99280714e-01 0.00000000e+00 -6.99477065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16982578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.44, Y:-7.00, Z:0.01 [[ 9.98357501e-01 5.72913585e-02 0.00000000e+00 8.64435472e+01] [-5.72913585e-02 9.98357501e-01 0.00000000e+00 -7.00420302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01447462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.51, Y:-7.00, Z:0.00 [[ 9.98146732e-01 6.08531190e-02 0.00000000e+00 8.65063053e+01] [-6.08531190e-02 9.98146732e-01 0.00000000e+00 -7.00137396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38351034e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.57, Y:-7.00, Z:-0.00 [[ 9.98300796e-01 5.82710996e-02 0.00000000e+00 8.65676903e+01] [-5.82710996e-02 9.98300796e-01 0.00000000e+00 -7.00424992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24524646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.63, Y:-7.01, Z:0.00 [[ 9.99140736e-01 4.14462292e-02 0.00000000e+00 8.66299629e+01] [-4.14462292e-02 9.99140736e-01 0.00000000e+00 -7.01091574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25679527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.69, Y:-7.02, Z:0.01 [[ 9.99480283e-01 3.22360668e-02 0.00000000e+00 8.66930545e+01] [-3.22360668e-02 9.99480283e-01 0.00000000e+00 -7.01667525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01136357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.75, Y:-7.04, Z:0.01 [[ 9.99813541e-01 1.93101717e-02 0.00000000e+00 8.67528297e+01] [-1.93101717e-02 9.99813541e-01 0.00000000e+00 -7.03673251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57692677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:86.82, Y:-7.02, Z:0.00 [[ 9.99985936e-01 5.30350615e-03 0.00000000e+00 8.68172509e+01] [-5.30350615e-03 9.99985936e-01 0.00000000e+00 -7.02253573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47850941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48755201799999 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:86.88, Y:-7.03, Z:0.00 [[ 9.99898136e-01 -1.42729348e-02 0.00000000e+00 8.68792570e+01] [ 1.42729348e-02 9.99898136e-01 0.00000000e+00 -7.02702810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86296344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.94, Y:-7.03, Z:0.00 [[ 9.99583917e-01 -2.88442990e-02 0.00000000e+00 8.69371718e+01] [ 2.88442990e-02 9.99583917e-01 0.00000000e+00 -7.03108377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34467793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.00, Y:-7.05, Z:0.00 [[ 9.99567367e-01 -2.94122183e-02 0.00000000e+00 8.69955585e+01] [ 2.94122183e-02 9.99567367e-01 0.00000000e+00 -7.04532873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98759710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66755201799998 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:87.06, Y:-7.04, Z:0.01 [[ 9.99032414e-01 -4.39799403e-02 0.00000000e+00 8.70555361e+01] [ 4.39799403e-02 9.99032414e-01 0.00000000e+00 -7.03820126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64574159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72755201799998 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:87.11, Y:-7.05, Z:0.00 [[ 9.99003279e-01 -4.46368519e-02 0.00000000e+00 8.71136092e+01] [ 4.46368519e-02 9.99003279e-01 0.00000000e+00 -7.05045144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71442470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78755201799999 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:-7.05, Z:0.00 [[ 9.98928392e-01 -4.62824728e-02 0.00000000e+00 8.71721689e+01] [ 4.62824728e-02 9.98928392e-01 0.00000000e+00 -7.05242411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43478560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:-7.05, Z:0.00 [[ 9.99100153e-01 -4.24132666e-02 0.00000000e+00 8.72305782e+01] [ 4.24132666e-02 9.99100153e-01 0.00000000e+00 -7.05328967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79582992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90755201799999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:-7.06, Z:0.00 [[ 9.99154074e-01 -4.11234290e-02 0.00000000e+00 8.72887732e+01] [ 4.11234290e-02 9.99154074e-01 0.00000000e+00 -7.05755122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76262616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.35, Y:-7.06, Z:0.00 [[ 9.99284872e-01 -3.78119604e-02 0.00000000e+00 8.73467785e+01] [ 3.78119604e-02 9.99284872e-01 0.00000000e+00 -7.06415431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35961431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.41, Y:-7.07, Z:0.00 [[ 9.99289995e-01 -3.76763317e-02 0.00000000e+00 8.74055047e+01] [ 3.76763317e-02 9.99289995e-01 0.00000000e+00 -7.06620899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49683037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.46, Y:-7.08, Z:0.01 [[ 9.99605745e-01 -2.80776472e-02 0.00000000e+00 8.74631456e+01] [ 2.80776472e-02 9.99605745e-01 0.00000000e+00 -7.07676433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80740979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:87.52, Y:-7.08, Z:0.01 [[ 9.99810158e-01 -1.94845667e-02 0.00000000e+00 8.75209103e+01] [ 1.94845667e-02 9.99810158e-01 0.00000000e+00 -7.08125011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69849425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.58, Y:-7.08, Z:0.00 [[ 9.99811442e-01 -1.94185506e-02 0.00000000e+00 8.75787683e+01] [ 1.94185506e-02 9.99811442e-01 0.00000000e+00 -7.07702848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94781693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:-7.09, Z:0.01 [[ 9.99869767e-01 -1.61384101e-02 0.00000000e+00 8.76364591e+01] [ 1.61384101e-02 9.99869767e-01 0.00000000e+00 -7.08521486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17433176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-7.09, Z:0.01 [[ 9.99844170e-01 -1.76532266e-02 0.00000000e+00 8.76941422e+01] [ 1.76532266e-02 9.99844170e-01 0.00000000e+00 -7.08872367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65738421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:-7.09, Z:0.01 [[ 9.99699925e-01 -2.44961360e-02 0.00000000e+00 8.77516714e+01] [ 2.44961360e-02 9.99699925e-01 0.00000000e+00 -7.08929525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78765717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.81, Y:-7.09, Z:0.01 [[ 9.99642826e-01 -2.67248856e-02 0.00000000e+00 8.78094463e+01] [ 2.67248856e-02 9.99642826e-01 0.00000000e+00 -7.09477857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28546148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.87, Y:-7.09, Z:0.00 [[ 9.99402163e-01 -3.45733391e-02 0.00000000e+00 8.78681147e+01] [ 3.45733391e-02 9.99402163e-01 0.00000000e+00 -7.09425719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31271867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.93, Y:-7.10, Z:0.01 [[ 9.99362300e-01 -3.57070617e-02 0.00000000e+00 8.79254722e+01] [ 3.57070617e-02 9.99362300e-01 0.00000000e+00 -7.10149695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08228617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:-7.11, Z:0.01 [[ 9.99189695e-01 -4.02486509e-02 0.00000000e+00 8.79838698e+01] [ 4.02486509e-02 9.99189695e-01 0.00000000e+00 -7.10514039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36990877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:-7.11, Z:0.01 [[ 9.99050080e-01 -4.35768001e-02 0.00000000e+00 8.80421565e+01] [ 4.35768001e-02 9.99050080e-01 0.00000000e+00 -7.11024651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04030329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:-7.11, Z:0.01 [[ 9.99053608e-01 -4.34958528e-02 0.00000000e+00 8.80988859e+01] [ 4.34958528e-02 9.99053608e-01 0.00000000e+00 -7.11420113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22524865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:88.16, Y:-7.12, Z:0.01 [[ 9.99082431e-01 -4.28286798e-02 0.00000000e+00 8.81564947e+01] [ 4.28286798e-02 9.99082431e-01 0.00000000e+00 -7.11829870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45666913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:88.21, Y:-7.12, Z:0.01 [[ 9.99034519e-01 -4.39320976e-02 0.00000000e+00 8.82147160e+01] [ 4.39320976e-02 9.99034519e-01 0.00000000e+00 -7.12011076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41157938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.27, Y:-7.12, Z:0.01 [[ 9.98640950e-01 -5.21176871e-02 0.00000000e+00 8.82727247e+01] [ 5.21176871e-02 9.98640950e-01 0.00000000e+00 -7.12155645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18838600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.33, Y:-7.12, Z:0.01 [[ 9.98251452e-01 -5.91103985e-02 0.00000000e+00 8.83296195e+01] [ 5.91103985e-02 9.98251452e-01 0.00000000e+00 -7.12390755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23611568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:-7.13, Z:0.01 [[ 9.97463916e-01 -7.11739842e-02 0.00000000e+00 8.83867276e+01] [ 7.11739842e-02 9.97463916e-01 0.00000000e+00 -7.12684002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17778603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:-7.13, Z:0.01 [[ 9.97031622e-01 -7.69931501e-02 0.00000000e+00 8.84451138e+01] [ 7.69931501e-02 9.97031622e-01 0.00000000e+00 -7.12940449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17284570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.50, Y:-7.13, Z:0.01 [[ 9.96529424e-01 -8.32412611e-02 0.00000000e+00 8.85032424e+01] [ 8.32412611e-02 9.96529424e-01 0.00000000e+00 -7.12985878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22169110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.56, Y:-7.13, Z:0.01 [[ 9.96181937e-01 -8.73014761e-02 0.00000000e+00 8.85606836e+01] [ 8.73014761e-02 9.96181937e-01 0.00000000e+00 -7.13130360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41785847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.62, Y:-7.13, Z:0.01 [[ 9.96156768e-01 -8.75882098e-02 0.00000000e+00 8.86192096e+01] [ 8.75882098e-02 9.96156768e-01 0.00000000e+00 -7.13139491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43705099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.68, Y:-7.13, Z:0.02 [[ 9.96425415e-01 -8.44771665e-02 0.00000000e+00 8.86772086e+01] [ 8.44771665e-02 9.96425415e-01 0.00000000e+00 -7.13476861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58044049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.73, Y:-7.14, Z:0.02 [[ 9.96990645e-01 -7.75219551e-02 0.00000000e+00 8.87341255e+01] [ 7.75219551e-02 9.96990645e-01 0.00000000e+00 -7.13653577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54874154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.79, Y:-7.14, Z:0.02 [[ 9.97420066e-01 -7.17858711e-02 0.00000000e+00 8.87916452e+01] [ 7.17858711e-02 9.97420066e-01 0.00000000e+00 -7.14078435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52215871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:88.85, Y:-7.15, Z:0.01 [[ 9.97765584e-01 -6.68119753e-02 0.00000000e+00 8.88489925e+01] [ 6.68119753e-02 9.97765584e-01 0.00000000e+00 -7.14664489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27765829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.91, Y:-7.15, Z:0.01 [[ 9.98035614e-01 -6.26491306e-02 0.00000000e+00 8.89060253e+01] [ 6.26491306e-02 9.98035614e-01 0.00000000e+00 -7.15462036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33145973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.96, Y:-7.16, Z:0.01 [[ 9.98390791e-01 -5.67082809e-02 0.00000000e+00 8.89637629e+01] [ 5.67082809e-02 9.98390791e-01 0.00000000e+00 -7.15709713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28748497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.02, Y:-7.16, Z:0.01 [[ 9.98756431e-01 -4.98556995e-02 0.00000000e+00 8.90219527e+01] [ 4.98556995e-02 9.98756431e-01 0.00000000e+00 -7.16195819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21511098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.08, Y:-7.17, Z:0.01 [[ 9.99148079e-01 -4.12688213e-02 0.00000000e+00 8.90803433e+01] [ 4.12688213e-02 9.99148079e-01 0.00000000e+00 -7.16529902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19778659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:-7.17, Z:0.01 [[ 9.99497461e-01 -3.16989690e-02 0.00000000e+00 8.91368204e+01] [ 3.16989690e-02 9.99497461e-01 0.00000000e+00 -7.17055506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47339397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:89.19, Y:-7.17, Z:0.02 [[ 9.99628296e-01 -2.72629863e-02 0.00000000e+00 8.91939259e+01] [ 2.72629863e-02 9.99628296e-01 0.00000000e+00 -7.17364889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62657891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:-7.17, Z:0.02 [[ 9.99831237e-01 -1.83711197e-02 0.00000000e+00 8.92524328e+01] [ 1.83711197e-02 9.99831237e-01 0.00000000e+00 -7.17455461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56491432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:-7.18, Z:0.01 [[ 9.99864399e-01 -1.64676771e-02 0.00000000e+00 8.93103160e+01] [ 1.64676771e-02 9.99864399e-01 0.00000000e+00 -7.17831948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24422113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.37, Y:-7.18, Z:0.01 [[ 9.99853048e-01 -1.71430069e-02 0.00000000e+00 8.93683544e+01] [ 1.71430069e-02 9.99853048e-01 0.00000000e+00 -7.18097854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18470015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.42, Y:-7.18, Z:0.01 [[ 9.99834843e-01 -1.81737685e-02 0.00000000e+00 8.94249868e+01] [ 1.81737685e-02 9.99834843e-01 0.00000000e+00 -7.18384653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18172357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.48, Y:-7.19, Z:0.01 [[ 9.99833186e-01 -1.82647302e-02 0.00000000e+00 8.94825507e+01] [ 1.82647302e-02 9.99833186e-01 0.00000000e+00 -7.18745053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30095407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.54, Y:-7.19, Z:0.01 [[ 9.99838375e-01 -1.79784285e-02 0.00000000e+00 8.95410941e+01] [ 1.79784285e-02 9.99838375e-01 0.00000000e+00 -7.19043509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34443889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.60, Y:-7.19, Z:0.01 [[ 9.99860297e-01 -1.67148612e-02 0.00000000e+00 8.95983940e+01] [ 1.67148612e-02 9.99860297e-01 0.00000000e+00 -7.19436807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36112381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.66, Y:-7.19, Z:0.01 [[ 9.99822958e-01 -1.88162876e-02 0.00000000e+00 8.96571130e+01] [ 1.88162876e-02 9.99822958e-01 0.00000000e+00 -7.19406127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08018871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.72, Y:-7.20, Z:0.01 [[ 9.99837359e-01 -1.80348394e-02 0.00000000e+00 8.97155358e+01] [ 1.80348394e-02 9.99837359e-01 0.00000000e+00 -7.19670716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13098180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.77, Y:-7.20, Z:0.02 [[ 9.99923991e-01 -1.23293109e-02 0.00000000e+00 8.97721891e+01] [ 1.23293109e-02 9.99923991e-01 0.00000000e+00 -7.20438089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76829785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.83, Y:-7.21, Z:0.02 [[ 9.99938259e-01 -1.11121143e-02 0.00000000e+00 8.98306787e+01] [ 1.11121143e-02 9.99938259e-01 0.00000000e+00 -7.20737928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78079156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:-7.21, Z:0.02 [[ 9.99958596e-01 -9.09983681e-03 0.00000000e+00 8.98890204e+01] [ 9.09983681e-03 9.99958596e-01 0.00000000e+00 -7.20929554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62470045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.95, Y:-7.21, Z:0.02 [[ 9.99950119e-01 -9.98797117e-03 0.00000000e+00 8.99471722e+01] [ 9.98797117e-03 9.99950119e-01 0.00000000e+00 -7.21349742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69917000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.01, Y:-7.22, Z:0.02 [[ 9.99935164e-01 -1.13871673e-02 0.00000000e+00 9.00054676e+01] [ 1.13871673e-02 9.99935164e-01 0.00000000e+00 -7.21605469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85073784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.06, Y:-7.22, Z:0.02 [[ 9.99921720e-01 -1.25121681e-02 0.00000000e+00 9.00639515e+01] [ 1.25121681e-02 9.99921720e-01 0.00000000e+00 -7.21880602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74978177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.12, Y:-7.22, Z:0.02 [[ 9.99926779e-01 -1.21010756e-02 0.00000000e+00 9.01213506e+01] [ 1.21010756e-02 9.99926779e-01 0.00000000e+00 -7.22167950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70307885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.18, Y:-7.22, Z:0.02 [[ 9.99930191e-01 -1.18157912e-02 0.00000000e+00 9.01793272e+01] [ 1.18157912e-02 9.99930191e-01 0.00000000e+00 -7.22408838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58952616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.24, Y:-7.23, Z:0.02 [[ 9.99937779e-01 -1.11551760e-02 0.00000000e+00 9.02371811e+01] [ 1.11551760e-02 9.99937779e-01 0.00000000e+00 -7.22663533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63545903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.29, Y:-7.23, Z:0.02 [[ 9.99978393e-01 -6.57375858e-03 0.00000000e+00 9.02941334e+01] [ 6.57375858e-03 9.99978393e-01 0.00000000e+00 -7.22965225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62507442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.35, Y:-7.23, Z:0.02 [[ 9.99998930e-01 -1.46292117e-03 0.00000000e+00 9.03525917e+01] [ 1.46292117e-03 9.99998930e-01 0.00000000e+00 -7.23220223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59854390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.41, Y:-7.24, Z:0.02 [[ 9.99950058e-01 9.99409849e-03 0.00000000e+00 9.04124771e+01] [-9.99409849e-03 9.99950058e-01 0.00000000e+00 -7.23536410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54003302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.47, Y:-7.24, Z:0.01 [[ 9.99850573e-01 1.72867469e-02 0.00000000e+00 9.04748844e+01] [-1.72867469e-02 9.99850573e-01 0.00000000e+00 -7.23719989e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40804340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.54, Y:-7.24, Z:0.02 [[ 9.99641212e-01 2.67851970e-02 0.00000000e+00 9.05379967e+01] [-2.67851970e-02 9.99641212e-01 0.00000000e+00 -7.23914152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50605963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.60, Y:-7.24, Z:0.01 [[ 9.99483689e-01 3.21302946e-02 0.00000000e+00 9.06011072e+01] [-3.21302946e-02 9.99483689e-01 0.00000000e+00 -7.24191895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47304134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.66, Y:-7.22, Z:0.00 [[ 9.99868787e-01 1.61990625e-02 0.00000000e+00 9.06648550e+01] [-1.61990625e-02 9.99868787e-01 0.00000000e+00 -7.22088210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62925431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.73, Y:-7.22, Z:0.01 [[ 9.99874410e-01 1.58481520e-02 0.00000000e+00 9.07272849e+01] [-1.58481520e-02 9.99874410e-01 0.00000000e+00 -7.22292915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27465808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.79, Y:-7.22, Z:0.01 [[ 9.99948074e-01 1.01906062e-02 0.00000000e+00 9.07890931e+01] [-1.01906062e-02 9.99948074e-01 0.00000000e+00 -7.22102086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01445301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.85, Y:-7.24, Z:0.01 [[ 9.99771349e-01 2.13833806e-02 0.00000000e+00 9.08495072e+01] [-2.13833806e-02 9.99771349e-01 0.00000000e+00 -7.24443354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34018505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62755201799999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:90.91, Y:-7.25, Z:0.01 [[ 9.99878178e-01 1.56086127e-02 0.00000000e+00 9.09116543e+01] [-1.56086127e-02 9.99878178e-01 0.00000000e+00 -7.24709559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08820777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.97, Y:-7.23, Z:0.01 [[ 9.99970471e-01 -7.68482682e-03 0.00000000e+00 9.09743306e+01] [ 7.68482682e-03 9.99970471e-01 0.00000000e+00 -7.22954771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29657942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.03, Y:-7.25, Z:0.01 [[ 9.99999182e-01 -1.27924884e-03 0.00000000e+00 9.10325714e+01] [ 1.27924884e-03 9.99999182e-01 0.00000000e+00 -7.25223042e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17265418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.09, Y:-7.23, Z:0.01 [[ 9.99824619e-01 -1.87278219e-02 0.00000000e+00 9.10934726e+01] [ 1.87278219e-02 9.99824619e-01 0.00000000e+00 -7.23292751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61133191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86755201799998 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:91.15, Y:-7.24, Z:0.01 [[ 9.99758414e-01 -2.19798334e-02 0.00000000e+00 9.11524147e+01] [ 2.19798334e-02 9.99758414e-01 0.00000000e+00 -7.24077006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61225571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:91.21, Y:-7.25, Z:0.01 [[ 9.99651387e-01 -2.64027514e-02 0.00000000e+00 9.12103015e+01] [ 2.64027514e-02 9.99651387e-01 0.00000000e+00 -7.24720438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09403651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98755201799999 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:-7.25, Z:0.01 [[ 9.99503374e-01 -3.15119831e-02 0.00000000e+00 9.12684477e+01] [ 3.15119831e-02 9.99503374e-01 0.00000000e+00 -7.25249560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18109458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04755201799999 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:-7.26, Z:0.02 [[ 9.99427246e-01 -3.38405124e-02 0.00000000e+00 9.13267218e+01] [ 3.38405124e-02 9.99427246e-01 0.00000000e+00 -7.25917792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53207749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10755201799998 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:91.38, Y:-7.26, Z:0.02 [[ 9.99603183e-01 -2.81687189e-02 0.00000000e+00 9.13834246e+01] [ 2.81687189e-02 9.99603183e-01 0.00000000e+00 -7.26204692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52179502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16755201799998 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:91.44, Y:-7.28, Z:0.01 [[ 9.99675242e-01 -2.54835385e-02 0.00000000e+00 9.14408158e+01] [ 2.54835385e-02 9.99675242e-01 0.00000000e+00 -7.28086709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34587953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:91.50, Y:-7.27, Z:0.02 [[ 9.99608906e-01 -2.79648846e-02 0.00000000e+00 9.14991868e+01] [ 2.79648846e-02 9.99608906e-01 0.00000000e+00 -7.27213029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59694746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28755201799999 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:91.56, Y:-7.28, Z:0.02 [[ 9.99824277e-01 -1.87460584e-02 0.00000000e+00 9.15578839e+01] [ 1.87460584e-02 9.99824277e-01 0.00000000e+00 -7.27773845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74567664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34755201799999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:91.62, Y:-7.28, Z:0.01 [[ 9.99777450e-01 -2.10962103e-02 0.00000000e+00 9.16154594e+01] [ 2.10962103e-02 9.99777450e-01 0.00000000e+00 -7.27970845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22992878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:-7.29, Z:0.01 [[ 9.99843569e-01 -1.76871873e-02 0.00000000e+00 9.16724987e+01] [ 1.76871873e-02 9.99843569e-01 0.00000000e+00 -7.29333748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61234068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:91.73, Y:-7.29, Z:0.01 [[ 9.99665206e-01 -2.58742277e-02 0.00000000e+00 9.17319963e+01] [ 2.58742277e-02 9.99665206e-01 0.00000000e+00 -7.28602476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11216019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:-7.30, Z:0.01 [[ 9.99603795e-01 -2.81469912e-02 0.00000000e+00 9.17887881e+01] [ 2.81469912e-02 9.99603795e-01 0.00000000e+00 -7.29958203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05095560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58755201799998 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:91.85, Y:-7.30, Z:0.01 [[ 9.99242916e-01 -3.89049521e-02 0.00000000e+00 9.18466633e+01] [ 3.89049521e-02 9.99242916e-01 0.00000000e+00 -7.30127194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19226259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64755201799998 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:91.90, Y:-7.30, Z:0.01 [[ 9.98693075e-01 -5.11091231e-02 0.00000000e+00 9.19041920e+01] [ 5.11091231e-02 9.98693075e-01 0.00000000e+00 -7.29513425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47824310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.96, Y:-7.31, Z:0.01 [[ 9.98600992e-01 -5.28777803e-02 0.00000000e+00 9.19619771e+01] [ 5.28777803e-02 9.98600992e-01 0.00000000e+00 -7.30720952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31419849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.02, Y:-7.31, Z:0.01 [[ 9.98475665e-01 -5.51937246e-02 0.00000000e+00 9.20185324e+01] [ 5.51937246e-02 9.98475665e-01 0.00000000e+00 -7.30902194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00930227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:92.08, Y:-7.31, Z:0.01 [[ 9.98372964e-01 -5.70212575e-02 0.00000000e+00 9.20762065e+01] [ 5.70212575e-02 9.98372964e-01 0.00000000e+00 -7.31129402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14934601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:92.13, Y:-7.31, Z:0.01 [[ 9.98330887e-01 -5.77532700e-02 0.00000000e+00 9.21340962e+01] [ 5.77532700e-02 9.98330887e-01 0.00000000e+00 -7.31490041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72779200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.19, Y:-7.32, Z:0.01 [[ 9.98416251e-01 -5.62582480e-02 0.00000000e+00 9.21921765e+01] [ 5.62582480e-02 9.98416251e-01 0.00000000e+00 -7.31944674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15526366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.25, Y:-7.32, Z:0.01 [[ 9.98607877e-01 -5.27475920e-02 0.00000000e+00 9.22504105e+01] [ 5.27475920e-02 9.98607877e-01 0.00000000e+00 -7.32339065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34419897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:92.31, Y:-7.33, Z:0.01 [[ 9.98833460e-01 -4.82878870e-02 0.00000000e+00 9.23076941e+01] [ 4.82878870e-02 9.98833460e-01 0.00000000e+00 -7.32591675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23580865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.37, Y:-7.33, Z:0.01 [[ 9.98917248e-01 -4.65223850e-02 0.00000000e+00 9.23658492e+01] [ 4.65223850e-02 9.98917248e-01 0.00000000e+00 -7.32808888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20241011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:92.42, Y:-7.33, Z:0.01 [[ 9.98934965e-01 -4.61403947e-02 0.00000000e+00 9.24235482e+01] [ 4.61403947e-02 9.98934965e-01 0.00000000e+00 -7.33085119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37176400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.48, Y:-7.33, Z:0.01 [[ 9.98936767e-01 -4.61013678e-02 0.00000000e+00 9.24806799e+01] [ 4.61013678e-02 9.98936767e-01 0.00000000e+00 -7.33449620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44072683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:-7.34, Z:0.01 [[ 9.99061594e-01 -4.33120179e-02 0.00000000e+00 9.25388343e+01] [ 4.33120179e-02 9.99061594e-01 0.00000000e+00 -7.33716886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34020611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:-7.34, Z:0.01 [[ 9.99130728e-01 -4.16867793e-02 0.00000000e+00 9.25966826e+01] [ 4.16867793e-02 9.99130728e-01 0.00000000e+00 -7.33942536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04879315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:-7.34, Z:0.01 [[ 9.99176771e-01 -4.05682296e-02 0.00000000e+00 9.26543251e+01] [ 4.05682296e-02 9.99176771e-01 0.00000000e+00 -7.34134010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81781431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.71, Y:-7.35, Z:0.01 [[ 9.99089646e-01 -4.26600492e-02 0.00000000e+00 9.27117942e+01] [ 4.26600492e-02 9.99089646e-01 0.00000000e+00 -7.34605501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30974612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.77, Y:-7.35, Z:0.01 [[ 9.99122298e-01 -4.18883366e-02 0.00000000e+00 9.27699094e+01] [ 4.18883366e-02 9.99122298e-01 0.00000000e+00 -7.34949647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13374895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:-7.35, Z:0.01 [[ 9.99187792e-01 -4.02958498e-02 0.00000000e+00 9.28280114e+01] [ 4.02958498e-02 9.99187792e-01 0.00000000e+00 -7.35218020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21975626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:92.88, Y:-7.35, Z:0.01 [[ 9.99208798e-01 -3.97715607e-02 0.00000000e+00 9.28849566e+01] [ 3.97715607e-02 9.99208798e-01 0.00000000e+00 -7.35228718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45671424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.94, Y:-7.36, Z:0.02 [[ 9.99296229e-01 -3.75106252e-02 0.00000000e+00 9.29429548e+01] [ 3.75106252e-02 9.99296229e-01 0.00000000e+00 -7.35617961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60485545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.00, Y:-7.36, Z:0.01 [[ 9.99437500e-01 -3.35362990e-02 0.00000000e+00 9.30012506e+01] [ 3.35362990e-02 9.99437500e-01 0.00000000e+00 -7.35677383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20595727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:-7.36, Z:0.01 [[ 9.99582729e-01 -2.88854399e-02 0.00000000e+00 9.30595818e+01] [ 2.88854399e-02 9.99582729e-01 0.00000000e+00 -7.35905306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02876291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:-7.36, Z:0.01 [[ 9.99789762e-01 -2.05044407e-02 0.00000000e+00 9.31167103e+01] [ 2.05044407e-02 9.99789762e-01 0.00000000e+00 -7.36476329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05787905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.17, Y:-7.37, Z:0.01 [[ 9.99835725e-01 -1.81251774e-02 0.00000000e+00 9.31745247e+01] [ 1.81251774e-02 9.99835725e-01 0.00000000e+00 -7.36805151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08600600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.23, Y:-7.37, Z:0.01 [[ 9.99861793e-01 -1.66251463e-02 0.00000000e+00 9.32320578e+01] [ 1.66251463e-02 9.99861793e-01 0.00000000e+00 -7.37048479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11470587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:-7.37, Z:0.01 [[ 9.99902000e-01 -1.39996275e-02 0.00000000e+00 9.32903999e+01] [ 1.39996275e-02 9.99902000e-01 0.00000000e+00 -7.37417197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27802097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:-7.38, Z:0.01 [[ 9.99895442e-01 -1.44604858e-02 0.00000000e+00 9.33485135e+01] [ 1.44604858e-02 9.99895442e-01 0.00000000e+00 -7.37769752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46276050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:-7.38, Z:0.02 [[ 9.99892032e-01 -1.46943608e-02 0.00000000e+00 9.34054043e+01] [ 1.46943608e-02 9.99892032e-01 0.00000000e+00 -7.38003828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54635526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.46, Y:-7.38, Z:0.01 [[ 9.99865632e-01 -1.63926028e-02 0.00000000e+00 9.34632879e+01] [ 1.63926028e-02 9.99865632e-01 0.00000000e+00 -7.37828578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15230759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:-7.38, Z:0.01 [[ 9.99898762e-01 -1.42290368e-02 0.00000000e+00 9.35203503e+01] [ 1.42290368e-02 9.99898762e-01 0.00000000e+00 -7.38339404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13786726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:-7.38, Z:0.01 [[ 9.99817642e-01 -1.90966765e-02 0.00000000e+00 9.35788379e+01] [ 1.90966765e-02 9.99817642e-01 0.00000000e+00 -7.38462207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10098221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:-7.39, Z:0.01 [[ 9.99692726e-01 -2.47881556e-02 0.00000000e+00 9.36363010e+01] [ 2.47881556e-02 9.99692726e-01 0.00000000e+00 -7.38622834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00765863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.69, Y:-7.39, Z:0.01 [[ 9.99418963e-01 -3.40842641e-02 0.00000000e+00 9.36940060e+01] [ 3.40842641e-02 9.99418963e-01 0.00000000e+00 -7.38837151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25185636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.75, Y:-7.39, Z:0.01 [[ 9.99227671e-01 -3.92945365e-02 0.00000000e+00 9.37525333e+01] [ 3.92945365e-02 9.99227671e-01 0.00000000e+00 -7.39118102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44240717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:-7.39, Z:0.01 [[ 9.99156180e-01 -4.10722196e-02 0.00000000e+00 9.38090988e+01] [ 4.10722196e-02 9.99156180e-01 0.00000000e+00 -7.39296186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41274242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.87, Y:-7.39, Z:0.01 [[ 9.99252400e-01 -3.86605837e-02 0.00000000e+00 9.38669342e+01] [ 3.86605837e-02 9.99252400e-01 0.00000000e+00 -7.39459932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33500570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.92, Y:-7.40, Z:0.01 [[ 9.99484745e-01 -3.20974303e-02 0.00000000e+00 9.39248575e+01] [ 3.20974303e-02 9.99484745e-01 0.00000000e+00 -7.39694145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27901666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.98, Y:-7.40, Z:0.01 [[ 9.99800971e-01 -1.99503814e-02 0.00000000e+00 9.39832550e+01] [ 1.99503814e-02 9.99800971e-01 0.00000000e+00 -7.40198046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15437299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.04, Y:-7.41, Z:0.01 [[ 9.99946439e-01 -1.03498484e-02 0.00000000e+00 9.40399372e+01] [ 1.03498484e-02 9.99946439e-01 0.00000000e+00 -7.40597348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15669596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.10, Y:-7.41, Z:0.01 [[ 9.99982442e-01 5.92580546e-03 0.00000000e+00 9.40987863e+01] [-5.92580546e-03 9.99982442e-01 0.00000000e+00 -7.41149114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39077082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.16, Y:-7.42, Z:0.02 [[ 9.99840029e-01 1.78862053e-02 0.00000000e+00 9.41600465e+01] [-1.78862053e-02 9.99840029e-01 0.00000000e+00 -7.41639087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57582418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.22, Y:-7.42, Z:0.02 [[ 9.99439111e-01 3.34882528e-02 0.00000000e+00 9.42227263e+01] [-3.34882528e-02 9.99439111e-01 0.00000000e+00 -7.42137906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72760593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.29, Y:-7.43, Z:0.02 [[ 9.99173893e-01 4.06390372e-02 0.00000000e+00 9.42859530e+01] [-4.06390372e-02 9.99173893e-01 0.00000000e+00 -7.42502846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71006798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.35, Y:-7.43, Z:0.01 [[ 9.99109962e-01 4.21815628e-02 0.00000000e+00 9.43466295e+01] [-4.21815628e-02 9.99109962e-01 0.00000000e+00 -7.42564960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27385069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.41, Y:-7.43, Z:0.01 [[ 9.99326753e-01 3.66884247e-02 0.00000000e+00 9.44085918e+01] [-3.66884247e-02 9.99326753e-01 0.00000000e+00 -7.42748032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07384481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.47, Y:-7.43, Z:0.01 [[ 9.99567427e-01 2.94101742e-02 0.00000000e+00 9.44711337e+01] [-2.94101742e-02 9.99567427e-01 0.00000000e+00 -7.42685852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03102875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.53, Y:-7.43, Z:0.01 [[ 9.99746723e-01 2.25053308e-02 0.00000000e+00 9.45334102e+01] [-2.25053308e-02 9.99746723e-01 0.00000000e+00 -7.43046658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15288103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:-7.43, Z:0.01 [[ 9.99899852e-01 1.41522202e-02 0.00000000e+00 9.45963010e+01] [-1.41522202e-02 9.99899852e-01 0.00000000e+00 -7.43211532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44724849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.66, Y:-7.43, Z:0.02 [[ 9.99999986e-01 -1.68092765e-04 0.00000000e+00 9.46595479e+01] [ 1.68092765e-04 9.99999986e-01 0.00000000e+00 -7.43330597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60662098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.72, Y:-7.43, Z:0.02 [[ 9.99897848e-01 -1.42930981e-02 0.00000000e+00 9.47202750e+01] [ 1.42930981e-02 9.99897848e-01 0.00000000e+00 -7.43428530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65689374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.78, Y:-7.43, Z:0.02 [[ 9.99773099e-01 -2.13014253e-02 0.00000000e+00 9.47783992e+01] [ 2.13014253e-02 9.99773099e-01 0.00000000e+00 -7.43489069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53416811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.84, Y:-7.44, Z:0.02 [[ 9.99586380e-01 -2.87588073e-02 0.00000000e+00 9.48367222e+01] [ 2.87588073e-02 9.99586380e-01 0.00000000e+00 -7.43659098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50513756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.89, Y:-7.44, Z:0.02 [[ 9.99536682e-01 -3.04371782e-02 0.00000000e+00 9.48949934e+01] [ 3.04371782e-02 9.99536682e-01 0.00000000e+00 -7.43968991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69273768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76755201799999 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:94.95, Y:-7.43, Z:0.01 [[ 9.99465182e-01 -3.27009047e-02 0.00000000e+00 9.49537975e+01] [ 3.27009047e-02 9.99465182e-01 0.00000000e+00 -7.43425435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31280612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.01, Y:-7.45, Z:0.02 [[ 9.99792064e-01 -2.03918741e-02 0.00000000e+00 9.50113575e+01] [ 2.03918741e-02 9.99792064e-01 0.00000000e+00 -7.44521095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87607947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.07, Y:-7.45, Z:0.02 [[ 9.99957231e-01 -9.24860901e-03 0.00000000e+00 9.50690266e+01] [ 9.24860901e-03 9.99957231e-01 0.00000000e+00 -7.44942696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13562987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.13, Y:-7.45, Z:0.02 [[ 9.99985033e-01 -5.47110650e-03 0.00000000e+00 9.51266398e+01] [ 5.47110650e-03 9.99985033e-01 0.00000000e+00 -7.45165989e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11473027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.19, Y:-7.45, Z:0.02 [[ 9.99979824e-01 6.35222479e-03 0.00000000e+00 9.51858877e+01] [-6.35222479e-03 9.99979824e-01 0.00000000e+00 -7.45363325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91932222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.25, Y:-7.46, Z:0.02 [[ 9.99913553e-01 1.31486414e-02 0.00000000e+00 9.52470685e+01] [-1.31486414e-02 9.99913553e-01 0.00000000e+00 -7.45729724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86984697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.31, Y:-7.46, Z:0.02 [[ 9.99746096e-01 2.25331709e-02 0.00000000e+00 9.53079812e+01] [-2.25331709e-02 9.99746096e-01 0.00000000e+00 -7.45900922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66678861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.37, Y:-7.46, Z:0.01 [[ 9.99661649e-01 2.60113113e-02 0.00000000e+00 9.53711928e+01] [-2.60113113e-02 9.99661649e-01 0.00000000e+00 -7.45780341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40483550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.43, Y:-7.46, Z:0.01 [[ 9.99640974e-01 2.67940977e-02 0.00000000e+00 9.54344458e+01] [-2.67940977e-02 9.99640974e-01 0.00000000e+00 -7.45889657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30862154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.50, Y:-7.44, Z:0.01 [[ 9.99998003e-01 1.99846407e-03 0.00000000e+00 9.54974781e+01] [-1.99846407e-03 9.99998003e-01 0.00000000e+00 -7.44049870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17222358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:95.56, Y:-7.46, Z:0.01 [[ 9.99914878e-01 1.30474487e-02 0.00000000e+00 9.55571399e+01] [-1.30474487e-02 9.99914878e-01 0.00000000e+00 -7.46388032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26978475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.62, Y:-7.44, Z:0.00 [[ 9.99883992e-01 -1.52316163e-02 0.00000000e+00 9.56205985e+01] [ 1.52316163e-02 9.99883992e-01 0.00000000e+00 -7.43823167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88721969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48755201799999 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:95.68, Y:-7.46, Z:0.01 [[ 9.99997868e-01 -2.06481753e-03 0.00000000e+00 9.56772006e+01] [ 2.06481753e-03 9.99997868e-01 0.00000000e+00 -7.46390868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07180479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54755201799999 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:95.74, Y:-7.46, Z:0.01 [[ 9.99991692e-01 -4.07623973e-03 0.00000000e+00 9.57367213e+01] [ 4.07623973e-03 9.99991692e-01 0.00000000e+00 -7.46123192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06068940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60755201799998 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:95.80, Y:-7.46, Z:0.01 [[ 9.99995131e-01 -3.12055637e-03 0.00000000e+00 9.57961932e+01] [ 3.12055637e-03 9.99995131e-01 0.00000000e+00 -7.46027346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08969936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66755201799998 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:95.86, Y:-7.46, Z:0.01 [[ 9.99986051e-01 -5.28191161e-03 0.00000000e+00 9.58558175e+01] [ 5.28191161e-03 9.99986051e-01 0.00000000e+00 -7.46278851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09723199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.91, Y:-7.44, Z:0.01 [[ 9.99831250e-01 -1.83704249e-02 0.00000000e+00 9.59149380e+01] [ 1.83704249e-02 9.99831250e-01 0.00000000e+00 -7.44149182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05153121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.97, Y:-7.45, Z:0.01 [[ 9.99696740e-01 -2.46257403e-02 0.00000000e+00 9.59728504e+01] [ 2.46257403e-02 9.99696740e-01 0.00000000e+00 -7.44625128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66605047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.03, Y:-7.45, Z:0.01 [[ 9.99577926e-01 -2.90511691e-02 0.00000000e+00 9.60303939e+01] [ 2.90511691e-02 9.99577926e-01 0.00000000e+00 -7.45449455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.45524907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.09, Y:-7.46, Z:0.01 [[ 9.99575501e-01 -2.91344710e-02 0.00000000e+00 9.60877452e+01] [ 2.91344710e-02 9.99575501e-01 0.00000000e+00 -7.45843680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56487003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96755201799998 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:96.15, Y:-7.47, Z:0.01 [[ 9.99369592e-01 -3.55023717e-02 0.00000000e+00 9.61460329e+01] [ 3.55023717e-02 9.99369592e-01 0.00000000e+00 -7.46539414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46631403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02755201799998 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:96.20, Y:-7.47, Z:0.01 [[ 9.99311193e-01 -3.71098326e-02 0.00000000e+00 9.62036112e+01] [ 3.71098326e-02 9.99311193e-01 0.00000000e+00 -7.46952852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44090302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08755201799998 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:96.26, Y:-7.48, Z:0.01 [[ 9.99190027e-01 -4.02404021e-02 0.00000000e+00 9.62620348e+01] [ 4.02404021e-02 9.99190027e-01 0.00000000e+00 -7.47523542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01428271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14755201799998 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:96.32, Y:-7.48, Z:0.01 [[ 9.99109379e-01 -4.21953570e-02 0.00000000e+00 9.63203453e+01] [ 4.21953570e-02 9.99109379e-01 0.00000000e+00 -7.47770827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02468808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20755201799999 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:96.38, Y:-7.48, Z:0.01 [[ 9.99002065e-01 -4.46640118e-02 0.00000000e+00 9.63783231e+01] [ 4.46640118e-02 9.99002065e-01 0.00000000e+00 -7.48148393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19592637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26755201799999 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:96.44, Y:-7.49, Z:0.01 [[ 9.99005292e-01 -4.45917744e-02 0.00000000e+00 9.64363273e+01] [ 4.45917744e-02 9.99005292e-01 0.00000000e+00 -7.48631079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22802176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32755201799998 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:96.49, Y:-7.49, Z:0.01 [[ 9.99170049e-01 -4.07334519e-02 0.00000000e+00 9.64938855e+01] [ 4.07334519e-02 9.99170049e-01 0.00000000e+00 -7.48906657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35078493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38755201799998 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:96.55, Y:-7.49, Z:0.01 [[ 9.99251039e-01 -3.86957620e-02 0.00000000e+00 9.65520923e+01] [ 3.86957620e-02 9.99251039e-01 0.00000000e+00 -7.48957204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19359108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44755201799998 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:96.61, Y:-7.49, Z:0.01 [[ 9.98595114e-01 -5.29886593e-02 0.00000000e+00 9.66096271e+01] [ 5.29886593e-02 9.98595114e-01 0.00000000e+00 -7.49285278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22546764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:96.67, Y:-7.49, Z:0.01 [[ 9.98563967e-01 -5.35724254e-02 0.00000000e+00 9.66671766e+01] [ 5.35724254e-02 9.98563967e-01 0.00000000e+00 -7.49427206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45701599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.72, Y:-7.50, Z:0.01 [[ 9.98338863e-01 -5.76152262e-02 0.00000000e+00 9.67247469e+01] [ 5.76152262e-02 9.98338863e-01 0.00000000e+00 -7.49766709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50625429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.78, Y:-7.51, Z:0.01 [[ 9.98724804e-01 -5.04853038e-02 0.00000000e+00 9.67824123e+01] [ 5.04853038e-02 9.98724804e-01 0.00000000e+00 -7.51326225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06879374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68755201799998 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:96.84, Y:-7.50, Z:0.01 [[ 9.98386580e-01 -5.67823674e-02 0.00000000e+00 9.68402653e+01] [ 5.67823674e-02 9.98386580e-01 0.00000000e+00 -7.50324237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41551340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.90, Y:-7.52, Z:0.01 [[ 9.98457179e-01 -5.55271285e-02 0.00000000e+00 9.68990970e+01] [ 5.55271285e-02 9.98457179e-01 0.00000000e+00 -7.51598016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59770806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.96, Y:-7.52, Z:0.01 [[ 9.98178245e-01 -6.03340010e-02 0.00000000e+00 9.69574055e+01] [ 6.03340010e-02 9.98178245e-01 0.00000000e+00 -7.51759288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.45019778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86755201799998 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:97.02, Y:-7.52, Z:0.01 [[ 9.98056075e-01 -6.23223091e-02 0.00000000e+00 9.70156554e+01] [ 6.23223091e-02 9.98056075e-01 0.00000000e+00 -7.51875099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74974677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.07, Y:-7.52, Z:0.01 [[ 9.97699361e-01 -6.77937014e-02 0.00000000e+00 9.70742695e+01] [ 6.77937014e-02 9.97699361e-01 0.00000000e+00 -7.51917716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57000548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98755201799999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:97.13, Y:-7.52, Z:0.01 [[ 9.97570391e-01 -6.96657397e-02 0.00000000e+00 9.71323791e+01] [ 6.96657397e-02 9.97570391e-01 0.00000000e+00 -7.52340490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42078732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.19, Y:-7.53, Z:0.01 [[ 9.97352156e-01 -7.27232926e-02 0.00000000e+00 9.71892913e+01] [ 7.27232926e-02 9.97352156e-01 0.00000000e+00 -7.52544427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02434249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10755201799998 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:97.25, Y:-7.53, Z:0.01 [[ 9.97432812e-01 -7.16085520e-02 0.00000000e+00 9.72476157e+01] [ 7.16085520e-02 9.97432812e-01 0.00000000e+00 -7.52584913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16293606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.31, Y:-7.53, Z:0.01 [[ 9.97806426e-01 -6.61992100e-02 0.00000000e+00 9.73057412e+01] [ 6.61992100e-02 9.97806426e-01 0.00000000e+00 -7.52897099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10504602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.36, Y:-7.53, Z:0.01 [[ 9.98235064e-01 -5.93865052e-02 0.00000000e+00 9.73638754e+01] [ 5.93865052e-02 9.98235064e-01 0.00000000e+00 -7.53080841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23393031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.42, Y:-7.53, Z:0.01 [[ 9.98461509e-01 -5.54492060e-02 0.00000000e+00 9.74216489e+01] [ 5.54492060e-02 9.98461509e-01 0.00000000e+00 -7.52796773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07125199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:-7.54, Z:0.01 [[ 9.98741666e-01 -5.01506137e-02 0.00000000e+00 9.74793945e+01] [ 5.01506137e-02 9.98741666e-01 0.00000000e+00 -7.53616501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02444886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:-7.53, Z:0.01 [[ 9.98602117e-01 -5.28565183e-02 0.00000000e+00 9.75381265e+01] [ 5.28565183e-02 9.98602117e-01 0.00000000e+00 -7.53377899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25897147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.60, Y:-7.54, Z:0.01 [[ 9.98577318e-01 -5.33229804e-02 0.00000000e+00 9.75961313e+01] [ 5.33229804e-02 9.98577318e-01 0.00000000e+00 -7.53784758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21825520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:97.65, Y:-7.54, Z:0.01 [[ 9.98198196e-01 -6.00030089e-02 0.00000000e+00 9.76541695e+01] [ 6.00030089e-02 9.98198196e-01 0.00000000e+00 -7.53784587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97740224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.71, Y:-7.53, Z:0.01 [[ 9.97493697e-01 -7.07553903e-02 0.00000000e+00 9.77121792e+01] [ 7.07553903e-02 9.97493697e-01 0.00000000e+00 -7.53330169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64173874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.77, Y:-7.54, Z:0.01 [[ 9.96937054e-01 -7.82081282e-02 0.00000000e+00 9.77699009e+01] [ 7.82081282e-02 9.96937054e-01 0.00000000e+00 -7.53848305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85712270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.83, Y:-7.54, Z:0.01 [[ 9.96617167e-01 -8.21840766e-02 0.00000000e+00 9.78275473e+01] [ 8.21840766e-02 9.96617167e-01 0.00000000e+00 -7.54034408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38861384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76755201799999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:97.89, Y:-7.54, Z:0.01 [[ 9.96800499e-01 -7.99297562e-02 0.00000000e+00 9.78854648e+01] [ 7.99297562e-02 9.96800499e-01 0.00000000e+00 -7.54287212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42006131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.94, Y:-7.55, Z:0.01 [[ 9.97379608e-01 -7.23458155e-02 0.00000000e+00 9.79429562e+01] [ 7.23458155e-02 9.97379608e-01 0.00000000e+00 -7.54536173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35816928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.00, Y:-7.55, Z:0.01 [[ 9.98397773e-01 -5.65852146e-02 0.00000000e+00 9.80013764e+01] [ 5.65852146e-02 9.98397773e-01 0.00000000e+00 -7.54868125e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82036411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.06, Y:-7.55, Z:0.01 [[ 9.99018091e-01 -4.43041095e-02 0.00000000e+00 9.80590780e+01] [ 4.43041095e-02 9.99018091e-01 0.00000000e+00 -7.55208848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01003791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.12, Y:-7.56, Z:0.01 [[ 9.99676320e-01 -2.54412124e-02 0.00000000e+00 9.81168996e+01] [ 2.54412124e-02 9.99676320e-01 0.00000000e+00 -7.55575675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05085388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.17, Y:-7.56, Z:0.01 [[ 9.99901390e-01 -1.40431390e-02 0.00000000e+00 9.81749239e+01] [ 1.40431390e-02 9.99901390e-01 0.00000000e+00 -7.55791654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60691284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.23, Y:-7.56, Z:0.01 [[ 9.99999538e-01 -9.60841457e-04 0.00000000e+00 9.82327167e+01] [ 9.60841457e-04 9.99999538e-01 0.00000000e+00 -7.55997727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37749855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.29, Y:-7.56, Z:0.01 [[ 9.99995940e-01 2.84964571e-03 0.00000000e+00 9.82934684e+01] [-2.84964571e-03 9.99995940e-01 0.00000000e+00 -7.56289390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62383138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.35, Y:-7.57, Z:0.01 [[ 9.99999389e-01 1.10549823e-03 0.00000000e+00 9.83543839e+01] [-1.10549823e-03 9.99999389e-01 0.00000000e+00 -7.56500784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77734011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.41, Y:-7.57, Z:0.01 [[ 9.99985125e-01 -5.45439019e-03 0.00000000e+00 9.84142842e+01] [ 5.45439019e-03 9.99985125e-01 0.00000000e+00 -7.56633355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05351782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36755201799998 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:98.47, Y:-7.57, Z:0.01 [[ 9.99913458e-01 -1.31558842e-02 0.00000000e+00 9.84726854e+01] [ 1.31558842e-02 9.99913458e-01 0.00000000e+00 -7.56669776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09479988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.53, Y:-7.57, Z:0.01 [[ 9.99744304e-01 -2.26125348e-02 0.00000000e+00 9.85314675e+01] [ 2.26125348e-02 9.99744304e-01 0.00000000e+00 -7.56620052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13255057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.59, Y:-7.57, Z:0.01 [[ 9.99413372e-01 -3.42477967e-02 0.00000000e+00 9.85899979e+01] [ 3.42477967e-02 9.99413372e-01 0.00000000e+00 -7.56606469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03102320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.65, Y:-7.57, Z:0.00 [[ 9.99101984e-01 -4.23701026e-02 0.00000000e+00 9.86476606e+01] [ 4.23701026e-02 9.99101984e-01 0.00000000e+00 -7.56653984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16871021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.71, Y:-7.57, Z:0.01 [[ 9.98481976e-01 -5.50794212e-02 0.00000000e+00 9.87055795e+01] [ 5.50794212e-02 9.98481976e-01 0.00000000e+00 -7.56790255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55390176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:-7.57, Z:0.01 [[ 9.97944602e-01 -6.40825378e-02 0.00000000e+00 9.87636121e+01] [ 6.40825378e-02 9.97944602e-01 0.00000000e+00 -7.56553222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35676061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:-7.57, Z:0.01 [[ 9.97850705e-01 -6.55283951e-02 0.00000000e+00 9.88218616e+01] [ 6.55283951e-02 9.97850705e-01 0.00000000e+00 -7.56969356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41448290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:-7.57, Z:0.01 [[ 9.97849843e-01 -6.55415213e-02 0.00000000e+00 9.88801963e+01] [ 6.55415213e-02 9.97849843e-01 0.00000000e+00 -7.57135720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85569510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:-7.57, Z:0.01 [[ 9.98016987e-01 -6.29451706e-02 0.00000000e+00 9.89385892e+01] [ 6.29451706e-02 9.98016987e-01 0.00000000e+00 -7.57246509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45602740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:-7.57, Z:0.01 [[ 9.98151483e-01 -6.07751317e-02 0.00000000e+00 9.89969165e+01] [ 6.07751317e-02 9.98151483e-01 0.00000000e+00 -7.57182024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17061228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.05, Y:-7.57, Z:0.01 [[ 9.98756394e-01 -4.98564488e-02 0.00000000e+00 9.90545261e+01] [ 4.98564488e-02 9.98756394e-01 0.00000000e+00 -7.57388835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42458060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:-7.58, Z:0.01 [[ 9.99072858e-01 -4.30514142e-02 0.00000000e+00 9.91124421e+01] [ 4.30514142e-02 9.99072858e-01 0.00000000e+00 -7.57531332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13944912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.17, Y:-7.58, Z:0.01 [[ 9.99196147e-01 -4.00881428e-02 0.00000000e+00 9.91703521e+01] [ 4.00881428e-02 9.99196147e-01 0.00000000e+00 -7.57644746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90075015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:-7.58, Z:0.01 [[ 9.99197483e-01 -4.00548483e-02 0.00000000e+00 9.92285633e+01] [ 4.00548483e-02 9.99197483e-01 0.00000000e+00 -7.57797562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34016765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:-7.58, Z:0.01 [[ 9.99277551e-01 -3.80049583e-02 0.00000000e+00 9.92865983e+01] [ 3.80049583e-02 9.99277551e-01 0.00000000e+00 -7.57881466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60762273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.34, Y:-7.58, Z:0.01 [[ 9.99443405e-01 -3.33598537e-02 0.00000000e+00 9.93446235e+01] [ 3.33598537e-02 9.99443405e-01 0.00000000e+00 -7.57875296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90119825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:-7.58, Z:0.00 [[ 9.99569474e-01 -2.93405278e-02 0.00000000e+00 9.94040116e+01] [ 2.93405278e-02 9.99569474e-01 0.00000000e+00 -7.57916626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34314863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:-7.58, Z:0.00 [[ 9.99631804e-01 -2.71340574e-02 0.00000000e+00 9.94619819e+01] [ 2.71340574e-02 9.99631804e-01 0.00000000e+00 -7.58250774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34061068e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:-7.58, Z:0.00 [[ 9.99553584e-01 -2.98769572e-02 0.00000000e+00 9.95202541e+01] [ 2.98769572e-02 9.99553584e-01 0.00000000e+00 -7.58346119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40692024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.58, Y:-7.58, Z:0.00 [[ 9.99268033e-01 -3.82543894e-02 0.00000000e+00 9.95785765e+01] [ 3.82543894e-02 9.99268033e-01 0.00000000e+00 -7.58411712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27102749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.64, Y:-7.59, Z:0.01 [[ 9.99278040e-01 -3.79920999e-02 0.00000000e+00 9.96361065e+01] [ 3.79920999e-02 9.99278040e-01 0.00000000e+00 -7.58694383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56485709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.69, Y:-7.59, Z:0.01 [[ 9.99286215e-01 -3.77764534e-02 0.00000000e+00 9.96945235e+01] [ 3.77764534e-02 9.99286215e-01 0.00000000e+00 -7.58834759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15162265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.75, Y:-7.59, Z:0.01 [[ 9.99424649e-01 -3.39171272e-02 0.00000000e+00 9.97528658e+01] [ 3.39171272e-02 9.99424649e-01 0.00000000e+00 -7.58715537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49746094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.81, Y:-7.59, Z:0.00 [[ 9.99661858e-01 -2.60032436e-02 0.00000000e+00 9.98105474e+01] [ 2.60032436e-02 9.99661858e-01 0.00000000e+00 -7.59050979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46610693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:-7.59, Z:0.00 [[ 9.99937149e-01 -1.12115569e-02 0.00000000e+00 9.98685945e+01] [ 1.12115569e-02 9.99937149e-01 0.00000000e+00 -7.59320148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37472719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86755201799998 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:99.93, Y:-7.59, Z:-0.00 [[ 9.99999754e-01 7.00760719e-04 0.00000000e+00 9.99264099e+01] [-7.00760719e-04 9.99999754e-01 0.00000000e+00 -7.59467652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66733411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.99, Y:-7.60, Z:0.00 [[ 9.99828726e-01 1.85072705e-02 0.00000000e+00 9.99871930e+01] [-1.85072705e-02 9.99828726e-01 0.00000000e+00 -7.59910825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40919378e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:-7.60, Z:-0.00 [[ 9.99721125e-01 2.36150971e-02 0.00000000e+00 1.00048778e+02] [-2.36150971e-02 9.99721125e-01 0.00000000e+00 -7.59982061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88037597e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.11, Y:-7.60, Z:0.00 [[ 9.99816398e-01 1.91616876e-02 0.00000000e+00 1.00110341e+02] [-1.91616876e-02 9.99816398e-01 0.00000000e+00 -7.60308628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27076447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.17, Y:-7.61, Z:0.01 [[ 9.99883233e-01 1.52813456e-02 0.00000000e+00 1.00172265e+02] [-1.52813456e-02 9.99883233e-01 0.00000000e+00 -7.60576931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86224516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.24, Y:-7.61, Z:0.01 [[ 9.99904218e-01 1.38403511e-02 0.00000000e+00 1.00235596e+02] [-1.38403511e-02 9.99904218e-01 0.00000000e+00 -7.60587674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12144403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.30, Y:-7.60, Z:-0.00 [[ 9.99833128e-01 1.82678780e-02 0.00000000e+00 1.00297191e+02] [-1.82678780e-02 9.99833128e-01 0.00000000e+00 -7.60381548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18761478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.36, Y:-7.60, Z:-0.00 [[ 9.99785962e-01 2.06888839e-02 0.00000000e+00 1.00360230e+02] [-2.06888839e-02 9.99785962e-01 0.00000000e+00 -7.60399556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93937030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:100.42, Y:-7.61, Z:-0.00 [[ 9.99806488e-01 1.96719580e-02 0.00000000e+00 1.00423382e+02] [-1.96719580e-02 9.99806488e-01 0.00000000e+00 -7.60558772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97477914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.49, Y:-7.61, Z:-0.00 [[ 9.99819552e-01 1.89963849e-02 0.00000000e+00 1.00486339e+02] [-1.89963849e-02 9.99819552e-01 0.00000000e+00 -7.60691671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74566998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.55, Y:-7.61, Z:-0.00 [[ 9.99907123e-01 1.36288708e-02 0.00000000e+00 1.00548957e+02] [-1.36288708e-02 9.99907123e-01 0.00000000e+00 -7.60688135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26269270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.61, Y:-7.61, Z:-0.00 [[ 9.99959909e-01 8.95430230e-03 0.00000000e+00 1.00611710e+02] [-8.95430230e-03 9.99959909e-01 0.00000000e+00 -7.60800085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06572019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.67, Y:-7.61, Z:-0.00 [[ 9.99997458e-01 2.25456115e-03 0.00000000e+00 1.00673983e+02] [-2.25456115e-03 9.99997458e-01 0.00000000e+00 -7.60672372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69850198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:100.74, Y:-7.61, Z:-0.00 [[ 9.99998861e-01 1.50936284e-03 0.00000000e+00 1.00735219e+02] [-1.50936284e-03 9.99998861e-01 0.00000000e+00 -7.60561322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09870949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:100.80, Y:-7.60, Z:-0.00 [[ 9.99994498e-01 -3.31708509e-03 0.00000000e+00 1.00797019e+02] [ 3.31708509e-03 9.99994498e-01 0.00000000e+00 -7.60289218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40068308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.86, Y:-7.58, Z:-0.00 [[ 9.99713300e-01 -2.39440731e-02 0.00000000e+00 1.00856841e+02] [ 2.39440731e-02 9.99713300e-01 0.00000000e+00 -7.58433499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70568803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.91, Y:-7.59, Z:-0.00 [[ 9.99544833e-01 -3.01683121e-02 0.00000000e+00 1.00914643e+02] [ 3.01683121e-02 9.99544833e-01 0.00000000e+00 -7.58507017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25895253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:-7.61, Z:-0.01 [[ 9.99611909e-01 -2.78573290e-02 0.00000000e+00 1.00973278e+02] [ 2.78573290e-02 9.99611909e-01 0.00000000e+00 -7.60744065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74624400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:-7.59, Z:0.00 [[ 9.99182707e-01 -4.04217592e-02 0.00000000e+00 1.01032781e+02] [ 4.04217592e-02 9.99182707e-01 0.00000000e+00 -7.59450059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81691373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:-7.60, Z:0.00 [[ 9.99354344e-01 -3.59290167e-02 0.00000000e+00 1.01091893e+02] [ 3.59290167e-02 9.99354344e-01 0.00000000e+00 -7.59602275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68437464e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.15, Y:-7.60, Z:-0.00 [[ 9.99322335e-01 -3.68085795e-02 0.00000000e+00 1.01149460e+02] [ 3.68085795e-02 9.99322335e-01 0.00000000e+00 -7.59985243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83321027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.21, Y:-7.60, Z:-0.00 [[ 9.99547438e-01 -3.00818594e-02 0.00000000e+00 1.01207790e+02] [ 3.00818594e-02 9.99547438e-01 0.00000000e+00 -7.60320634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59510827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.27, Y:-7.61, Z:-0.00 [[ 9.99621648e-01 -2.75056418e-02 0.00000000e+00 1.01265586e+02] [ 2.75056418e-02 9.99621648e-01 0.00000000e+00 -7.60615423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83824281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24755201799998 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:101.32, Y:-7.62, Z:-0.01 [[ 9.99697526e-01 -2.45938119e-02 0.00000000e+00 1.01323739e+02] [ 2.45938119e-02 9.99697526e-01 0.00000000e+00 -7.62147371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22704168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.38, Y:-7.61, Z:-0.01 [[ 9.99761591e-01 -2.18348817e-02 0.00000000e+00 1.01382337e+02] [ 2.18348817e-02 9.99761591e-01 0.00000000e+00 -7.60977867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63558831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:101.44, Y:-7.61, Z:-0.01 [[ 9.99547980e-01 -3.00638764e-02 0.00000000e+00 1.01441232e+02] [ 3.00638764e-02 9.99547980e-01 0.00000000e+00 -7.61231801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60764787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42755201799999 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:101.50, Y:-7.62, Z:-0.01 [[ 9.99270026e-01 -3.82022929e-02 0.00000000e+00 1.01497927e+02] [ 3.82022929e-02 9.99270026e-01 0.00000000e+00 -7.61818524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40252634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48755201799999 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:101.56, Y:-7.62, Z:-0.00 [[ 9.98798906e-01 -4.89973986e-02 0.00000000e+00 1.01556487e+02] [ 4.89973986e-02 9.98798906e-01 0.00000000e+00 -7.61743256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91137638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54755201799998 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:101.61, Y:-7.62, Z:-0.00 [[ 9.97859550e-01 -6.53935614e-02 0.00000000e+00 1.01614511e+02] [ 6.53935614e-02 9.97859550e-01 0.00000000e+00 -7.62061480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55701251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60755201799998 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:101.67, Y:-7.62, Z:-0.00 [[ 9.97269224e-01 -7.38518481e-02 0.00000000e+00 1.01672526e+02] [ 7.38518481e-02 9.97269224e-01 0.00000000e+00 -7.62082662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15919426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66755201799998 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:101.73, Y:-7.63, Z:-0.01 [[ 9.96980705e-01 -7.76496889e-02 0.00000000e+00 1.01731680e+02] [ 7.76496889e-02 9.96980705e-01 0.00000000e+00 -7.63032035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54844697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:101.79, Y:-7.63, Z:-0.01 [[ 9.96793699e-01 -8.00145134e-02 0.00000000e+00 1.01790245e+02] [ 8.00145134e-02 9.96793699e-01 0.00000000e+00 -7.63282228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09559956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.85, Y:-7.63, Z:-0.01 [[ 9.97124807e-01 -7.57767671e-02 0.00000000e+00 1.01848770e+02] [ 7.57767671e-02 9.97124807e-01 0.00000000e+00 -7.63491722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09194056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.91, Y:-7.63, Z:-0.00 [[ 9.97650165e-01 -6.85138543e-02 0.00000000e+00 1.01907221e+02] [ 6.85138543e-02 9.97650165e-01 0.00000000e+00 -7.63215222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39716457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.96, Y:-7.64, Z:-0.01 [[ 9.98538873e-01 -5.40381277e-02 0.00000000e+00 1.01964754e+02] [ 5.40381277e-02 9.98538873e-01 0.00000000e+00 -7.64035794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62037942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.02, Y:-7.64, Z:-0.01 [[ 9.99290038e-01 -3.76751774e-02 0.00000000e+00 1.02022244e+02] [ 3.76751774e-02 9.99290038e-01 0.00000000e+00 -7.64304963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06543833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.08, Y:-7.65, Z:-0.01 [[ 9.99602283e-01 -2.82006366e-02 0.00000000e+00 1.02080770e+02] [ 2.82006366e-02 9.99602283e-01 0.00000000e+00 -7.64551839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92125633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.14, Y:-7.65, Z:-0.01 [[ 9.99836669e-01 -1.80730429e-02 0.00000000e+00 1.02137820e+02] [ 1.80730429e-02 9.99836669e-01 0.00000000e+00 -7.64827459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71006226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.20, Y:-7.65, Z:-0.00 [[ 9.99914629e-01 -1.30665794e-02 0.00000000e+00 1.02196062e+02] [ 1.30665794e-02 9.99914629e-01 0.00000000e+00 -7.64977930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91780888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.25, Y:-7.65, Z:-0.00 [[ 9.99958454e-01 -9.11536404e-03 0.00000000e+00 1.02254482e+02] [ 9.11536404e-03 9.99958454e-01 0.00000000e+00 -7.65151543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20764108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.31, Y:-7.65, Z:-0.00 [[ 9.99950514e-01 -9.94832831e-03 0.00000000e+00 1.02312918e+02] [ 9.94832831e-03 9.99950514e-01 0.00000000e+00 -7.65243955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81853999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.37, Y:-7.65, Z:-0.01 [[ 9.99904443e-01 -1.38240792e-02 0.00000000e+00 1.02369837e+02] [ 1.38240792e-02 9.99904443e-01 0.00000000e+00 -7.65154732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94606576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.43, Y:-7.65, Z:-0.01 [[ 9.99841938e-01 -1.77791638e-02 0.00000000e+00 1.02426809e+02] [ 1.77791638e-02 9.99841938e-01 0.00000000e+00 -7.65131025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75831295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.49, Y:-7.65, Z:-0.01 [[ 9.99560074e-01 -2.96590439e-02 0.00000000e+00 1.02485128e+02] [ 2.96590439e-02 9.99560074e-01 0.00000000e+00 -7.65233418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52695162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.54, Y:-7.65, Z:-0.01 [[ 9.98850496e-01 -4.79341841e-02 0.00000000e+00 1.02542641e+02] [ 4.79341841e-02 9.98850496e-01 0.00000000e+00 -7.65176102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02247642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.60, Y:-7.65, Z:-0.01 [[ 9.98460872e-01 -5.54606858e-02 0.00000000e+00 1.02600374e+02] [ 5.54606858e-02 9.98460872e-01 0.00000000e+00 -7.65164266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03874309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:102.66, Y:-7.65, Z:-0.01 [[ 9.96911599e-01 -7.85319345e-02 0.00000000e+00 1.02658508e+02] [ 7.85319345e-02 9.96911599e-01 0.00000000e+00 -7.65266816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64515525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:102.72, Y:-7.65, Z:-0.00 [[ 9.95705922e-01 -9.25727612e-02 0.00000000e+00 1.02716291e+02] [ 9.25727612e-02 9.95705922e-01 0.00000000e+00 -7.65333247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97528899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.77, Y:-7.65, Z:-0.00 [[ 9.94139641e-01 -1.08103539e-01 0.00000000e+00 1.02773076e+02] [ 1.08103539e-01 9.94139641e-01 0.00000000e+00 -7.65281546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22540997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.83, Y:-7.65, Z:-0.00 [[ 9.93473252e-01 -1.14065319e-01 0.00000000e+00 1.02831362e+02] [ 1.14065319e-01 9.93473252e-01 0.00000000e+00 -7.65349050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67601635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.89, Y:-7.65, Z:-0.00 [[ 9.93507775e-01 -1.13764234e-01 0.00000000e+00 1.02888322e+02] [ 1.13764234e-01 9.93507775e-01 0.00000000e+00 -7.65359030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27555803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.95, Y:-7.65, Z:-0.00 [[ 9.93838071e-01 -1.10841730e-01 0.00000000e+00 1.02946680e+02] [ 1.10841730e-01 9.93838071e-01 0.00000000e+00 -7.65423484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51008883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98755201799999 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:103.00, Y:-7.66, Z:-0.01 [[ 9.94719538e-01 -1.02630608e-01 0.00000000e+00 1.03004615e+02] [ 1.02630608e-01 9.94719538e-01 0.00000000e+00 -7.65527945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92475825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.06, Y:-7.66, Z:-0.01 [[ 9.95176415e-01 -9.81014969e-02 0.00000000e+00 1.03061476e+02] [ 9.81014969e-02 9.95176415e-01 0.00000000e+00 -7.65698917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88159004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10755201799998 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:103.12, Y:-7.66, Z:-0.00 [[ 9.95991873e-01 -8.94437716e-02 0.00000000e+00 1.03119364e+02] [ 8.94437716e-02 9.95991873e-01 0.00000000e+00 -7.66077622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80903016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:103.18, Y:-7.66, Z:-0.00 [[ 9.96888967e-01 -7.88187028e-02 0.00000000e+00 1.03177526e+02] [ 7.88187028e-02 9.96888967e-01 0.00000000e+00 -7.66406024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16629880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.24, Y:-7.67, Z:-0.00 [[ 9.97381753e-01 -7.23162373e-02 0.00000000e+00 1.03236099e+02] [ 7.23162373e-02 9.97381753e-01 0.00000000e+00 -7.66605816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47297244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:-7.67, Z:-0.00 [[ 9.98100779e-01 -6.16022259e-02 0.00000000e+00 1.03294398e+02] [ 6.16022259e-02 9.98100779e-01 0.00000000e+00 -7.66562525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18387266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.35, Y:-7.67, Z:-0.00 [[ 9.98488258e-01 -5.49654318e-02 0.00000000e+00 1.03352710e+02] [ 5.49654318e-02 9.98488258e-01 0.00000000e+00 -7.66771905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82803746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.41, Y:-7.67, Z:-0.01 [[ 9.98808152e-01 -4.88085514e-02 0.00000000e+00 1.03411275e+02] [ 4.88085514e-02 9.98808152e-01 0.00000000e+00 -7.66723534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21428648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.47, Y:-7.67, Z:-0.01 [[ 9.98850456e-01 -4.79350244e-02 0.00000000e+00 1.03469109e+02] [ 4.79350244e-02 9.98850456e-01 0.00000000e+00 -7.66731539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01842524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.53, Y:-7.67, Z:-0.01 [[ 9.98724171e-01 -5.04978171e-02 0.00000000e+00 1.03526275e+02] [ 5.04978171e-02 9.98724171e-01 0.00000000e+00 -7.66840727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72949026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.58, Y:-7.67, Z:-0.01 [[ 9.98492829e-01 -5.48823328e-02 0.00000000e+00 1.03583053e+02] [ 5.48823328e-02 9.98492829e-01 0.00000000e+00 -7.66938233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02868475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.64, Y:-7.67, Z:-0.01 [[ 9.98200923e-01 -5.99576284e-02 0.00000000e+00 1.03641255e+02] [ 5.99576284e-02 9.98200923e-01 0.00000000e+00 -7.67051612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79519620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.70, Y:-7.67, Z:-0.00 [[ 9.97704863e-01 -6.77126698e-02 0.00000000e+00 1.03699346e+02] [ 6.77126698e-02 9.97704863e-01 0.00000000e+00 -7.67189358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17488941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76755201799999 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:103.76, Y:-7.67, Z:-0.00 [[ 9.97539049e-01 -7.01130960e-02 0.00000000e+00 1.03757279e+02] [ 7.01130960e-02 9.97539049e-01 0.00000000e+00 -7.67236151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50033008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.82, Y:-7.67, Z:-0.01 [[ 9.97428900e-01 -7.16630308e-02 0.00000000e+00 1.03815309e+02] [ 7.16630308e-02 9.97428900e-01 0.00000000e+00 -7.67283171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20226435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:103.87, Y:-7.67, Z:-0.01 [[ 9.97463455e-01 -7.11804507e-02 0.00000000e+00 1.03873351e+02] [ 7.11804507e-02 9.97463455e-01 0.00000000e+00 -7.67377981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83680589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:-7.68, Z:-0.01 [[ 9.97576489e-01 -6.95783666e-02 0.00000000e+00 1.03930502e+02] [ 6.95783666e-02 9.97576489e-01 0.00000000e+00 -7.67508271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30916934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:-7.68, Z:-0.01 [[ 9.97815634e-01 -6.60602796e-02 0.00000000e+00 1.03989036e+02] [ 6.60602796e-02 9.97815634e-01 0.00000000e+00 -7.67677765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90642859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.05, Y:-7.68, Z:-0.01 [[ 9.97994573e-01 -6.32995377e-02 0.00000000e+00 1.04047264e+02] [ 6.32995377e-02 9.97994573e-01 0.00000000e+00 -7.67861772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17524571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:-7.68, Z:-0.00 [[ 9.98211284e-01 -5.97848914e-02 0.00000000e+00 1.04105681e+02] [ 5.97848914e-02 9.98211284e-01 0.00000000e+00 -7.68044322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18012628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.16, Y:-7.68, Z:-0.00 [[ 9.98397644e-01 -5.65874955e-02 0.00000000e+00 1.04162429e+02] [ 5.65874955e-02 9.98397644e-01 0.00000000e+00 -7.68141272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05893413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.22, Y:-7.68, Z:-0.00 [[ 9.98447684e-01 -5.56975895e-02 0.00000000e+00 1.04220622e+02] [ 5.56975895e-02 9.98447684e-01 0.00000000e+00 -7.68255597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89595981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:104.28, Y:-7.68, Z:-0.00 [[ 9.98442788e-01 -5.57852879e-02 0.00000000e+00 1.04278737e+02] [ 5.57852879e-02 9.98442788e-01 0.00000000e+00 -7.68254840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52940327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:104.34, Y:-7.68, Z:-0.00 [[ 9.98410281e-01 -5.63640867e-02 0.00000000e+00 1.04336822e+02] [ 5.63640867e-02 9.98410281e-01 0.00000000e+00 -7.68182278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72816279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:-7.68, Z:-0.01 [[ 9.98366494e-01 -5.71344390e-02 0.00000000e+00 1.04395271e+02] [ 5.71344390e-02 9.98366494e-01 0.00000000e+00 -7.68092196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61717527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.45, Y:-7.68, Z:-0.01 [[ 9.98355624e-01 -5.73240623e-02 0.00000000e+00 1.04453647e+02] [ 5.73240623e-02 9.98355624e-01 0.00000000e+00 -7.67949133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36139667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.51, Y:-7.68, Z:-0.01 [[ 9.98232847e-01 -5.94237574e-02 0.00000000e+00 1.04511280e+02] [ 5.94237574e-02 9.98232847e-01 0.00000000e+00 -7.68058063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09680262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:-7.68, Z:-0.01 [[ 9.98110587e-01 -6.14431206e-02 0.00000000e+00 1.04568966e+02] [ 6.14431206e-02 9.98110587e-01 0.00000000e+00 -7.68107408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97679065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:-7.68, Z:-0.01 [[ 9.98129097e-01 -6.11416906e-02 0.00000000e+00 1.04626475e+02] [ 6.11416906e-02 9.98129097e-01 0.00000000e+00 -7.68156581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46469376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.68, Y:-7.68, Z:-0.00 [[ 9.98301139e-01 -5.82652193e-02 0.00000000e+00 1.04684759e+02] [ 5.82652193e-02 9.98301139e-01 0.00000000e+00 -7.68202680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58166583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.74, Y:-7.68, Z:-0.00 [[ 9.98686401e-01 -5.12393707e-02 0.00000000e+00 1.04741541e+02] [ 5.12393707e-02 9.98686401e-01 0.00000000e+00 -7.68341369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92784594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.80, Y:-7.69, Z:-0.01 [[ 9.99131467e-01 -4.16690689e-02 0.00000000e+00 1.04799415e+02] [ 4.16690689e-02 9.99131467e-01 0.00000000e+00 -7.68508364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45591691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.86, Y:-7.69, Z:-0.01 [[ 9.99378558e-01 -3.52490939e-02 0.00000000e+00 1.04858006e+02] [ 3.52490939e-02 9.99378558e-01 0.00000000e+00 -7.68540418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31732527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.92, Y:-7.69, Z:-0.01 [[ 9.99617702e-01 -2.76486789e-02 0.00000000e+00 1.04915309e+02] [ 2.76486789e-02 9.99617702e-01 0.00000000e+00 -7.68649462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29570143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.97, Y:-7.69, Z:-0.00 [[ 9.99737996e-01 -2.28897302e-02 0.00000000e+00 1.04973698e+02] [ 2.28897302e-02 9.99737996e-01 0.00000000e+00 -7.68713383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79542736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.03, Y:-7.69, Z:-0.00 [[ 9.99848998e-01 -1.73775790e-02 0.00000000e+00 1.05030483e+02] [ 1.73775790e-02 9.99848998e-01 0.00000000e+00 -7.68773423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85924247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.09, Y:-7.69, Z:-0.01 [[ 9.99865991e-01 -1.63707365e-02 0.00000000e+00 1.05089074e+02] [ 1.63707365e-02 9.99865991e-01 0.00000000e+00 -7.68800275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67354105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.15, Y:-7.69, Z:-0.01 [[ 9.99841041e-01 -1.78295697e-02 0.00000000e+00 1.05147085e+02] [ 1.78295697e-02 9.99841041e-01 0.00000000e+00 -7.68807193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18522033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:-7.69, Z:-0.01 [[ 9.99768235e-01 -2.15285042e-02 0.00000000e+00 1.05204298e+02] [ 2.15285042e-02 9.99768235e-01 0.00000000e+00 -7.68625242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25519068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.26, Y:-7.68, Z:-0.01 [[ 9.99698869e-01 -2.45391706e-02 0.00000000e+00 1.05262286e+02] [ 2.45391706e-02 9.99698869e-01 0.00000000e+00 -7.68438234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32519146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:-7.68, Z:-0.01 [[ 9.99640257e-01 -2.68208152e-02 0.00000000e+00 1.05320034e+02] [ 2.68208152e-02 9.99640257e-01 0.00000000e+00 -7.68307178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06159054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:-7.68, Z:-0.01 [[ 9.99459156e-01 -3.28845699e-02 0.00000000e+00 1.05378437e+02] [ 3.28845699e-02 9.99459156e-01 0.00000000e+00 -7.68391665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01083096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:105.44, Y:-7.68, Z:-0.01 [[ 9.99403299e-01 -3.45405006e-02 0.00000000e+00 1.05436863e+02] [ 3.45405006e-02 9.99403299e-01 0.00000000e+00 -7.68234574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02696874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.50, Y:-7.66, Z:-0.01 [[ 9.99027875e-01 -4.40829318e-02 0.00000000e+00 1.05495534e+02] [ 4.40829318e-02 9.99027875e-01 0.00000000e+00 -7.66280041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71085878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.55, Y:-7.68, Z:-0.01 [[ 9.99648068e-01 -2.65280911e-02 0.00000000e+00 1.05553618e+02] [ 2.65280911e-02 9.99648068e-01 0.00000000e+00 -7.68220671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90558548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.61, Y:-7.66, Z:-0.01 [[ 9.99739684e-01 -2.28158891e-02 0.00000000e+00 1.05611213e+02] [ 2.28158891e-02 9.99739684e-01 0.00000000e+00 -7.65911002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78317396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.67, Y:-7.66, Z:-0.01 [[ 9.99885694e-01 -1.51194992e-02 0.00000000e+00 1.05669858e+02] [ 1.51194992e-02 9.99885694e-01 0.00000000e+00 -7.65882571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.11858474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.73, Y:-7.66, Z:-0.01 [[ 9.99968738e-01 -7.90708846e-03 0.00000000e+00 1.05729163e+02] [ 7.90708846e-03 9.99968738e-01 0.00000000e+00 -7.66076798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.38728384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.79, Y:-7.68, Z:-0.01 [[ 9.99959759e-01 8.97111659e-03 0.00000000e+00 1.05787062e+02] [-8.97111659e-03 9.99959759e-01 0.00000000e+00 -7.68078184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72260797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:105.85, Y:-7.68, Z:-0.01 [[ 9.99923037e-01 1.24064682e-02 0.00000000e+00 1.05849977e+02] [-1.24064682e-02 9.99923037e-01 0.00000000e+00 -7.68499733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52654023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:-7.67, Z:-0.01 [[ 9.99978268e-01 6.59262040e-03 0.00000000e+00 1.05912555e+02] [-6.59262040e-03 9.99978268e-01 0.00000000e+00 -7.66858870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50433460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:-7.67, Z:-0.01 [[ 9.99964080e-01 8.47578484e-03 0.00000000e+00 1.05974747e+02] [-8.47578484e-03 9.99964080e-01 0.00000000e+00 -7.67266110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48481995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:106.04, Y:-7.68, Z:-0.01 [[ 9.99902297e-01 1.39784330e-02 0.00000000e+00 1.06036743e+02] [-1.39784330e-02 9.99902297e-01 0.00000000e+00 -7.68286110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44140670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:-7.68, Z:-0.01 [[ 9.99975987e-01 6.93004098e-03 0.00000000e+00 1.06097510e+02] [-6.93004098e-03 9.99975987e-01 0.00000000e+00 -7.67641709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12207737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.16, Y:-7.68, Z:-0.01 [[ 9.99996108e-01 2.78991627e-03 0.00000000e+00 1.06160168e+02] [-2.78991627e-03 9.99996108e-01 0.00000000e+00 -7.67573757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32508177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.22, Y:-7.68, Z:-0.01 [[ 9.99957811e-01 -9.18567829e-03 0.00000000e+00 1.06221832e+02] [ 9.18567829e-03 9.99957811e-01 0.00000000e+00 -7.67858838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25252263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.28, Y:-7.68, Z:-0.01 [[ 9.99896449e-01 -1.43906655e-02 0.00000000e+00 1.06280570e+02] [ 1.43906655e-02 9.99896449e-01 0.00000000e+00 -7.67853198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18176438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.34, Y:-7.68, Z:-0.01 [[ 9.99607089e-01 -2.80297492e-02 0.00000000e+00 1.06339011e+02] [ 2.80297492e-02 9.99607089e-01 0.00000000e+00 -7.68023919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92566342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.40, Y:-7.68, Z:-0.01 [[ 9.99337521e-01 -3.63939413e-02 0.00000000e+00 1.06396393e+02] [ 3.63939413e-02 9.99337521e-01 0.00000000e+00 -7.68081926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40543438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52755201799998 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:106.45, Y:-7.68, Z:-0.01 [[ 9.98186777e-01 -6.01926747e-02 0.00000000e+00 1.06454432e+02] [ 6.01926747e-02 9.98186777e-01 0.00000000e+00 -7.68011195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10020795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58755201799998 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:106.51, Y:-7.68, Z:-0.00 [[ 9.97747769e-01 -6.70774888e-02 0.00000000e+00 1.06512325e+02] [ 6.70774888e-02 9.97747769e-01 0.00000000e+00 -7.68214000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72483705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64755201799998 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:106.57, Y:-7.68, Z:-0.00 [[ 9.95596724e-01 -9.37398682e-02 0.00000000e+00 1.06570431e+02] [ 9.37398682e-02 9.95596724e-01 0.00000000e+00 -7.68009196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33435779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70755201799999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:106.63, Y:-7.69, Z:0.00 [[ 9.94409376e-01 -1.05593528e-01 0.00000000e+00 1.06628036e+02] [ 1.05593528e-01 9.94409376e-01 0.00000000e+00 -7.69441970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69171741e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:106.69, Y:-7.69, Z:-0.00 [[ 9.93986158e-01 -1.09505786e-01 0.00000000e+00 1.06685872e+02] [ 1.09505786e-01 9.93986158e-01 0.00000000e+00 -7.69380313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46578952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:106.74, Y:-7.69, Z:-0.00 [[ 9.93818820e-01 -1.11014202e-01 0.00000000e+00 1.06742944e+02] [ 1.11014202e-01 9.93818820e-01 0.00000000e+00 -7.69241440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28197985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:106.80, Y:-7.69, Z:-0.00 [[ 9.93576120e-01 -1.13165776e-01 0.00000000e+00 1.06800932e+02] [ 1.13165776e-01 9.93576120e-01 0.00000000e+00 -7.69246112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19107660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.86, Y:-7.69, Z:-0.00 [[ 9.93681310e-01 -1.12238380e-01 0.00000000e+00 1.06859191e+02] [ 1.12238380e-01 9.93681310e-01 0.00000000e+00 -7.69240449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43292604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:106.92, Y:-7.69, Z:-0.00 [[ 9.94021378e-01 -1.09185624e-01 0.00000000e+00 1.06915814e+02] [ 1.09185624e-01 9.94021378e-01 0.00000000e+00 -7.69366474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14267902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:106.97, Y:-7.70, Z:-0.00 [[ 9.94487019e-01 -1.04859759e-01 0.00000000e+00 1.06973656e+02] [ 1.04859759e-01 9.94487019e-01 0.00000000e+00 -7.69656846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04027798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.03, Y:-7.70, Z:-0.00 [[ 9.94730750e-01 -1.02521874e-01 0.00000000e+00 1.07031788e+02] [ 1.02521874e-01 9.94730750e-01 0.00000000e+00 -7.69605558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66941107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:107.09, Y:-7.70, Z:0.00 [[ 9.94682145e-01 -1.02992379e-01 0.00000000e+00 1.07090205e+02] [ 1.02992379e-01 9.94682145e-01 0.00000000e+00 -7.69891168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10964721e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.15, Y:-7.70, Z:0.00 [[ 9.94896211e-01 -1.00903568e-01 0.00000000e+00 1.07147852e+02] [ 1.00903568e-01 9.94896211e-01 0.00000000e+00 -7.69918691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56274627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.21, Y:-7.70, Z:0.00 [[ 9.95125740e-01 -9.86142022e-02 0.00000000e+00 1.07205762e+02] [ 9.86142022e-02 9.95125740e-01 0.00000000e+00 -7.69955611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52505218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.26, Y:-7.70, Z:-0.00 [[ 9.95342442e-01 -9.64023977e-02 0.00000000e+00 1.07263694e+02] [ 9.64023977e-02 9.95342442e-01 0.00000000e+00 -7.69771422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87992360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42755201799999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:-7.70, Z:-0.00 [[ 9.95055292e-01 -9.93225351e-02 0.00000000e+00 1.07320265e+02] [ 9.93225351e-02 9.95055292e-01 0.00000000e+00 -7.69774646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14613696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48755201799999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:107.38, Y:-7.70, Z:-0.00 [[ 9.94714175e-01 -1.02682569e-01 0.00000000e+00 1.07378306e+02] [ 1.02682569e-01 9.94714175e-01 0.00000000e+00 -7.69772197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17549948e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:107.44, Y:-7.70, Z:-0.00 [[ 9.94110632e-01 -1.08369974e-01 0.00000000e+00 1.07436190e+02] [ 1.08369974e-01 9.94110632e-01 0.00000000e+00 -7.69735802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18052215e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:-7.70, Z:0.00 [[ 9.93830290e-01 -1.10911472e-01 0.00000000e+00 1.07494508e+02] [ 1.10911472e-01 9.93830290e-01 0.00000000e+00 -7.69710724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98365003e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:-7.70, Z:0.00 [[ 9.93651983e-01 -1.12497718e-01 0.00000000e+00 1.07552842e+02] [ 1.12497718e-01 9.93651983e-01 0.00000000e+00 -7.69872949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00128160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:-7.70, Z:0.00 [[ 9.93642064e-01 -1.12585292e-01 0.00000000e+00 1.07609745e+02] [ 1.12585292e-01 9.93642064e-01 0.00000000e+00 -7.69879424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49472312e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.67, Y:-7.70, Z:0.00 [[ 9.93750746e-01 -1.11621930e-01 0.00000000e+00 1.07667499e+02] [ 1.11621930e-01 9.93750746e-01 0.00000000e+00 -7.69944635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96358314e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:-7.70, Z:0.00 [[ 9.94344101e-01 -1.06206448e-01 0.00000000e+00 1.07725079e+02] [ 1.06206448e-01 9.94344101e-01 0.00000000e+00 -7.70195645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40362181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90755201799998 meters Centerline goodness : 0.999885 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:-7.70, Z:0.00 [[ 9.94942731e-01 -1.00443829e-01 0.00000000e+00 1.07783540e+02] [ 1.00443829e-01 9.94942731e-01 0.00000000e+00 -7.70244800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15727031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96755201799998 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:-7.70, Z:0.01 [[ 9.95798010e-01 -9.15768687e-02 0.00000000e+00 1.07840404e+02] [ 9.15768687e-02 9.95798010e-01 0.00000000e+00 -7.70224872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73407645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:-7.70, Z:0.01 [[ 9.96000052e-01 -8.93526569e-02 0.00000000e+00 1.07898880e+02] [ 8.93526569e-02 9.96000052e-01 0.00000000e+00 -7.70222653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78449590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:-7.70, Z:0.01 [[ 9.95790995e-01 -9.16531221e-02 0.00000000e+00 1.07955570e+02] [ 9.16531221e-02 9.95790995e-01 0.00000000e+00 -7.70269025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56905109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:-7.70, Z:0.01 [[ 9.95650682e-01 -9.31650095e-02 0.00000000e+00 1.08013457e+02] [ 9.31650095e-02 9.95650682e-01 0.00000000e+00 -7.70197962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38636361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20755201799999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:108.07, Y:-7.70, Z:0.00 [[ 9.95344528e-01 -9.63808654e-02 0.00000000e+00 1.08071215e+02] [ 9.63808654e-02 9.95344528e-01 0.00000000e+00 -7.70122690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26360009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.13, Y:-7.70, Z:0.00 [[ 9.95183221e-01 -9.80324232e-02 0.00000000e+00 1.08129630e+02] [ 9.80324232e-02 9.95183221e-01 0.00000000e+00 -7.70116646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74299809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.19, Y:-7.70, Z:0.00 [[ 9.94759179e-01 -1.02245661e-01 0.00000000e+00 1.08187639e+02] [ 1.02245661e-01 9.94759179e-01 0.00000000e+00 -7.70144746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08984533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.25, Y:-7.70, Z:0.00 [[ 9.94789178e-01 -1.01953381e-01 0.00000000e+00 1.08245614e+02] [ 1.01953381e-01 9.94789178e-01 0.00000000e+00 -7.70029385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83647336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.30, Y:-7.70, Z:0.00 [[ 9.95105404e-01 -9.88191985e-02 0.00000000e+00 1.08304139e+02] [ 9.88191985e-02 9.95105404e-01 0.00000000e+00 -7.70080395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34524884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50755201799998 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:108.36, Y:-7.70, Z:0.00 [[ 9.95545589e-01 -9.42813893e-02 0.00000000e+00 1.08362228e+02] [ 9.42813893e-02 9.95545589e-01 0.00000000e+00 -7.70131306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42315529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.42, Y:-7.70, Z:0.00 [[ 9.96210321e-01 -8.69769898e-02 0.00000000e+00 1.08419129e+02] [ 8.69769898e-02 9.96210321e-01 0.00000000e+00 -7.70250451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55353534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:-7.70, Z:0.01 [[ 9.96648081e-01 -8.18083306e-02 0.00000000e+00 1.08476969e+02] [ 8.18083306e-02 9.96648081e-01 0.00000000e+00 -7.70294400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36285130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.53, Y:-7.70, Z:0.01 [[ 9.96939464e-01 -7.81773930e-02 0.00000000e+00 1.08534973e+02] [ 7.81773930e-02 9.96939464e-01 0.00000000e+00 -7.70434150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33367684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.59, Y:-7.70, Z:0.01 [[ 9.96903370e-01 -7.86363153e-02 0.00000000e+00 1.08592636e+02] [ 7.86363153e-02 9.96903370e-01 0.00000000e+00 -7.70418803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60546491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.65, Y:-7.70, Z:0.01 [[ 9.96854591e-01 -7.92522847e-02 0.00000000e+00 1.08651092e+02] [ 7.92522847e-02 9.96854591e-01 0.00000000e+00 -7.70376820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41979910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86755201799998 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:108.71, Y:-7.70, Z:0.01 [[ 9.96434013e-01 -8.43756928e-02 0.00000000e+00 1.08708713e+02] [ 8.43756928e-02 9.96434013e-01 0.00000000e+00 -7.70291844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37270434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.77, Y:-7.70, Z:0.01 [[ 9.95791491e-01 -9.16477298e-02 0.00000000e+00 1.08766540e+02] [ 9.16477298e-02 9.95791491e-01 0.00000000e+00 -7.70140269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17745740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.82, Y:-7.70, Z:0.01 [[ 9.95483224e-01 -9.49376189e-02 0.00000000e+00 1.08823122e+02] [ 9.49376189e-02 9.95483224e-01 0.00000000e+00 -7.70100676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68674644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:108.88, Y:-7.70, Z:0.01 [[ 9.95578405e-01 -9.39342315e-02 0.00000000e+00 1.08881489e+02] [ 9.39342315e-02 9.95578405e-01 0.00000000e+00 -7.70101506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10708140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:108.94, Y:-7.70, Z:0.01 [[ 9.95983781e-01 -8.95338319e-02 0.00000000e+00 1.08939385e+02] [ 8.95338319e-02 9.95983781e-01 0.00000000e+00 -7.69999468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31154591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16755201799998 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:109.00, Y:-7.70, Z:0.00 [[ 9.96310915e-01 -8.58170164e-02 0.00000000e+00 1.08997576e+02] [ 8.58170164e-02 9.96310915e-01 0.00000000e+00 -7.69904865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73622029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:109.06, Y:-7.70, Z:0.01 [[ 9.96976360e-01 -7.77054541e-02 0.00000000e+00 1.09055242e+02] [ 7.77054541e-02 9.96976360e-01 0.00000000e+00 -7.69913433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27924841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28755201799999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:109.11, Y:-7.70, Z:0.01 [[ 9.97487508e-01 -7.08425764e-02 0.00000000e+00 1.09113265e+02] [ 7.08425764e-02 9.97487508e-01 0.00000000e+00 -7.69994609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67056662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34755201799999 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:109.17, Y:-7.70, Z:0.01 [[ 9.97999202e-01 -6.32265179e-02 0.00000000e+00 1.09171717e+02] [ 6.32265179e-02 9.97999202e-01 0.00000000e+00 -7.70143028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60530860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:-7.70, Z:0.01 [[ 9.98293298e-01 -5.83994076e-02 0.00000000e+00 1.09229667e+02] [ 5.83994076e-02 9.98293298e-01 0.00000000e+00 -7.70157939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66628265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.29, Y:-7.70, Z:0.01 [[ 9.98460243e-01 -5.54719948e-02 0.00000000e+00 1.09287070e+02] [ 5.54719948e-02 9.98460243e-01 0.00000000e+00 -7.70152997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92993107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.35, Y:-7.70, Z:0.01 [[ 9.98461582e-01 -5.54479051e-02 0.00000000e+00 1.09345340e+02] [ 5.54479051e-02 9.98461582e-01 0.00000000e+00 -7.70063713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52843999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:-7.70, Z:0.01 [[ 9.98475511e-01 -5.51965032e-02 0.00000000e+00 1.09402261e+02] [ 5.51965032e-02 9.98475511e-01 0.00000000e+00 -7.69996087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79600948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.46, Y:-7.70, Z:0.01 [[ 9.98522287e-01 -5.43437409e-02 0.00000000e+00 1.09460147e+02] [ 5.43437409e-02 9.98522287e-01 0.00000000e+00 -7.69946374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70445314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:-7.70, Z:0.01 [[ 9.98550734e-01 -5.38185034e-02 0.00000000e+00 1.09517798e+02] [ 5.38185034e-02 9.98550734e-01 0.00000000e+00 -7.69806359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44765650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.58, Y:-7.70, Z:0.01 [[ 9.98499755e-01 -5.47561792e-02 0.00000000e+00 1.09576105e+02] [ 5.47561792e-02 9.98499755e-01 0.00000000e+00 -7.69758336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75320333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:-7.70, Z:0.01 [[ 9.98444806e-01 -5.57491719e-02 0.00000000e+00 1.09634210e+02] [ 5.57491719e-02 9.98444806e-01 0.00000000e+00 -7.69884401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69855854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.69, Y:-7.70, Z:0.01 [[ 9.98442536e-01 -5.57898044e-02 0.00000000e+00 1.09691227e+02] [ 5.57898044e-02 9.98442536e-01 0.00000000e+00 -7.69741289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67561556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.75, Y:-7.70, Z:0.01 [[ 9.98520286e-01 -5.43804960e-02 0.00000000e+00 1.09749795e+02] [ 5.43804960e-02 9.98520286e-01 0.00000000e+00 -7.69581602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63272247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.81, Y:-7.70, Z:0.01 [[ 9.98551308e-01 -5.38078602e-02 0.00000000e+00 1.09807808e+02] [ 5.38078602e-02 9.98551308e-01 0.00000000e+00 -7.69594574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10732144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:-7.70, Z:0.01 [[ 9.98497278e-01 -5.48013249e-02 0.00000000e+00 1.09866298e+02] [ 5.48013249e-02 9.98497278e-01 0.00000000e+00 -7.69589444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00229281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12755201799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.92, Y:-7.69, Z:0.01 [[ 9.98380643e-01 -5.68866573e-02 0.00000000e+00 1.09924681e+02] [ 5.68866573e-02 9.98380643e-01 0.00000000e+00 -7.69410292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24261451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.98, Y:-7.69, Z:0.01 [[ 9.98276619e-01 -5.86838328e-02 0.00000000e+00 1.09982456e+02] [ 5.86838328e-02 9.98276619e-01 0.00000000e+00 -7.69245864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69969302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.04, Y:-7.69, Z:0.01 [[ 9.98169201e-01 -6.04834368e-02 0.00000000e+00 1.10040588e+02] [ 6.04834368e-02 9.98169201e-01 0.00000000e+00 -7.69120326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81862944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.10, Y:-7.69, Z:0.01 [[ 9.98168248e-01 -6.04991673e-02 0.00000000e+00 1.10098711e+02] [ 6.04991673e-02 9.98168248e-01 0.00000000e+00 -7.68919739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96991037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.16, Y:-7.69, Z:0.01 [[ 9.98349841e-01 -5.74246840e-02 0.00000000e+00 1.10157316e+02] [ 5.74246840e-02 9.98349841e-01 0.00000000e+00 -7.68600618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65132235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.22, Y:-7.68, Z:0.00 [[ 9.98525762e-01 -5.42798460e-02 0.00000000e+00 1.10216068e+02] [ 5.42798460e-02 9.98525762e-01 0.00000000e+00 -7.68263401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10553019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.27, Y:-7.68, Z:0.00 [[ 9.98782673e-01 -4.93271888e-02 0.00000000e+00 1.10272677e+02] [ 4.93271888e-02 9.98782673e-01 0.00000000e+00 -7.67887866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20799468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.33, Y:-7.68, Z:-0.00 [[ 9.98992060e-01 -4.48872298e-02 0.00000000e+00 1.10331238e+02] [ 4.48872298e-02 9.98992060e-01 0.00000000e+00 -7.67643032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01784059e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.39, Y:-7.67, Z:-0.00 [[ 9.98986422e-01 -4.50125468e-02 0.00000000e+00 1.10389583e+02] [ 4.50125468e-02 9.98986422e-01 0.00000000e+00 -7.67482988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04062403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.45, Y:-7.67, Z:-0.00 [[ 9.98992436e-01 -4.48788639e-02 0.00000000e+00 1.10447714e+02] [ 4.48788639e-02 9.98992436e-01 0.00000000e+00 -7.67312998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31208083e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.50, Y:-7.67, Z:0.00 [[ 9.99038903e-01 -4.38322950e-02 0.00000000e+00 1.10504626e+02] [ 4.38322950e-02 9.99038903e-01 0.00000000e+00 -7.67009064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07397181e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.56, Y:-7.67, Z:-0.00 [[ 9.99008583e-01 -4.45179957e-02 0.00000000e+00 1.10563006e+02] [ 4.45179957e-02 9.99008583e-01 0.00000000e+00 -7.66714651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21854130e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.62, Y:-7.67, Z:-0.01 [[ 9.98707551e-01 -5.08254672e-02 0.00000000e+00 1.10619841e+02] [ 5.08254672e-02 9.98707551e-01 0.00000000e+00 -7.66528138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07199302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.68, Y:-7.66, Z:-0.01 [[ 9.98458195e-01 -5.55088472e-02 0.00000000e+00 1.10678200e+02] [ 5.55088472e-02 9.98458195e-01 0.00000000e+00 -7.66158566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41612203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.74, Y:-7.66, Z:-0.01 [[ 9.98198490e-01 -5.99981223e-02 0.00000000e+00 1.10737333e+02] [ 5.99981223e-02 9.98198490e-01 0.00000000e+00 -7.65726263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75713631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.79, Y:-7.65, Z:-0.01 [[ 9.97990121e-01 -6.33696987e-02 0.00000000e+00 1.10794071e+02] [ 6.33696987e-02 9.97990121e-01 0.00000000e+00 -7.65438006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01746402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.85, Y:-7.65, Z:-0.01 [[ 9.96509563e-01 -8.34786844e-02 0.00000000e+00 1.10852612e+02] [ 8.34786844e-02 9.96509563e-01 0.00000000e+00 -7.65417956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14461719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.91, Y:-7.65, Z:-0.01 [[ 9.95079797e-01 -9.90767263e-02 0.00000000e+00 1.10911857e+02] [ 9.90767263e-02 9.95079797e-01 0.00000000e+00 -7.65225364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08604428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.97, Y:-7.65, Z:-0.01 [[ 9.93200621e-01 -1.16415320e-01 0.00000000e+00 1.10971196e+02] [ 1.16415320e-01 9.93200621e-01 0.00000000e+00 -7.65347998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72855333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26755201799998 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:111.03, Y:-7.65, Z:-0.01 [[ 9.92711124e-01 -1.20518148e-01 0.00000000e+00 1.11029028e+02] [ 1.20518148e-01 9.92711124e-01 0.00000000e+00 -7.64976876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80054993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32755201799998 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:111.09, Y:-7.65, Z:-0.01 [[ 9.92571994e-01 -1.21658693e-01 0.00000000e+00 1.11087400e+02] [ 1.21658693e-01 9.92571994e-01 0.00000000e+00 -7.64845597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73033398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:111.15, Y:-7.64, Z:-0.01 [[ 9.92751069e-01 -1.20188664e-01 0.00000000e+00 1.11145076e+02] [ 1.20188664e-01 9.92751069e-01 0.00000000e+00 -7.64084017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71468281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44755201799998 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:111.20, Y:-7.64, Z:-0.01 [[ 9.92991672e-01 -1.18184348e-01 0.00000000e+00 1.11203341e+02] [ 1.18184348e-01 9.92991672e-01 0.00000000e+00 -7.63976287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21830304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.26, Y:-7.64, Z:-0.01 [[ 9.92942987e-01 -1.18592685e-01 0.00000000e+00 1.11261043e+02] [ 1.18592685e-01 9.92942987e-01 0.00000000e+00 -7.64134507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21182789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56755201799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.32, Y:-7.64, Z:-0.01 [[ 9.92667671e-01 -1.20875537e-01 0.00000000e+00 1.11319607e+02] [ 1.20875537e-01 9.92667671e-01 0.00000000e+00 -7.64048588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66679650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62755201799997 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:111.38, Y:-7.64, Z:-0.01 [[ 9.92356998e-01 -1.23400116e-01 0.00000000e+00 1.11377264e+02] [ 1.23400116e-01 9.92356998e-01 0.00000000e+00 -7.63708150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66314318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.44, Y:-7.63, Z:-0.01 [[ 9.92459022e-01 -1.22576874e-01 0.00000000e+00 1.11435494e+02] [ 1.22576874e-01 9.92459022e-01 0.00000000e+00 -7.63460264e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37176762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74755201799998 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:111.49, Y:-7.63, Z:-0.01 [[ 9.92041575e-01 -1.25910737e-01 0.00000000e+00 1.11493549e+02] [ 1.25910737e-01 9.92041575e-01 0.00000000e+00 -7.63300628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10630373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80755201799998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:-7.64, Z:-0.01 [[ 9.90406706e-01 -1.38183056e-01 0.00000000e+00 1.11550685e+02] [ 1.38183056e-01 9.90406706e-01 0.00000000e+00 -7.63573420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.86319818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86755201799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:-7.64, Z:-0.01 [[ 9.89514335e-01 -1.44434696e-01 0.00000000e+00 1.11608445e+02] [ 1.44434696e-01 9.89514335e-01 0.00000000e+00 -7.63575180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70597465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92755201799999 meters Centerline goodness : 0.997445 with order 1 Centerline is valid? [True, True] Translation: X:111.67, Y:-7.63, Z:-0.02 [[ 9.88354393e-01 -1.52169621e-01 0.00000000e+00 1.11668741e+02] [ 1.52169621e-01 9.88354393e-01 0.00000000e+00 -7.62710706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25712747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98755201799999 meters Centerline goodness : 0.996571 with order 1 Centerline is valid? [True, True] Translation: X:111.73, Y:-7.63, Z:-0.02 [[ 9.88994742e-01 -1.47950668e-01 0.00000000e+00 1.11728545e+02] [ 1.47950668e-01 9.88994742e-01 0.00000000e+00 -7.62503693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67099701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04755201799998 meters Centerline goodness : 0.994449 with order 1 Centerline is valid? [True, True] Translation: X:111.79, Y:-7.61, Z:-0.03 [[ 9.88814515e-01 -1.49150446e-01 0.00000000e+00 1.11788007e+02] [ 1.49150446e-01 9.88814515e-01 0.00000000e+00 -7.61404868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29527969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10755201799998 meters Centerline goodness : 0.993521 with order 1 Centerline is valid? [True, True] Translation: X:111.85, Y:-7.64, Z:-0.02 [[ 9.92205705e-01 -1.24610749e-01 0.00000000e+00 1.11848659e+02] [ 1.24610749e-01 9.92205705e-01 0.00000000e+00 -7.63941886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08080507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16755201799998 meters Centerline goodness : 0.990722 with order 1 Centerline is valid? [True, True] Translation: X:111.91, Y:-7.60, Z:-0.03 [[ 9.87875145e-01 -1.55250439e-01 0.00000000e+00 1.11907301e+02] [ 1.55250439e-01 9.87875145e-01 0.00000000e+00 -7.60498040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45464932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22755201799998 meters Centerline goodness : 0.987584 with order 1 Centerline is valid? [True, True] Translation: X:111.97, Y:-7.63, Z:-0.01 [[ 9.90471378e-01 -1.37718730e-01 0.00000000e+00 1.11967408e+02] [ 1.37718730e-01 9.90471378e-01 0.00000000e+00 -7.62600626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25762401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28755201799999 meters Centerline goodness : 0.981713 with order 1 Centerline is valid? [True, True] Translation: X:112.03, Y:-7.63, Z:-0.01 [[ 9.90802680e-01 -1.35314634e-01 0.00000000e+00 1.12025063e+02] [ 1.35314634e-01 9.90802680e-01 0.00000000e+00 -7.62784839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04030307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34755201799999 meters Centerline goodness : 0.972778 with order 1 Centerline is valid? [True, True] Translation: X:112.08, Y:-7.62, Z:-0.02 [[ 9.89609570e-01 -1.43780732e-01 0.00000000e+00 1.12083477e+02] [ 1.43780732e-01 9.89609570e-01 0.00000000e+00 -7.61668661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89679855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40755201799998 meters Centerline goodness : 0.412314 with order 1 Centerline is valid? [True, False] Translation: X:112.10, Y:-7.61, Z:-0.02 [[ 9.89874252e-01 -1.41896771e-01 3.77787257e-03 1.12101562e+02] [ 1.41909440e-01 9.89874053e-01 -3.32704530e-03 -7.61477990e+00] [-3.26752105e-03 3.82947226e-03 9.99987329e-01 -2.14769989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1254.27 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%| | 0/3782 [00:00